WO2024031926A1

WO2024031926A1 - Cleaning robot, cleaning robot control method and control apparatus

Info

Publication number: WO2024031926A1
Application number: PCT/CN2022/144216
Authority: WO
Inventors: 杜丽仪; 赵斌; 刘忠银
Original assignee: 深圳市云洁科技有限公司
Priority date: 2022-08-06
Filing date: 2022-12-30
Publication date: 2024-02-15

Abstract

A cleaning robot, a cleaning robot control method, and a control apparatus. The cleaning robot comprises a housing (30), a cleaning mechanism (10), and a lifting mechanism (20). The cleaning mechanism (10) comprises a cleaning base belt (110) and cleaning mops (120). The cleaning base belt (110) can rotate along a preset track, and the cleaning mops (120) move synchronously with the cleaning base belt (110), so that the cleaning mops (120) make contact with the ground for cleaning. By means of combining hand-drawing a path into a road surface cleaning sub-task, positions in an area which cannot be displayed on a map can be cleaned, thus comprehensively and intelligently realizing ground cleaning.

Description

Cleaning robot, cleaning robot control method and control device

Technical field

The present application relates to the field of automation control technology, and in particular to a cleaning robot, a cleaning robot control method and a control device.

Background technique

With the development of intelligent robot technology, simple repetitive tasks such as cleaning the floor can be replaced by manual mopping robots, improving functional efficiency and reducing costs.

The mopping robot is equipped with a cleaning cloth. The cleaning cloth is in direct contact with the ground to clean dirt. The cleaning cloth becomes dirty after being used for a period of time. At this time, the cleaning cloth needs to be replaced to maintain the cleaning effect of the mopping robot.

However, in current mopping robots, the mechanism for replacing the cleaning cloth is very complicated, resulting in the mopping robot being bulky and having low structural reliability. Therefore, it is necessary to improve the complex structure of the mopping robot.

Contents of the invention

In view of this, this application provides a new type of cleaning robot, which adopts the following technical solution:

A cleaning robot includes a cleaning mechanism. The cleaning mechanism includes a closed ring cleaning base belt and a plurality of cleaning mops detachably mounted on the cleaning base belt; the cleaning base belt rotates and drives a plurality of the cleaning mops to move. Replace the cleaning mop with the one corresponding to the work surface to be cleaned.

By adopting the above technical solution, when the mopping robot performs the cleaning function, the cleaning mop on the cleaning mechanism contacts the working surface for cleaning. When the mopping robot performs the cloth-changing function, the cleaning mop is separated from the working surface, and at the same time, the cleaning base belt rotates to drive the cleaning mop to move for replacement of the cleaning mop.

Preferably, the cleaning mechanism further includes a sensing module, which is used to measure the positions of multiple cleaning mops on the cleaning base belt; the sensing module includes a position sensor and a controller, and the position The sensor is used to collect the position information of the cleaning base tape and transmit it to the controller. The controller obtains the position of the cleaning mop through the position information of the cleaning mop and determines the cleaning mop that has been cleaned and the one that has not been cleaned. cleaning mop

By adopting the above technical solution, the position sensor will record the position of the corresponding cleaning mop based on the position information on the cleaning base belt. For example, when there are 5 groups of cleaning mops, and the position of the first group of cleaning mops is at the cleaning position, the position sensor will record the position of the first group of cleaning mops as the starting position. When the second group of cleaning mops is at the changing position, When the cleaning mop is on the material position, it means that the first set of cleaning mops has completed the cleaning function, and the cleaning base belt has completed replacing the first set of cleaning mops. The controller will then record the corresponding conditions of different cleaning mops. Therefore, when all cleaning mops are used, the position sensor will record the position of the cleaning mops, and after recording the corresponding cleaning time, the position sensor will transmit the position signal of the cleaning mops to The controller drives the cleaning base belt to convey the cleaned cleaning mop, transport the cleaned cleaning mop away, and transport the uncleaned cleaning mop to a position where the cleaning function is performed.

When the position sensor uses at least one encoder or proximity sensor, the function of the encoder is to program the initial position signals of multiple groups of cleaning mops. Among them, the first cleaning mop that performs the cleaning function can be programmed as No. 1 by the encoder. The second cleaning mop used for cleaning is programmed as No. 2 by the encoder, and all cleaning mops are programmed. Therefore, after multiple groups of cleaning mops are cleaned, the positions of the multiple groups of cleaning mops will change; moreover, the cleaning time of a single cleaning mop is the same, so it can be seen from the changes in the positions of the multiple groups of cleaning mops that the overall mechanism has been running for The length of time and the amount of cleaning mop used accordingly. When the position sensor uses a proximity sensor, the position of the first group of cleaning mops can be set as the initial position, and the first cleaning mop at the refueling position will be recorded and positioned. After the cleaning mop completes the cleaning work, this cleaning mop will The cleaning base belt will be transferred to the position until multiple sets of cleaning mops perform work in cycles, and the first cleaning mop is located at the position where the cleaning mop is replaced. The proximity sensor transmits a corresponding signal to the controller, and the controller receives the signal and sends a signal to remind you to replace the cleaning mop. Therefore, it is easy to replace the cleaning mop and maintain the continuous good cleaning effect of the overall cleaning mechanism.

Moreover, in order to better record the position of the cleaning mop, the cleaning base belt can be driven by a stepper motor. The encoder can also encode the cleaning base tape. At this time, by changing a cloth, the distance moved by the cleaning base tape can be recorded; when it is finally necessary to query how many cleaning mops have been used, calculations can be made based on the data encoded by the cleaning base tape to determine how much has been used. Cleaning mops. When a proximity sensor is used, the initial position of the cleaning base belt will be recorded. When this initial position runs for one circle, the proximity sensor will transmit a signal to the controller. The controller can prompt multiple groups of cleaning mops to complete cleaning based on the relevant signals. And deliver the relevant cleaning mop to the location where the cleaning mop is replaced. Since the linear displacement output by the stepper motor is fixed, multiple sets of cleaning mops are arranged on the cleaning base belt. Under the action of the stepper motor, the cleaning mop needs to be replaced every time after cleaning. According to the principle of the motor, each time the cleaning mop completes the cleaning work, the cleaning base belt travels the same distance. Therefore, the transmission distance of the cleaning base belt is used to determine whether the cleaning mop needs to be replaced. So, when it’s time to replace the cleaning mop, replace it. Correspondingly, the cleaning base belt will move accordingly, and another set of cleaning mops will be transported to the location that needs cleaning. The distance of each replacement is equal, which facilitates data calculation and processing.

Therefore, the controller can calculate the positions of multiple sets of cleaning mops based on the encoder data or the number of steps or turns of the stepper motor, thereby facilitating accurate replacement of cleaning mops.

Optionally, the cleaning base belt further includes a changing position and a cleaning position, and the controller is further configured to control the conveyance of the cleaning mop to the changing position according to the position of the cleaning mop that has been cleaned. The material level controls the cleaning mop that has not been cleaned to enter the cleaning position.

By adopting the above technical solution, when the position sensor uses an encoder, the cleaning position and the refueling position are encoded by the encoder, and when the cleaning mop is located at the cleaning position or the refueling position, data is recorded. For example: when the cleaning mop passes through the cleaning position and reaches the material changing position, it means that the cleaning mop can be replaced. When the cleaning mop passes through the cleaning position but does not reach the material changing position, it means that multiple sets of cleaning mops need to be replaced. Therefore, the controller can understand the actual cleaning situation.

Preferably, it also includes a housing and a lifting mechanism. The cleaning mechanism is provided in the housing. The lifting mechanism is drivingly connected to the cleaning mechanism. The lifting mechanism is configured to drive the cleaning mechanism to lift to achieve the desired effect. The cleaning mop contacts or separates from the working surface.

By adopting the above technical solution, the housing is used to protect the cleaning mechanism inside the mopping robot and at the same time provide an installation foundation for the cleaning mechanism and the like. The cleaning base belt can transport cleaning mops. Multiple groups of cleaning mops can be placed on the cleaning base belt. When the cleaning function is required, the cleaning base belt can transport the cleaning mops to the corresponding positions. When cleaning is completed, the cleaning base belt can transport the cleaned cleaning mops to another location. During the entire cleaning process, the sensing module will record the positions of multiple sets of cleaning mops on the cleaning base belt. When the cleaning mops need to be replaced, the cleaning mops can be quickly replaced. Find the positions of multiple sets of cleaning mops on the cleaning base belt to confirm the usage status of the corresponding cleaning mops. Therefore, the effect of quickly changing the cleaning mop can be achieved.

Preferably, a cleaning port is provided on a side of the housing close to the working surface to be cleaned, and the cleaning mop contacts the working surface through the cleaning port for cleaning.

By adopting the above technical solution, when the mopping robot performs the cleaning function, the cleaning port is used to provide a cleaning space for the cleaning mechanism, so that the cleaning mechanism can extend from the cleaning port and get close to the work surface for cleaning.

Preferably, the lifting mechanism is configured to drive the cleaning mechanism downward to drive the cleaning mop to be pressed against the working surface through the cleaning port for cleaning.

By adopting the above technical solution, when the mopping robot performs the cleaning function, the lifting mechanism exerts pressure on the cleaning mechanism, so that the cleaning mop is pressed against the working surface, so that the cleaning mop can better clean the working surface.

Preferably, the housing is provided with a cloth changing port through which the cleaning mop can be detached and installed on the cleaning base belt for replacement.

By adopting the above technical solution, when the mopping robot performs the cloth changing function, the cloth changing port is used to provide a space for changing the cleaning mop, so that the cleaning mechanism can remove and install the cleaning mop provided on the cleaning base belt through the cloth changing port.

Preferably, it also includes a moving mechanism configured to drive the cleaning mechanism and the lifting mechanism to move.

By adopting the above technical solution, the moving mechanism can drive the cleaning mechanism and the lifting mechanism to move, so that the mopping robot has a mobile function to increase the cleaning working area of the mopping robot.

Preferably, it also includes a cleaning component, the cleaning component is arranged on one side of the housing, and the cleaning component is used to wet the floor to be cleaned.

By adopting the above technical solution, when there are stubborn stains on the floor, the cleaning component can be cleaned by first moistening and then wiping to improve the cleaning ability.

Preferably, it also includes a sensing module, which is used to obtain the environment contour and determine the running path.

By adopting the above technical solution, the cleaning path is planned and then executed, thereby improving cleaning efficiency.

Preferably, the cleaning mechanism further includes a rotating shaft, the cleaning base belt is sleeved on the rotating shaft, and the cleaning mop is arranged to fit the surface of the cleaning base belt.

By adopting the above technical solution, the cleaning mop is arranged to fit the cleaning base belt, and the good transportation effect of the cleaning mop can be maintained.

Preferably, the cleaning mop is connected to the cleaning base tape using Velcro, Velcro stitching or keying.

By adopting the above technical solution, the Velcro method facilitates the disassembly and replacement of the cleaning mop, and the key connection can improve the connection force between the cleaning mop and the cleaning base belt, and reduce the cleaning mop falling off the cleaning base belt.

A cleaning robot control method, including: obtaining cleaning instructions, the cleaning instructions including cleaning mode and cleaning intensity; using a sensing module to obtain environmental contours, matching the environmental contours with a location map to be cleaned, and obtaining the current location and sorting tasks A list, at least one sub-task in the sorted task list includes a hand-drawn path; based on the cleaning mode and the cleaning intensity, start the cleaning robot to move from the current position to execute the sorted task list in order Each sub-task and complete the cleaning of the area corresponding to the hand-drawn path.

A cleaning robot control device, including a cleaning mechanism and a control background installed in the cleaning mechanism. The control background includes:

A cleaning instruction acquisition module is used to obtain cleaning instructions, which include cleaning mode and cleaning intensity;

The task list acquisition module is used to obtain the environment contour using the sensing module, match the environment contour with the location map to be cleaned, obtain the current location and sort the task list, and at least one sub-task in the sorted task list includes a hand-drawn path;

The robot startup module is used to start the cleaning robot to move from the current position based on the cleaning mode and cleaning intensity to execute each sub-task in the sorted task list in order and complete the cleaning of the area corresponding to the hand-drawn path.

The above-mentioned cleaning robot control method and device obtains the environmental contour by using a sensing module, matches the environmental contour with the location map to be cleaned, obtains the current position and a sorted task list, and at least one sub-task in the sorted task list includes a hand-drawn path, thereby completing Hand drawn paths correspond to the cleaning of areas. By combining hand-drawn paths into the sub-task of cleaning the road surface, this method can clean areas that cannot be displayed on the map, thereby achieving comprehensive and intelligent ground cleaning.

Description of drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. , for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative labor.

Figure 1 is a schematic diagram of the overall structure of an embodiment of the present application;

Figure 2 is a schematic diagram of the internal structure of the cleaning robot according to the embodiment of the present application;

Figure 3 is an exploded schematic diagram of the structure in Figure 2 according to the embodiment of the present application;

Figure 4 is a first perspective structural schematic diagram of the cleaning mechanism according to the embodiment of the present application;

Figure 5 is a schematic cross-sectional view of the cleaning mechanism from a second perspective according to the embodiment of the present application;

Figure 6 is a schematic structural diagram of the cleaning assembly from a first perspective according to the embodiment of the present application;

Figure 7 is a schematic structural diagram of the cleaning assembly from a second perspective according to the embodiment of the present application;

Figure 8 is a first flow chart of the cleaning robot control method according to the embodiment of the present application;

Figure 9 is a second flow chart of the cleaning robot control method according to the embodiment of the present application;

Figure 10 is a schematic diagram of the cleaning robot control background according to the embodiment of the present application;

Explanation of reference signs: 10. Cleaning mechanism; 20. Lifting mechanism; 30. Housing; 40. Moving mechanism; 50. Control mechanism; 60. Cleaning component; 110. Cleaning base belt; 111. Changing position; 112. Cleaning position ; 120. Cleaning mop; 130. Transmission component; 131. Movable roller; 132. Drive motor; 140. Frame; 141. Connecting plate; 142. Connecting rod; 143. Avoidance groove; 150. Guide rail; 210. Lifting component; 211. Lifting rod; 212. Lifting driver; 220. Fixed rod; 310. Base; 311. Cleaning port; 320. Upper cover; 321. Cloth changing port; 510. Input device; 520. Control background; 5210. Cleaning command Acquisition module; 5220, task list acquisition module; 5230, robot startup module; 530, display panel; 610, cleaning parts; 620, nozzle parts; 630, skin retaining part; 631, installation department; 632, water spreading part.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present invention.

Embodiment 1: The embodiment of this application discloses a cleaning robot.

Referring to FIGS. 1 and 2 , a cleaning robot includes a housing 30 , a cleaning mechanism 10 and a lifting mechanism 20 , where both the cleaning mechanism 10 and the lifting mechanism 20 are disposed in the housing 30 .

Referring to Figures 3 and 4, the cleaning mechanism 10 includes a closed ring cleaning base belt 110 and a plurality of cleaning mops 120 removably installed on the cleaning base belt 110; furthermore, the cleaning base belt 110 can rotate along a preset trajectory to drive cleaning The mop 120 moves synchronously with the cleaning base belt 110, so that the clean cleaning mop 120 moves to a position in contact with the working surface for cleaning, and the cleaning mop 120 that has completed the cleaning work moves to a position other than the working surface for replacement. The lifting mechanism 20 is connected to the cleaning mechanism 10 , and the lifting mechanism 20 is configured to drive the cleaning mechanism 10 to rise and fall to realize contact or separation between the cleaning mop 120 and the working surface. When the cleaning robot performs the cleaning function, the lifting mechanism 20 drives the cleaning mechanism 10 to descend, so that the cleaning mop 120 on the cleaning mechanism 10 comes into contact with the working surface for cleaning. When the mopping robot performs the cloth-changing function, the lifting mechanism 20 drives the cleaning mechanism 10 to rise, and the cleaning mop 120 is separated from the working surface. At the same time, the cleaning base belt 110 rotates to drive the cleaning mop 120 to move for replacement of the cleaning mop 120 .

Referring to FIGS. 3 and 4 , the cleaning mechanism 10 also includes a transmission assembly 130 and a frame 140 . The frame 140 is used to provide a mounting base for the cleaning base belt 110 , and the transmission assembly 130 is used to provide a driving force for the cleaning base belt 110 to rotate on the frame 140 . Specifically, the cleaning base belt 110 is wound around the frame 140 along the length direction, and the transmission assembly 130 is disposed in the frame 140 and is drivingly connected to the cleaning base belt 110 , so that the cleaning base belt 110 can be driven on the frame 140 along the direction of the cleaning base belt 110 . The rotation in the length direction enables the closed loop cleaning base belt 110 to complete the switching cycle of cleaning and cloth changing functions during the rotation in one direction.

In this embodiment, the cleaning mop 120 is attached to the cleaning base tape 110 through Velcro, thereby facilitating replacement. In another embodiment, in order to maintain the installation stability of the cleaning mop 120 , the cleaning mop 120 is connected to the cleaning base belt 110 using a key.

Referring to Figure 4, in this embodiment, the frame 140 is a frame structure composed of a plurality of longitudinally arranged connecting plates 141 and transversely arranged connecting rods 142 alternating vertically and horizontally. The closed-loop cleaning base belt 110 is laid along the length direction on the plurality of connecting rods. on the rod 142 so that the cleaning base belt 110 can rotate clockwise or counterclockwise around the frame 140 . The longitudinally arranged connecting plate 141 and the closed ring cleaning base belt 110 form an accommodating cavity. The accommodating cavity is used to install the lifting mechanism 20 to improve the space utilization inside the frame 140.

In addition, the connecting plate 141 is provided with an escape groove 143 , which is used to avoid the movement of the lifting mechanism 20 , so that the lifting mechanism 20 can drive the cleaning mechanism 10 to move up and down in the housing 30 along the opening direction of the escape groove 143 . The avoidance groove 143 is also used to limit the lifting and moving range of the cleaning mechanism 10 and prevent the cleaning mechanism 10 from coming out of the housing 30 under the action of the driving mechanism.

The transmission assembly 130 includes a plurality of movable rollers 131 arranged in the frame 140. The cleaning base belt 110 is partially wound around the movable rollers 131, so that when the movable roller 131 rotates, the movable roller 131 and the cleaning base belt 110 generate friction due to relative movement. force, the cleaning base belt 110 rotates in the direction of friction force under the action of friction force. A driving motor 132 is connected to the movable roller 131, and the driving motor 132 is used to drive the movable roller 131 to rotate.

It should be noted that the plurality of movable rollers 131 are arranged at relatively symmetrical positions on the frame 140 at certain intervals, so that the cleaning base belt 110 can receive driving force when rotating at different positions of the frame 140 . Preferably, a movable roller 131 is provided at a corner position of the frame 140 to drive the cleaning base belt 110 to rotate, to prevent the cleaning base belt 110 from getting stuck in part of the frame 140 during rotation.

It should also be noted that the driving motor 132 can be a driving motor 132 connected to the movable roller 131 to provide driving force. The other movable rollers 131 are not connected to the driving motor 132, but function to adjust the cleaning base belt under the action of friction. 110The role of movement direction. It is also possible that multiple driving motors 132 are respectively connected to different movable rollers 131 in transmission, so that the cleaning base belt 110 receives the same driving force everywhere during the rotation process, providing a smooth force for movement. The driving motor 132 can also be arranged in the above two ways or in combination with other ways, which are not limited here.

In some other embodiments, part of the movable rollers 131 is disposed transversely inside the frame 140 , so the cleaning base belt 110 partially winds around the inside of the frame 140 to form V-shaped, L-shaped, S-shaped structures, etc., thereby increasing the length of the cleaning base belt 110 , so that more cleaning mops 120 are provided on the cleaning base belt 110 to improve the endurance of the mopping robot.

Refer to Figure 3 and Figure 4 in order to achieve a more precise mopping effect. The cleaning mechanism 10 also includes a sensing module. In this embodiment, the sensing module is used to measure the positions of the plurality of cleaning mops 120 located on the cleaning base belt 110 . In other embodiments, the sensing module is used to record position information of the overall cleaning robot.

In this embodiment, the sensing module includes a position sensor and a controller, where the position sensor is used to collect the position information of the cleaning base belt 110 and transmit it to the controller; the controller obtains the position of the cleaning mop 120 through the position information of the cleaning mop 120 and determines that it has been The cleaning mop 120 that has been cleaned and the cleaning mop 120 that has not been cleaned.

Referring to Figure 4, the cleaning base belt 110 includes a refueling position 111 and a cleaning position 112. When the cleaning mop 120 moves to the cleaning position 112, the cleaning mop 120 needs to be used to clean the floor; the cleaning mop 120 that has completed the cleaning work will be transported to Change the material position 111 and replace the cleaning mop 120.

In this embodiment, the position sensor uses an encoder. The function of the encoder is to program the initial position signals of multiple groups of cleaning mops 120. The first cleaning mop 120 that performs the cleaning function can be programmed as No. 1 by the encoder. , the second cleaning mop 120 used for cleaning is programmed as number 2 by the encoder, and then all the cleaning mops 120 are programmed. Therefore, after the cleaning mops 120 of the multiple groups are cleaned, the positions of the cleaning mops 120 of the multiple groups will change; moreover, the cleaning time of a single cleaning mop 120 is the same, so the overall position changes of the cleaning mops 120 of the multiple groups can be known How long the mechanism has been operating and accordingly the amount of cleaning mops 120 used.

In another embodiment, the position sensor uses a proximity sensor. The position of the first group of cleaning mops 120 can be set as the initial position, and the first cleaning mop 120 located at the refueling position 111 will be recorded and positioned. When this cleaning mop After 120 completes the cleaning work, the cleaning mop 120 will be transferred to the position by the cleaning base belt 110 until multiple groups of cleaning mops 120 perform work in cycles, and the first cleaning mop 120 is located at the position where the cleaning mop 120 is replaced. The proximity sensor transmits a corresponding signal to the controller, and the controller receives the signal and sends a signal to remind the user to replace the cleaning mop 120 . Therefore, it is easy to replace the cleaning mop 120 and maintain the continuous good cleaning effect of the overall cleaning mechanism 10 .

In addition, in order to better record the position of the cleaning mop 120, the driving motor 132 can use a stepper motor; when an encoder is used, the encoder can also encode the cleaning base tape 110. At this time, changing a cloth can record the cleaning The distance that the base belt 110 moves; when it is finally necessary to query how many cleaning mops 120 have been used, calculations can be performed based on the data encoded in the cleaning base belt 110 to determine how many cleaning mops 120 have been used. When a proximity sensor is used, the initial position of the cleaning base belt 110 will be recorded. After the initial position runs for one circle, the proximity sensor will transmit a signal to the controller, and the controller can prompt multiple sets of cleaning mops 120 to complete cleaning based on the relevant signals. situation, and the relevant cleaning mop 120 is delivered to the position where the cleaning mop 120 is replaced. Since the linear displacement output by the stepper motor is fixed, multiple sets of cleaning mops 120 are arranged on the cleaning base belt 110. Under the action of the stepper motor, each cleaning mop 120 needs to be replaced after cleaning. 120. Through the principle of the stepper motor, the cleaning base belt 110 travels the same distance each time after the cleaning mop 120 completes the cleaning work. Therefore, whether the cleaning mop 120 needs to be replaced is determined based on the conveying distance of the cleaning base belt 110 . Therefore, when it is necessary to replace the cleaning mop 120, replace it. Correspondingly, the cleaning base belt 110 will move accordingly, and another set of cleaning mops 120 will be transported to the location that needs cleaning. The distance of each replacement is equal, which facilitates data calculation and processing.

Therefore, the controller can calculate the positions of multiple sets of cleaning mops 120 based on the encoder data or the number of steps or turns of the stepper motor, thereby facilitating accurate replacement of the cleaning mops 120 .

Referring to FIGS. 2 and 3 , the housing 30 includes a base 310 and an upper cover 320 . The cleaning mechanism 10 is disposed in the base 310 . The upper cover 320 is detachably disposed on the base 310 . When the upper cover 320 is installed on the base 310 , the housing 30 formed by the base 310 and the upper cover 320 is used to protect the cleaning mechanism 10 in the housing 30 . When the upper cover 320 is detached from the base 310, the cleaning mechanism 10 can be taken out from the gap formed by the detachment of the upper cover 320 from the base 310 for maintenance.

The base 310 is provided with a cleaning port 311 on one side close to the working floor. The opening size of the cleaning port 311 is larger than the size of the cleaning base belt 110 on the bottom of the frame 140, so that when the lifting mechanism 20 drives the cleaning mechanism 10 to descend, the cleaning mechanism 10 can move from the cleaning The opening 311 protrudes from the base 310 and allows the cleaning mop 120 at the bottom of the cleaning base belt 110 to directly contact the work floor to perform cleaning operations.

The upper cover 320 is provided with a cloth changing port 321 on the side away from the working floor. When the mopping robot performs the cloth changing function, the lifting mechanism 20 drives the cleaning mechanism 10 to rise, so that the used cleaning mop 120 on the cleaning base belt 110 is close to the cloth changing port. The user can directly contact the cleaning mop 120 on the cleaning base belt 110 through the cloth changing port 321, thereby replacing the cleaning mop 120 on the cleaning base belt 110.

It should be noted that the location of the cloth changing port 321 is not limited to that described in the embodiment of the present application. It may also be provided on the base 310 as long as the cleaning mop 120 can be removed and installed from the cloth changing port 321 . Those skilled in the art can make adaptive adjustments according to actual needs.

Referring to FIG. 5 , the lifting mechanism 20 includes a fixed rod 220 and a lifting component 210 . The lifting component 210 is fixedly connected to the cleaning mechanism 10 . The fixed rod 220 is fixedly connected to the housing 30 . The lifting component 210 is drivingly connected to the fixed rod 220 . When the mopping robot performs the cloth-changing function, the lifting assembly 210 exerts a downward force on the fixed rod 220. Since the fixed rod 220 is fixedly connected to the housing 30, the housing 30 will not move due to the support force of the ground. At the same time, according to the principle of mutual force, the fixed rod 220 exerts an upward force in the opposite direction on the lifting assembly 210. Since the lifting assembly 210 is fixedly connected to the cleaning mechanism 10, it drives the cleaning mechanism 10 to move upward in the housing 30, so that The cleaning mechanism 10 is close to the cloth changing port 321 of the housing 30 to perform the cloth changing function.

When the mopping robot performs the cleaning function, the lifting assembly 210 stops exerting pressure, and the reaction force supporting the rise of the cleaning mechanism 10 disappears simultaneously. At this time, the cleaning mechanism 10 moves downward through the cleaning port 311 in the housing 30 under its own gravity. Until the cleaning mop 120 on the cleaning mechanism 10 is pressed tightly on the work floor.

It can be understood that when the mopping robot performs the cleaning function, the bottom of the cleaning mechanism 10 is attached to the working floor. At this time, the entire weight of the cleaning mechanism 10 is borne by the cleaning mop 120 at the bottom of the cleaning mechanism 10. The cleaning mop 120 is made of This pressure is pressed against the work surface so that the cleaning mop 120 can clean the work surface better.

Specifically in the embodiment, the fixing rod 220 is passed through the frame 140 and both ends are connected to the inside of the housing 30. The lifting assembly 210 is connected between the fixing rod 220 and the frame 140 to connect the housing 30 through the fixing rod 220. and the frame 140 are two relatively independent structures.

The lifting assembly 210 includes a lifting rod 211 and a lifting driving member 212 provided at an end of the lifting rod 211 away from the working ground. The lifting driving member 212 is fixedly installed in the frame 140. One end of the lifting rod 211 away from the working ground is connected to the lifting driving member 212. The lifting driving member 212 can drive the lifting rod 211 to move up and down. The other end of the lifting rod 211 is close to the working ground. One end is connected to the fixed rod 220.

The fixed rod 220 is horizontally passed through the escape groove 143 of the connecting plate 141 and connected to the inside of the housing 30 . The connecting lifting rod 211 is vertically disposed at the midpoint of the fixed rod 220 . The lifting driving member 212 is an electric motor, and the lifting rod 211 is the output shaft of the electric motor. When the electric motor is working, it exerts a vertical downward thrust on the lifting rod 211 to push the frame 140 up through the reaction force.

It can be understood that the structure of the lifting driving member 212 is not limited to an electric motor, and may also be a common driving member in the field such as a piston cylinder.

Referring to Figures 2 and 5, the cleaning robot also includes a control mechanism 50, wherein the control mechanism 50 is communicatively connected to the cleaning mechanism 10 and the lifting mechanism 20, and the control mechanism 50 can control the cleaning mechanism 10, the lifting mechanism 20 and other mechanisms to cooperate with each other, This enables the cleaning and material changing functions of the mopping robot.

Referring to FIGS. 2 and 5 , the control mechanism 50 includes an input device 510 and a control background 520 . The control background 520 is disposed inside the housing 30. The control background 520 can accept control instructions from the input device 510. The control background 520 is connected to the cleaning mechanism 10 and the lifting mechanism 20 through signal wires. The control background 520 converts the control instructions into electrical signals. signal, thereby controlling the actions of the cleaning mechanism 10 and the lifting mechanism 20 in the form of electrical signals. Specifically in the embodiment, the control background 520 is a PCB (Printed Circuit Board) disposed inside the housing 30 .

Moreover, the input device 510 includes control buttons provided on the housing 30. The control buttons include buttons for cleaning, changing cloth, and turning on/off the computer. The buttons are electrically connected to corresponding components on the PCB through signal wires to perform corresponding functions.

Referring to Figures 2 and 5, a display panel 530 is also provided on the housing 30. The display panel 530 is communicatively connected to the control backend 520 to display working information of the mopping robot. Specifically, the display panel 530 is used to display the working information of the mopping robot so that the user can decide the work task arrangement of the mopping robot and issue corresponding control instructions based on the working information of the mopping robot.

Referring to FIGS. 6 and 7 , the cleaning robot further includes a cleaning component 60 , where the cleaning component 60 is disposed on one side of the housing 30 . The cleaning component 60 is used to clean hair, tiny particles or dust on the ground. Specifically, the cleaning component 60 includes a cleaning component 610, a nozzle component 620 for spraying water, and a baffle 630. The cleaning component 610 is detachably connected to the housing 30, and the cleaning component 610 is a brush. In order for the nozzle part 620 to spray water, in this application, a water tank and a micro water pump are provided on one side of the housing 30, and the water tank, the micro water pump and the nozzle part 620 are connected through hoses. In addition, multiple groups of nozzle members 620 are provided, and the multiple groups of nozzle members 620 are all fixed on the retaining skin 630 . The retaining skin 630 includes a mounting part 631 and a water spreading part 632. The mounting part 631 is arranged horizontally, and multiple sets of nozzles 620 are arranged on the mounting part 631. The water spreading part 632 is arranged vertically, and there is a distance between the water spreading part 632 and the ground. . When the floor needs to be cleaned, water is first sprayed on the ground through the nozzle member 620, then the water is spread through the barrier 630, and finally the floor is mopped through the cleaning mop.

Referring to FIGS. 6 and 7 , the cleaning robot also includes a moving mechanism 40 , which is disposed on the base 310 . The moving mechanism 40 includes common moving parts such as pulleys and crawler tracks, which are not the focus of this application and will not be described in detail here.

The implementation principle of the embodiment of the present application: a cleaning mop 120 is provided on the cleaning base belt 110. The cleaning mop 120 is transported to the ground through the cleaning base belt 110 to perform cleaning work. The cleaned cleaning mop 120 is then transmitted to other locations through the cleaning base belt 110. , to change cloth. The cleaning base belt 110 and the frame 140 are combined to form a holding cavity with a lifting mechanism 20. The lifting mechanism 20 is connected to the housing 30 at the same time. The cleaning base belt 110 is moved up and down through the reaction force of gravity and thrust, thereby realizing the cleaning mode and change. Switching of material mode. The housing 30 is not only used to protect the internal mechanism, but also forms a mechanical support point for the lifting function. Through the mutual coordination of the housing 30, the cleaning mechanism 10 and the lifting mechanism 20, the switching between the cloth changing mode and the cleaning mode is realized, and in While streamlining the internal mechanism of the mopping robot, the utilization rate of the internal space of the housing 30 is improved. In addition, during the functional state switching process of the cleaning robot, the positions of multiple sets of cleaning mops 120 will be recorded by the sensing module, and the cleaning mops 120 that have not been cleaned will be transported to the position of the cleaning position 112. Therefore, the position of the cleaning mop 120 that needs to be replaced is quickly known, and the cleaning mop 120 is quickly replaced.

Example 2:

A cleaning robot control method specifically includes the following steps:

S110. Obtain cleaning instructions, which include cleaning mode and cleaning intensity.

Specifically, the cleaning model includes dry mopping and wet mopping modes. The dry mopping mode may include using only the cleaning mop 120; the wet mopping mode may include using water spray, medium brush, and cleaning mop 120 at the same time.

Cleaning intensity includes: standard intensity and strong intensity, and can also include: water spray volume, medium brush speed and cloth changing speed, etc.

S120. Use the sensing module to obtain the environment contour, match the environment contour with the location map to be cleaned, and obtain the current location and sorted task list. At least one sub-task in the sorted task list includes a hand-drawn path.

Among them, the current position is the specific location point where the cleaning robot is currently located in the space to be cleaned.

A sorted task list is a list of cleaning tasks that can be performed in sequence, arranged in a reasonable order.

The hand-drawn path is a moving path of the cleaning robot that can be manually drawn by the user based on a path that is difficult to display on a map. Because some ground locations are inconvenient to clean or difficult to plan according to standard paths, users need to designate paths according to actual needs. Users can set the number of scans according to needs, such as narrow places and hotel passages.

Specifically, the sensing module can sense the outline of the surrounding environment, match it with the map built and saved in the machine, and obtain the robot's positioning information in this map.

S130. Based on the cleaning mode and cleaning intensity, start the cleaning robot to move from the current position to sequentially execute each sub-task in the sorted task list and complete the cleaning of the area corresponding to the hand-drawn path.

Specifically, the cleaning robot can complete the cleaning of the space floor according to the set cleaning mode and cleaning intensity, and at the same time complete the cleaning of the area corresponding to the hand-drawn path, achieving comprehensive and complete cleaning of the floor to be cleaned.

The cleaning robot control method provided by this embodiment uses a sensing module to obtain the environment contour, matches the environment contour with the position map of the location to be cleaned, and obtains the current position and a sorted task list. At least one sub-task in the sorted task list includes hand-painted path to complete the cleaning of the area corresponding to the hand-drawn path. By combining hand-drawn paths into the sub-task of cleaning the road surface, this method can clean areas that cannot be displayed on the map, thereby achieving comprehensive and intelligent ground cleaning.

In a specific embodiment, before step S120, as shown in Figure 2, that is, before obtaining the current location and setting the sorted task list, the following steps are specifically included:

S2011. Obtain the work area corresponding to the position map to be cleaned, and generate a work path and a boundary path based on the work area.

S2012. If the client sends a hand-drawn path based on the target position of the location map of the location to be cleaned, determine the relative position of the target location on the location map of the location to be cleaned.

S2013. If the relative position is in the working area, add the hand-drawn path to the working path to generate a working path subtask.

S2014. If the relative position is in a non-working area, add the hand-drawn path to the boundary path to generate a boundary path subtask.

S2015. Combine the working path subtasks and boundary path subtasks to generate a sorted task list.

Specifically, the user can delimit the working area of the sweeping robot, generate an edge path in the demarcated area, and scan the boundary to obtain the non-working area.

By combining the working path subtasks and boundary path subtasks to generate a sorted task list, more detailed cleaning tasks without leftover boundaries can be achieved on the floor of the whole house.

In a specific embodiment, before step S120, that is, before matching the environment contour with the location map of the location 112 to be cleaned, the following steps are specifically included:

S2021. Obtain map construction instructions.

S2022. Start the lidar and gyroscope based on the map construction instruction to obtain the real-time point cloud image and the real-time moving direction of the cleaning robot respectively.

S2023. Control the cleaning robot to move in the real-time moving direction until all real-time point cloud images acquired by the lidar form a complete three-dimensional point cloud image of the location to be cleaned.

S2024. Perform image processing on the three-dimensional point cloud image of the position 112 to be cleaned, obtain the position map of the position 112 to be cleaned for tracking by the cleaning robot, and save it.

Specifically, this embodiment can perform early erasing on the three-dimensional point cloud map of the location 112 to be cleaned, thereby generating a location map of the location 112 to be cleaned.

In this embodiment, the composition authority can be given through the corresponding App, and the function of constructing the map can be triggered by using touch keys, etc. to control the robot to walk around the space to be cleaned, etc., and then use lidar, which can have a range of up to 40 meters for constructing Map, and control the direction of the cleaning robot through the gyroscope (attitude).

In a specific embodiment, in step S2024, that is, after obtaining and saving the position map of the location to be cleaned for tracking by the cleaning robot, the following steps are specifically included:

S2401. Obtain the position to be closed through the three-dimensional point cloud image of the position to be cleaned.

S2402. Based on the location to be closed, mark the location map of the location to be cleaned, which is used to generate a virtual wall on the location map of the location to be cleaned, so that the cleaning robot avoids the virtual wall.

Specifically, the user can draw a door at a target location such as an elevator entrance corresponding to the three-dimensional point cloud map of the location to be cleaned 112 to form a closed area, thereby forming a virtual wall on the location map of the location to be cleaned 112 .

In a specific embodiment, after step S130, as shown in Figure X, that is, after starting the cleaning robot to move from the current position, the following steps are specifically included:

S3011. If the cleaning robot returns obstacle information through the camera and/or sensor module while moving, the cleaning robot is controlled to pause its movement and keep monitoring the obstacles.

S3012. If the obstacle still exists after the preset observation time period, start the obstacle avoidance line and control the cleaning robot to continue moving according to the obstacle avoidance line.

S3013. If the obstacle disappears within the preset observation time period, control the cleaning robot to continue moving along the original path.

Specifically, this embodiment can use a sensing module to sense surrounding obstacles for obstacle avoidance to distinguish between static obstacles and dynamic obstacles. Predict the movement direction and distance of obstacles ahead, and the machine will decide whether to go around the obstacle. Among them: lidar is used to locate and detect obstacles; 3D cameras are used for low obstacle avoidance and three-dimensional space obstacle avoidance; collision sensors are used to detect whether a touch will trigger the machine to stop, etc.; ultrasonic sensors are used to realize the role of reversing radar .

In a specific embodiment, the cleaning mode includes an initial movement speed.

After step S130, after starting the cleaning robot to move from the current position, the following steps are specifically included:

S3021. Obtain the human flow video in real time through the camera, analyze the human flow video, and obtain the human flow density.

S3022. The density of people flow determines the current moving speed corresponding to the cleaning robot, and controls the cleaning robot to continue moving at the current moving speed.

Specifically, this embodiment can control the movement of the cleaning robot according to preset movement speeds including low speed, medium speed and high speed as the initial movement speed. When encountering speed adjustment reasons, the cleaning robot can set the speed, change the speed and adjust the posture according to the actual scene, such as human flow factors, so that the machine can track the path to be cleaned and continue moving forward.

In a specific embodiment, after step S130, that is, after starting the cleaning robot to move from the current position, the following steps are specifically included:

S3031. If the cleaning robot sends a distress alarm, control the cleaning robot to perform lateral movement and monitor the movement results of the lateral movement.

S3032. If the movement result is that there is no feasible path, control the cleaning robot to perform a retreat movement according to the preset retreat distance.

Specifically, this embodiment can control the cleaning robot to mainly rotate to find the best path to get out of trouble. The robot first tries to rotate left and right to see if there is space to plan a suitable path. If not, it will retreat first to get out of trouble.

Furthermore, the cleaning robot provided in this embodiment also provides an automatic recharging mechanism. When the robot's battery power is lower than a preset battery threshold, such as 20%, during the execution of a task, it will automatically return to the charging position for mechanical charging. This embodiment also provides a mechanism for automatically identifying charging piles. The charging piles can be identified through lidar combined with cameras, and a charging route can be generated in time for the mobile robot to move along the charging route to the charging pile location for charging. At the same time, the cleaning robot provided in this embodiment also provides a short-range APP supported by wifi communication and a remote APP supported by 4G communication.

It should be understood that the sequence number of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

In one embodiment, a cleaning robot control device is provided, which is in one-to-one correspondence with the cleaning robot control method in the above embodiment. As shown in FIG. 3 , the cleaning robot control device includes a cleaning mechanism 10 and a control backend 520 provided in the cleaning mechanism 10 . The control backend 520 includes: a cleaning instruction acquisition module 5210 , a task list acquisition module 5220 , and a robot startup module 5230 . The detailed description of each functional module is as follows:

The cleaning instruction acquisition module 5210 is used to obtain cleaning instructions, which include cleaning mode and cleaning intensity;

The task list acquisition module 5220 is used to obtain the environment contour using the sensing module, match the environment contour with the location map to be cleaned, obtain the current position and sort the task list, and at least one sub-task in the sorting task list includes a hand-drawn path;

The robot starting module 5230 is used to start the cleaning robot to move from the current position based on the cleaning mode and cleaning intensity to execute each sub-task in the sorted task list in order and complete the cleaning of the area corresponding to the hand-drawn path.

For specific limitations on the cleaning robot control device, please refer to the above limitations on the cleaning robot control method, which will not be described again here. Each module in the above-mentioned cleaning robot control device can be realized in whole or in part by software, hardware and combinations thereof. Each of the above modules can be embedded in or independent of the processor in the electronic device in the form of hardware, or can be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. , when executed, the computer program may include the processes of the above method embodiments. Any reference to memory, storage, database or other media used in various embodiments of this application may include non-volatile and/or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions of the foregoing embodiments. Modifications are made to the recorded technical solutions, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of the present invention, and should all be included in the present invention. within the scope of protection.

Claims

A cleaning robot, characterized by: including a cleaning mechanism (10). The cleaning mechanism (10) includes a closed ring cleaning base belt (110) and a plurality of cleaning robots removably installed on the cleaning base belt (110). Mop (120); the cleaning base belt (110) rotates and drives a plurality of the cleaning mops (120) to move to replace the cleaning mop (120) corresponding to the working surface to be cleaned.
A cleaning robot according to claim 1, characterized in that the cleaning mechanism (10) further includes a sensing module, the sensing module is used to measure the position of a plurality of the cleaning mops (120) on the cleaning robot. The position of the base belt (110); the sensing module includes a position sensor and a controller. The position sensor is used to collect the position information of the cleaning base belt (110) and transmit it to the controller. The controller uses the Cleaning mop (120) position information obtains the position of the cleaning mop (120) and determines the cleaning mop (120) that has been cleaned and the cleaning mop (120) that has not been cleaned.
A cleaning robot according to claim 2, characterized in that the cleaning base belt (110) further includes a refueling position (111) and a cleaning position (112).
A cleaning robot according to claim 1, characterized in that it also includes a housing (30) and a lifting mechanism (20), the cleaning mechanism (10) is provided in the housing (30), and the lifting mechanism (20) is provided in the housing (30). The mechanism (20) is drivingly connected to the cleaning mechanism (10).
A cleaning robot according to claim 4, characterized in that a cleaning port (311) is provided on the side of the housing (30) close to the working surface to be cleaned.
A cleaning robot according to claim 5, characterized in that the lifting mechanism (20) is configured to drive the cleaning mechanism (10) downward and drive the cleaning mop (120) through the cleaning port. (311) Press against the work surface for cleaning.
A cleaning robot according to claim 2, characterized in that the housing (30) is provided with a cloth changing port (321).
The cleaning robot according to claim 4, further comprising a moving mechanism (40) configured to drive the cleaning mechanism (10) and the lifting mechanism (20) to move.
The cleaning robot according to claim 1, further comprising a cleaning component (60) disposed on one side of the housing (30), and the cleaning component (60) ) is used to moisten the floor to be cleaned.
The cleaning robot according to claim 9, further comprising a sensing module, the sensing module being used to obtain the environment contour and determine the running path.
A cleaning robot according to any one of claims 1-10, characterized in that the cleaning mechanism (10) further includes a rotating shaft, the cleaning base belt (110) is sleeved on the rotating shaft, and the cleaning mop (120) is arranged to fit the surface of the cleaning base belt (110).
A cleaning robot according to any one of claims 1 to 10, characterized in that the cleaning mop (120) is attached to the cleaning base belt (110) using Velcro, Velcro stitching or keys.
A cleaning robot control method, including a cleaning robot according to any one of claims 1-12, characterized in that it includes:

Obtain cleaning instructions, where the cleaning instructions include cleaning mode and cleaning intensity;

Use a sensing module to obtain the environment contour, match the environment contour with the location map of the location to be cleaned (112), and obtain the current location and a sorted task list, where at least one sub-task in the sorted task list includes a hand-drawn path;

Based on the cleaning mode and the cleaning intensity, the cleaning robot is started to move from the current position to sequentially execute each sub-task in the sorted task list and complete cleaning of the area corresponding to the hand-drawn path.
The cleaning robot control method according to claim 13, characterized in that, before obtaining the current position and setting the sorted task list, it further includes:

Obtain the working area corresponding to the location map of the position to be cleaned (112), and generate a working path and a boundary path based on the working area;

If the client sends the hand-drawn path based on the target position of the location map of the location to be cleaned (112), then determine the relative position of the target location on the location map of the location to be cleaned (112);

If the relative position is in the working area, add the hand-drawn path to the working path to generate a working path subtask;

If the relative position is in a non-working area, add the hand-drawn path to the boundary path to generate a boundary path subtask;

The sorted task list is generated by combining the working path subtask and the boundary path subtask.
The cleaning robot control method according to claim 14, characterized in that, before matching the environment contour and the location map of the location to be cleaned (112), it further includes:

Get map construction instructions;

Start the lidar and gyroscope based on the map construction instruction to obtain the real-time point cloud image and the real-time movement direction of the cleaning robot respectively;

Control the cleaning robot to move in the real-time moving direction until all the real-time point cloud images acquired by the laser radar constitute a complete three-dimensional point cloud image of the position to be cleaned (112);

The three-dimensional point cloud map of the position to be cleaned (112) is image processed, and the position map of the position to be cleaned (112) used by the cleaning robot to track is obtained and saved.
The cleaning robot control method according to claim 15, characterized in that after obtaining and saving the location map of the position to be cleaned (112) used by the cleaning robot to track, it further includes:

Set the three-dimensional point cloud image of the position to be cleaned (112) to obtain the position to be closed;

Based on the location to be closed, mark the location map of the location to be cleaned (112) to generate a virtual wall on the location map of the location to be cleaned (112), so that the cleaning robot avoids the virtual wall. wall.
The cleaning robot control method according to claim 16, characterized in that after starting the cleaning robot to start moving from the current position, it further includes:

If the cleaning robot returns obstacle information through the camera and/or the sensing module while moving, the cleaning robot is controlled to pause its movement and keep monitoring the obstacles;

If the obstacle still exists after the preset observation period, the obstacle avoidance line is started and the cleaning robot is controlled to continue moving according to the obstacle avoidance line;

If the obstacle disappears within the preset observation time period, the cleaning robot is controlled to continue moving along the original path.
The cleaning robot control method according to claim 17, wherein the cleaning mode includes an initial movement speed;

After the starting of the cleaning robot starts to move from the current position, it also includes:

Acquire the video of people flow in real time through the camera, analyze the video of people flow, and obtain the density of people flow;

The human flow density determines the corresponding current moving speed of the cleaning robot, and controls the cleaning robot to continue moving at the current moving speed.
The cleaning robot control method according to claim 18, characterized in that after the starting of the cleaning robot starts to move from the current position, it further includes:

If the cleaning robot sends a distress alarm, control the cleaning robot to perform lateral movement and monitor the movement results of the lateral movement;

If the movement result is that there is no feasible path, the cleaning robot is controlled to perform a retreat movement according to a preset retreat distance.
A cleaning robot control device, characterized by a cleaning mechanism (10) and a control module arranged in the cleaning mechanism (10), and the control module includes:

Cleaning instruction acquisition module (5210), used to obtain cleaning instructions, which include cleaning mode and cleaning intensity;

The task list acquisition module (5220) is used to obtain the environment contour using the sensing module, match the environment contour with the location map of the location to be cleaned (112), obtain the current position and the sorted task list, and at least 10 items in the sorted task list are One subtask consists of hand-drawing paths;

Robot starting module (5230), used to start the cleaning robot to move from the current position based on the cleaning mode and the cleaning intensity to execute each sub-task in the sorted task list in order and complete The hand-drawn path corresponds to the cleaning of the area.