阅读说明：本技术 一种清洁机器人的擦地方法及清洁机器人 (Floor mopping method of cleaning robot and cleaning robot ) 是由 王旭宁 姜新勇 王鹏程 于 2020-06-05 设计创作，主要内容包括：本申请涉及清洁机器人领域。本申请揭示了一种清洁机器人的擦地方法,包括：获取待清洗区域的环境地图；根据环境地图确定待清洁的目标区域,并在目标区域中设置起始位置；行驶至起始位置,并经由目标区域自远而近地向充电站靠拢,在靠拢的过程中对目标区域内的地面进行擦洗；其中,选取目标区域内距离充电站的背侧边最远的点所在的位置作为相应的起始位置。该实施例中所揭示的方法,能够合理设置擦地的起始位置及路径,避免脏污的拖布将已清洁的区域弄脏。本申请同时还揭示了一种清洁机器人,其在擦地过程中能够智能规划起始位置及路径,从而改善了产品体验。(The present application relates to the field of cleaning robots. The application discloses a floor mopping method of a cleaning robot, which comprises the following steps: acquiring an environment map of an area to be cleaned; determining a target area to be cleaned according to an environment map, and setting an initial position in the target area; driving to the initial position, approaching to a charging station from far to near through a target area, and scrubbing the ground in the target area in the approaching process; and selecting the position of the point farthest from the back side of the charging station in the target area as a corresponding initial position. The method disclosed in this embodiment makes it possible to set the starting position and path of the mopping appropriately, avoiding that a soiled mop will soil a cleaned area. The application also discloses a cleaning robot, which can intelligently plan the initial position and the path in the floor wiping process, so that the product experience is improved.)

1. A floor mopping method of a cleaning robot, comprising:

acquiring an environment map of an area to be cleaned;

determining a target area to be cleaned according to the environment map, and setting an initial position in the target area;

driving to the starting position, approaching to a charging station from far to near through the target area, and scrubbing the ground in the target area in the approaching process; wherein the content of the first and second substances,

and selecting the position of the point farthest from the back side of the charging station in the target area as a corresponding starting position.

2. The method of claim 1, wherein traveling to the starting location and approaching from far to near via the target area to a charging station, the step of scrubbing the ground within the target area during the approaching comprising:

starting from the starting position, the charging station is moved toward along the bow path/herringbone path.

3. The method of claim 1, wherein the target region comprises any one of: a target whole house area, a target room area, a target fence area.

4. Method according to any of claims 1-3, characterized in that the cleaning robot comprises a liftable mop assembly, the charging station further comprises a cleaning area for cleaning the mop assembly, and

a guide area guiding the cleaning robot into a corresponding washing area, the method further comprising:

acquiring working state information of the cleaning robot;

controlling the mop component to be in a lifting state/falling state according to the working state information; wherein the content of the first and second substances,

the operating state information includes at least one of: go to state; a closed state; a cleaning state; and (4) obstacle crossing state.

5. Method according to claim 4, characterized in that the step of controlling the mop assembly in the raised/lowered position according to the operating condition information comprises:

the mop assembly is in a raised state corresponding to the go-to/obstacle crossing state; wherein the content of the first and second substances,

in the forward state, the cleaning robot travels to the start position;

in the obstacle crossing state, the cleaning robot transitions to the washing area via the guide area.

6. Method according to claim 4, characterized in that the step of controlling the mop assembly in the raised/lowered position according to the operating condition information comprises:

the mop assembly is in a falling state corresponding to the closed state/cleaning state; wherein the content of the first and second substances,

in the closing state, the cleaning robot is closed from the starting position to the charging station;

in the cleaning state, the cleaning robot stays in the cleaning area to clean the mop assembly.

7. The method of claim 4, wherein the elevated state comprises: the mop cloth component is lifted to the bottom of the mop cloth component to be separated from the ground; the falling state includes: the mop assembly is lowered to the point where the bottom of the mop assembly abuts against the corresponding receiving surface below it.

8. The method according to any of claims 1-3, wherein the point in the target area that is farthest away from the back side of the charging station is not unique, wherein a boundary junction of the target area is selected as the corresponding starting location.

9. A cleaning robot comprises an environment map acquisition module, a driver and a mop component, and is characterized in that the environment map acquisition module is used for acquiring an environment map of an area to be cleaned, determining a target area to be cleaned according to the environment map, and setting a starting position in the target area;

the driver drives the cleaning robot to travel to the starting position, and the cleaning robot is made to approach to a charging station from far to near through the target area;

during the closing process, the mop component cleans the ground in the target area; wherein the content of the first and second substances,

and the environment map acquisition module selects the position of the point farthest from the back side of the charging station in the target area as a corresponding initial position.

10. A cleaning robot according to claim 9, characterized in that the mop assembly is liftable; the charging station further includes a cleaning area for cleaning the mop assembly, and a guide area for guiding the cleaning robot into the respective cleaning area.

Technical Field

The invention relates to the field of cleaning robots, in particular to a floor mopping method of a cleaning robot. The invention also discloses a cleaning robot.

Background

With the development of intelligent technology, the cleaning robot with the floor mopping function gradually enters the home environment of a user and starts to complete cleaning tasks for more and more consumers. The current cleaning robot, when carrying out the task of mopping the ground or breakpoint continuation of journey task, to the planning of working path unreasonable to lead to cleaning robot to be too extravagant to the use of clean water in the process of mopping the ground, make cleaning robot need carry out moisturizing many times to the mop, just can finally accomplish the task of mopping the ground, influenced the user experience of this type of product greatly.

Therefore, a more intelligent cleaning robot needs to be designed, a reasonable working path is planned, water for mopping the floor is saved, and the floor mopping task of the cleaning robot is efficiently completed.

Disclosure of Invention

In order to solve the technical problems in the prior art, the application provides the following technical scheme:

in a first aspect, embodiments of the present application disclose a floor mopping method for a cleaning robot, which is capable of establishing an environment map during a floor mopping process, and reasonably setting a starting position of the floor mopping in the environment map, so that the cleaning robot approaches a charging station from far and near places and completes a corresponding floor mopping task, thereby preventing a dirty mop from polluting a cleaned area during a process of returning to the charging station.

In a second aspect, embodiments of the present application disclose a cleaning robot having a mapping capability and a path planning capability, and capable of determining a starting position according to an established environment map, starting cleaning the floor from the corresponding starting position, and avoiding the cleaned area from being re-soiled by soiled mops during the process of returning the cleaning robot to a charging station.

In a third aspect, the application discloses a breakpoint continuous dragging method of a cleaning robot, the cleaning robot comprises a liftable mop component, the mop component is lifted to the bottom of the mop component to be separated from the ground in the process of the cleaning robot moving to the breakpoint position, so that the moisture of the mop component can be prevented from being wasted on the route moving to the breakpoint position in the front, the blot left on the ground by the cleaning robot in the cleaning process is more regular, and the product experience of the cleaning robot is improved.

In a fourth aspect, the application discloses a cleaning robot, which has a breakpoint continuous dragging function, and in the process of the previous breakpoint position, the mop component is lifted to the bottom to be separated from the ground, so that the service cycle of cleaning water stored in the mop is prolonged, the mark of the mop retained on the ground in the cleaning process is more regular, and good product experience is provided for users.

In a fifth aspect, the application discloses a cleaning robot, which is provided with a liftable mop assembly, wherein the cleaning robot can adaptively control the mop assembly to be lifted or lowered according to the working environment to be met so as to better complete the cleaning task.

Drawings

FIG. 1 is a block diagram of the steps of a floor scrubbing method of a cleaning robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of a floor scrubbing method of a cleaning robot according to an embodiment of the present disclosure;

FIGS. 3 a-3 b are schematic views of the arcuate/chevron path involved in a method of cleaning a robot as described in one embodiment of the present application;

FIGS. 4 a-4 c are schematic views of target areas involved in a method of cleaning a floor by a cleaning robot according to an embodiment of the present invention;

FIGS. 5a to 5d are schematic views illustrating an operation state of a cleaning robot involved in a floor scrubbing method of the cleaning robot according to an embodiment of the present invention;

FIG. 6 is a schematic view of a cleaning robot according to an embodiment of the present disclosure;

FIG. 7 is a block diagram of a method for breakpoint continuous dragging of a cleaning robot according to an embodiment of the present application;

FIG. 8 is a schematic view of a breakpoint continuous dragging method for a cleaning robot according to an embodiment of the present application;

FIG. 9 is a schematic view of a cleaning robot according to an embodiment of the present disclosure;

FIGS. 10 a-10 b are schematic views showing the working state of a mop assembly according to an embodiment of the present application, in which a cleaning robot is involved;

FIGS. 11 a-11 b are schematic diagrams illustrating the operation of a position sensor of a cleaning robot according to an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a limiting component involved in a cleaning robot according to an embodiment of the present disclosure.

Detailed Description

It is to be understood by those skilled in the art that the embodiments described below are only a few embodiments of the present disclosure, which are intended to explain the technical principles of the present disclosure and not to limit the scope of the present disclosure. All other embodiments that can be derived by a person skilled in the art from the embodiments provided in the present disclosure without inventive step should still fall within the scope of protection of the present disclosure.

It should be noted that in the description of the present disclosure, the terms "center", "upper", "lower", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, which indicate directions or positional relationships, are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present disclosure, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the present disclosure can be understood by those skilled in the art according to specific situations.

The technical solution in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application:

referring to fig. 1, disclosed is a floor scrubbing method of a cleaning robot, including:

1001, acquiring an environment map of an area to be cleaned;

step 1002, determining a target area to be cleaned according to an environment map, and setting a starting position in the target area;

step 1003, driving to the starting position, approaching to a charging station from far to near through a target area, and scrubbing the ground in the target area in the approaching process; and selecting the position of the point farthest from the back side of the charging station in the target area as a corresponding initial position.

In the prior art, a cleaning robot usually directly uses a charging station as a starting point after charging is finished, and directly cleans the ground; the patent document CN106527423B also discloses a control method for a cleaning robot, which will preferentially find a nearest obstacle to move when starting to work, and the above prior art has a very obvious problem that when the cleaning robot is returned to a charging station after the cleaning is completed or interrupted, the mop is dirty during the return process, so that the dirty mop will dirty the cleaned area during the return process, which affects the cleaning effect of the cleaning robot.

Referring to fig. 1 and 2, in one embodiment of the present application, after the cleaning robot 2001 establishes a map, a target area to be cleaned is determined according to the environment map, and a starting position (S point in fig. 2) is set in the target area, the cleaning robot 2001 moves to the starting position S point previously, and then moves from far to near to the charging station 2002 via the target area, and according to this logic, the floor in the target area is scrubbed, and the cleaning robot 2001 faces the area to be cleaned which is not cleaned all the time in the process of moving to the charging station 2002, so that the cleaned area which has been scrubbed by the cleaning robot 2001 is not polluted. In this embodiment, the starting position S is selected based on the point farthest from the back side of the charging station 2002 in the target area. By adopting the scheme in the embodiment, the cleaning robot 2001 has stronger purpose in the floor mopping process, can preferentially set and go to the corresponding starting position S point, and then systematically carries out the floor mopping operation, thereby effectively avoiding the cleaned area from being polluted and providing more intelligent product experience for users.

In one embodiment of the present application, when the vehicle travels to the starting position and approaches to a charging station from far to near via the target area, the step of scrubbing the ground in the target area during the approach process includes: starting from the starting position, the charging station is moved toward along the bow path/herringbone path. In this embodiment, the cleaning robot 2001 starts from the starting position S, approaches the charging station 2002 along the zigzag path/herringbone path, and scrubs the floor in the target area during the approach. The target area can be simply and effectively traversed through the zigzag path; and the herringbone path is closer to a manual scrubbing mode, and the ground can be scrubbed back and forth at multiple angles, so that the cleaning effect is improved. Referring to fig. 3a and 3b, a schematic view of the chevron path 3001 and a schematic view of the chevron path 3002 taken by the cleaning robot 2001 during the approach to the charging station 2002 are respectively disclosed.

In one embodiment of the present application, the target area includes any one of: a target whole house area, a target room area, a target fence area. Referring to fig. 4 a-4 c, in one embodiment of the present application, the target area includes any one of: a target whole house area 4001 as shown in fig. 4a, a target room area 4002 as shown in fig. 4b, and a target fence area 4003 as shown in fig. 4c, wherein the shaded portions represent the respective target areas. In this embodiment, the cleaning robot 2001 can determine the target area to be cleaned according to the environmental map, and the target area faced by the cleaning robot 2001 is mainly divided into three types, namely, a target full house area 4001, a target room area 4002 and a target fence area 4003. By adopting the scheme in the embodiment, the same floor mopping logic can be reused in three different types of target areas without respectively designing and developing different floor mopping logics for the three types of target areas to deal with the three types of target areas, so that the development difficulty of a floor mopping method of the cleaning robot is greatly reduced, and the problem that the cleaned area is polluted is effectively solved. In addition, as will be understood by those skilled in the art, the target fence area 4003 may be formed by virtual walls, and the corresponding virtual walls may be a magnetic stripe virtual wall, an infrared virtual wall, a visual identification virtual wall, and an electronic virtual wall set by the user through APP.

In one embodiment of the application, the cleaning robot comprises a liftable mop assembly, the charging station further comprises a cleaning area for cleaning the mop assembly, and a guiding area for guiding the cleaning robot into the respective cleaning area, the method further comprises: acquiring working state information of the cleaning robot; controlling the mop component to be in a lifting state/falling state according to the working state information; wherein the operating state information includes at least one of: go to state; a closed state; a cleaning state; obstacle crossing state. Referring to fig. 5 a-5 d, in this embodiment, the cleaning robot 5001 includes a liftable mop assembly 5002, the charging station 5005 further includes a cleaning area (internal structure, not shown) for cleaning the mop assembly 5002, and a guiding area 5004 for guiding the cleaning robot 5001 into the corresponding cleaning area, and the floor cleaning method further includes: acquiring working state information of the cleaning robot 5001; controlling the mop component 5002 in a lifting state/falling state according to the working state information; wherein, the working state information at least comprises one of the following information: go to state; a closed state; a cleaning state; and (4) obstacle crossing state. The method described in this embodiment can acquire the working state information of the cleaning robot 5001 and adaptively control the mop component 5002 to operate according to the corresponding working state information, thereby greatly improving the automation level of the cleaning robot.

In one embodiment of the present application, the step of controlling the mop assembly in the lifting/lowering state according to the operation state information comprises: the mop assembly is in a raised state corresponding to the go-to/obstacle crossing state; wherein, in the forward state, the cleaning robot travels to the home position; in the obstacle crossing state, the cleaning robot transitions to the washing area via the guide area. Referring to fig. 5a and 5d, fig. 5a corresponds to a state of travel to cleaning robot 5001, and fig. 5d corresponds to a state of obstacle crossing of cleaning robot 5001. In the forward state, the cleaning robot 5001 travels to the home position S point; in the obstacle crossing state, the cleaning robot 5001 transitions to the cleaning area via the guide area 5004.

In one embodiment of the present application, the step of controlling the mop assembly in the lifting/lowering state according to the operation state information comprises: the mop assembly is in a falling state corresponding to the closed state/cleaning state; wherein, in the closing state, the cleaning robot is closed from the starting position to the charging station; in the cleaning state, the cleaning robot stays in the cleaning area to clean the mop assembly. Referring to fig. 5b and 5c, fig. 5b corresponds to a close state of cleaning robot 5001, and fig. 5c corresponds to a washing state of cleaning robot 5001. In the close state, the cleaning robot 5001 is closed from the starting position S to the charging station; in the cleaning state, the cleaning robot 5001 stays in a cleaning area to clean the mop assembly 5002, wherein a mop cleaning device 5003 for cleaning the mop is provided in the cleaning area, the mop cleaning device 5003 may be a cleaning rib, a scrubbing wheel, a scrub brush or a spray nozzle, and the mop cleaning device 5003 may clean the mop.

In one embodiment of the present application, the lifting state includes: the mop component is lifted to the bottom of the mop component to be separated from the ground; the falling state includes: the mop assembly is lowered to the point where the bottom of the mop assembly abuts against the corresponding receiving surface below it. In this embodiment, referring to fig. 5a and 5d, when cleaning robot 5001 is in the go-ahead/obstacle crossing state, mop assembly 5002 is in the lifted state, and mop assembly 5002 is lifted until the bottom of mop assembly 5002 is separated from the ground, so that the ground is not scrubbed. In the forward state, the mop assembly 5002 is lifted, so that the moisture on the mop cannot be wasted on the path of the cleaning robot 5001 to the starting position S, the moisture on the mop can be saved, and the frequency of returning the cleaning robot 5001 to the charging station is reduced; meanwhile, in the forward state, since the mop assembly 5002 is lifted, the cleaning robot 5001 does not leave marks on the ground when moving to the starting position S, and when the cleaning robot 5001 reaches the starting position S, the cleaning robot 5001 starts to scrub the ground by the zigzag path/herringbone path, so that the ground scrubbing path of the cleaning robot 5001 is more regular. In the obstacle crossing state, since the mop assembly 5002 is lifted, the obstacle crossing action of the cleaning robot 5001 does not cause interference by the mop assembly 5002 in the process of the cleaning robot 5001 transitioning from the guiding area 5004 to the cleaning area, which improves the obstacle crossing ability of the cleaning robot 5001. Referring to fig. 5b and 5c, when the cleaning robot 5001 is in the closed/cleaning state, the mop module 5002 is in a lowered state, at which time the mop module 5002 will be lowered until the bottom of the mop module 5002 abuts against the corresponding receiving surface therebelow. In the closed state, the corresponding receiving surface is the ground, and when the cleaning robot 5001 is closed from the starting position S to the charging station, the bottom of the mop assembly abuts against the ground, so as to scrub the ground in the target area in the closing process. Under the washing state, corresponding face of accepting is mop cleaning device 5003's upper surface, and mop subassembly 5002 stops in the washing region in order to carry out abluent in-process to mop subassembly 5002 at cleaning robot 5001, and mop subassembly 5002's bottom supports mop cleaning device 5003's upper surface to make mop subassembly 5002 fully scrape on mop cleaning device 5003, thereby get rid of the foul that adheres to the mop.

The cleaning robot 5001 in this embodiment has a drawing establishing capability, and thus can conveniently know that the cleaning robot 5001 is currently in a forward state/close state; in the process of returning cleaning robot 5001 to the charging station for alignment, it can be determined whether cleaning robot 5001 is currently in an obstacle-crossing state in which guiding area 5004 transits to the cleaning area, or has entered the charging station and is in the cleaning state.

In one embodiment of the present application, when a point farthest from a back side of the charging station in the target area is not unique, a boundary intersection point of the target area is selected as a corresponding start position. Referring to fig. 2, the points in the target area farthest from the back side of the charging station 2002 may not be unique, and at this time, the boundary intersection point of the target area may be selected as the corresponding starting position S point from the starting position S point to move from far to near toward the charging station 2002. As will be understood by those skilled in the art, since the cleaning robot 2001 has a certain body width, the point S in fig. 2 does not completely coincide with the boundary intersection point P of the target area, but this does not affect the selection criteria of the starting position point S.

Referring to fig. 6, in one embodiment of the present application, a cleaning robot 6001 is disclosed, which comprises an environment map acquisition module, a driver 6002 and a mop assembly 6003, wherein the environment map acquisition module is used for acquiring an environment map of an area to be cleaned, determining a target area to be cleaned according to the environment map, and setting a start position in the target area; the driver 6002 drives the cleaning robot 6001 to travel to the home position, and causes the cleaning robot 6001 to approach to the charging station from far to near via the target area; in the process of closing, the mop assembly 6003 scrubs the floor in the target area; the environment map acquisition module selects the position of the point farthest from the back side of the charging station in the target area as a corresponding initial position. The cleaning robot 6001 in this embodiment can be used to execute a mopping method of a cleaning robot disclosed in this application, the cleaning robot 6001 is provided with an environment map acquisition module, the environment map acquisition module is used to establish an environment map and set a starting position according to the environment map, the driver 6002 of the cleaning robot 6001 is used to drive the cleaning robot 6001 to travel on the ground, and the mop assembly 6003 can scrub the ground when the cleaning robot 6001 approaches a charging station from a far side to a near side through a target area, so as to scrub the ground in the target area in order according to the mopping method disclosed in this application, and prevent a dirty mop from dirtying the cleaned area. As will be understood by those skilled in the art, the cleaning robot 6001 in this embodiment may acquire the environment map in various manners, for example, the environment map may be acquired by detecting data of sensors (including but not limited to a laser sensor, a visual sensor, an obstacle sensor, and a downward-looking sensor) of the cleaning robot 6001 itself, or the environment map may be acquired by reading pre-stored map data, or the environment map may be acquired by requesting map information from the cloud.

In one embodiment of the present application, the mop assembly is liftable; the charging station further includes a cleaning area for cleaning the mop assembly, and a guide area for guiding the cleaning robot into the respective cleaning area. With reference to fig. 5 a-5 d, 6, in one of the embodiments of the cleaning robot disclosed in the present application, the mop assembly of the cleaning robot is liftable and the charging station is provided with a cleaning area for cleaning the mop assembly of the cleaning robot when the cleaning robot is parked at the charging station and a guiding area for guiding the cleaning robot into the corresponding cleaning area.

Referring to fig. 7 and 8, relating to one of the embodiments of the present application, there is disclosed a breakpoint continuous mopping method of a cleaning robot 8001, the cleaning robot 8001 including a liftable mop assembly, the method including: 7001, starting from a charging station 8002, the cleaning robot 8001 goes to a breakpoint position X; wherein, in the process of going to the breakpoint position X, the mop component is lifted to the bottom to be separated from the ground. In this embodiment, the cleaning robot 8001 has a breakpoint continuous drag function, and can memorize a breakpoint position X during travel, return to a charging station for replenishment, return to the breakpoint position X again, and continue to execute an unfinished cleaning task. Wherein, the mop subassembly of cleaning robot 8001 can go up and down, send to the in-process of breakpoint position X point by charging station 8002 when cleaning robot 8001, the mop subassembly is lifted to breaking away from in ground to make moisture on the cleaning robot mop can not be wasted on the way to breakpoint position X point in the past, this duration that has promoted cleaning robot greatly, reduced the number of times that cleaning robot 8001 recharges. Meanwhile, the cleaning robot 8001 starts to scrub the rest of the floor after returning to the breakpoint position X, so that the track of scrubbing the floor can be continued to the previous zigzag path/herringbone path, and no water mark is left on the path going to the breakpoint position X, so that the finally formed mark of the cleaning robot 8001 after performing the task of scrubbing the floor is very regular, and the user can experience the floor with good products in an intelligent and orderly manner. As will be understood by those skilled in the art, the charging station 8002 has at least one of the following functions for the cleaning robot 8001: a charging function, a mop cleaning function and a water replenishing function.

In one embodiment of the present application, the method further includes: after the cleaning robot reaches the breakpoint position, the mop assembly is lowered to the bottom to abut against the ground so as to continue the breakpoint position to scrub the remaining area to be cleaned. In this embodiment, after the cleaning robot 8001 reaches the breakpoint position X, the mop assembly is lowered to its bottom against the floor, so that the mop assembly can scrub the floor of the remaining area to be cleaned during the travel of the cleaning robot 8001. The method in this embodiment enables the cleaning robot 8001 to adaptively adjust the lifting/dropping state of the mop assembly according to the specific work scenario being faced, and to more intelligently accomplish the mopping task.

In one embodiment of the present application, the charging station further comprises a cleaning area for cleaning the mop assembly, and the step of the cleaning robot starting from the charging station to the breakpoint position further comprises the following steps: cleaning the mop assembly in the cleaning zone. With reference to fig. 5 a-5 d, the charging station may be provided with a mop cleaning function. In this embodiment, before the cleaning robot 8001 is triggered to go to the breakpoint position X by the charging station 8002, its mop assembly is already cleaned in the cleaning area of the charging station, so that after going to the breakpoint position X, the cleaning robot 8001 can continue to scrub the floor of the area to be cleaned with clean mops with sufficient water storage, and clean the room.

In one embodiment of the present application, before the step of starting the cleaning robot from the charging station to the breakpoint position, the method further includes: acquiring mop state information; determining the breakpoint position according to the mop state information, and returning to a charging station from the breakpoint position; wherein, during return to the charging station, the mop assembly is lifted to a position where its bottom is clear of the ground. In one embodiment of the present application, the swab status information includes: mop soiling information and/or mop wetting information. In this embodiment, the cleaning robot 8001 first determines a breakpoint position X based on the mop status information and returns the breakpoint position X to the charging station 8002, wherein the breakpoint position X is determined based on the mop soiling level information and/or the mop wetting level information. When the cleaning robot 8001 judges that the mop is dirty, the cleaning purpose cannot be achieved by continuously scrubbing the floor, the current position of the cleaning robot 8001 is determined as a point X at the breakpoint position, the point X returns to the charging station 8002 to clean the mop assembly, and after the mop is cleaned, the point X returns to the breakpoint position to continuously scrub the floor of the area to be cleaned; and/or when the cleaning robot 8001 judges that the water stored in the mop is too low, the cleaning robot 8001 determines the current position as a breakpoint position X, at this time, the cleaning robot 8001 needs to return to the charging station 8002 to replenish water to the mop, for example, the cleaning robot 8001 sprays water to the mop through a spray nozzle arranged in the cleaning area of the cleaning robot 8002, and returns to the breakpoint position X after the mop absorbs enough water to scrub the ground in the remaining cleaning area. As will be understood by those skilled in the art, the water stored in the mop will be too low, and there is a possibility that the cleaning water in the water tank of the cleaning robot 8001 is exhausted, and at this time, the cleaning robot 8001 needs to return to the charging station 8002, and water is replenished to the water tank of the cleaning robot 8001 through the charging station 8002, so that the corresponding water tank can continue to supply water to the mop to keep the mop wet, so as to scrub the floor in the remaining area to be cleaned. During the return of the cleaning robot 8001 to the charging station 8002 at the breakpoint position X, the mop swab assembly is lifted off the floor, thereby preventing the dirty mop from dragging the floor more and more dirty. Wherein, as an example, the information of the degree of soiling of the mops can be acquired by means of an optical signal sensor, while the information of the degree of wetting of the mops can be acquired by means of a humidity sensor.

In one embodiment of the present application, before the step of starting the cleaning robot from the charging station to the breakpoint position, the method further includes: acquiring electric quantity information and/or running time information of the cleaning robot; determining the breakpoint position according to the electric quantity information and/or the running time information, and returning to the charging station from the breakpoint position; wherein the mop assembly is lifted to a position where its bottom is clear of the ground during return to the charging station. In this embodiment, the cleaning robot 8001 determines the breakpoint position X according to the power information and/or the operation time information, and returns the breakpoint position X to the charging station 8002. For example, when the electric quantity of the cleaning robot 8001 is less than 20%, the current position is recorded as a breakpoint position X, and then the charging station 8002 is searched from the breakpoint position X to replenish the electric quantity; and/or after the cleaning robot 8001 runs for a preset time, the risk of exhaustion of the electric quantity of the cleaning robot 8001 is estimated, so that the current position is recorded as a breakpoint position X point, and the charging station 8002 starts to be searched to supplement the electric quantity. The cleaning robot 8001, during return to the charging station, the mop assembly is lifted clear of the floor, thereby avoiding dirty mops from dragging the floor more dirty.

In one embodiment of the present application, after the cleaning robot reaches the breakpoint, the remaining area to be cleaned is scrubbed along the bow path/herringbone path. In this embodiment, after the robot 8001 is cleaned, the remaining area to be cleaned is scrubbed along the bow path/herringbone path. Fig. 3a and 3b show the specific path of the cleaning robot 8001 scrubbing the remaining cleaning area.

In one embodiment of the present application, the step of cleaning the swab assembly in the cleaning area comprises: the mop assembly is lowered to the point where the bottom of the mop assembly abuts against the corresponding receiving surface below it. In this embodiment, the mop assembly is lowered to the point where the bottom of the mop assembly abuts against a corresponding receiving surface therebelow to clean soiled mops by mop cleaning means provided in the cleaning area of the charging station 8002.

In one embodiment of the present application, the cleaning robot further includes a water tank with controllable water outlet, and the step of proceeding from the charging station to the breakpoint position of the cleaning robot further includes: during the forward trip to the break point position, the tank is configured to stop draining water. The cleaning robot 8001 in this embodiment further includes a water tank with controllable water outlet, and whether water is discharged from the water tank may be controlled by a valve body, a water pump, and the like. Wherein, cleaning robot 8001 is at the in-process of going to breakpoint position X point, and the water tank is configured to stop out water to avoid the water waste in the water tank on the way of going to breakpoint position X point, with the using water wisely, and reduce cleaning robot 8001 and return to charging station 8002 and carry out the number of times that the moisturizing.

Referring to fig. 6, in one embodiment of the present application, there is also disclosed a cleaning robot 6001, which comprises an environment map acquisition module, a driver 6002 and a liftable mop assembly 6003, wherein the environment map acquisition module directs the cleaning robot 6001 to go from a charging station to a breakpoint location; wherein the mop assembly 6003 is raised to release its base from the ground during forward displacement to the broken point position. Cleaning robot 6001 in this embodiment possesses the breakpoint and continues to drag the function, and its in-process of starting to the breakpoint position by the charging station, and the mop subassembly can adaptively adjust to the lifting state and break away from ground to can the using water wisely, and make the mark that the mopping formed more regular. In this embodiment, the mop assembly 6003 of the cleaning robot 6001 is in the form of a turntable and is driven by a motor to scrub the floor by rotational friction during travel of the cleaning robot 6001, which provides good cleaning of the floor. It will be appreciated by those skilled in the art that the corresponding mop assembly 6003 may also be a roller-type moving cleaning roller, a reciprocating cleaning brush, and a mop plate that rests against the robot body, and that the corresponding cleaning robot may be used to perform the mopping and break-point mopping methods disclosed herein, so long as the mop assembly 6003 is liftable.

Referring to fig. 9-12, in one embodiment of the present application, there is also disclosed a cleaning robot including a robot main body 9001 and a mopping assembly disposed at a bottom thereof, the mopping assembly including: a cleaning part 9002, wherein the cleaning part 9002 is provided with a movable groove 9003, and a mounting shaft 9004 matched with the cleaning part 9002 is inserted therein to realize movable connection; the linkage rod 9005 is movably connected with the cleaning component 9002, the linkage rod 9005 and the cleaning component 9002 are axially limited and fixed into a whole through a limiting component 9006, and the linkage rod 9005 is abutted by a lifting mechanism; and a mop 9009 installed at the bottom of the cleaning member 9002; under the drive of the lifting mechanism, the linkage rod 9005 is displaced in the axial direction and correspondingly drives the cleaning component 9002 to slide along the axial direction, so that the mop 9009 is pressed against/separated from the ground. The cleaning robot in the embodiment comprises a mop component, wherein the mop component comprises a cleaning part 9002 and a linkage rod 9005 movably connected with the cleaning part 9002, the cleaning part 9002 and the linkage rod 9005 are axially fixed and integrated through a limiting part 9006, the linkage rod 9005 is abutted by a lifting mechanism, and under the driving of the lifting mechanism, the linkage rod 9005 can axially displace and drive the cleaning part 9002 to axially slide, so that the mop is abutted against/separated from the ground, and the lifting of the mop component is realized. The cleaning robot in this embodiment, the mop assembly of which can be lifted, can be used to implement the floor mopping method and the breakpoint continuous mopping method of the cleaning robot disclosed in this application, and the cleaning robot can save water during the floor mopping process and prevent the dirty mop from polluting the ground, which is more intelligent than other cleaning robot products on the market. Meanwhile, the cleaning robot in the embodiment can lift or drop the mop component by controlling the action of the lifting mechanism so as to adapt to different working scenes. By adopting the scheme in this embodiment, the cleaning component 9002 is movably connected with the mounting shaft 9004 and the linkage rod 9005, and the linkage rod 9005 and the cleaning component 9002 are axially limited and fixed as a whole, so that the cleaning component 9002 can rotationally slide relative to the ground under the driving of the driving motor 9011, and the cleaning component 9002 can lift along with the linkage rod 9005. It will be appreciated by those skilled in the art that the mop assembly may be raised or lowered by the solution of this embodiment, and the corresponding mop assembly may be driven by the driving motor 9011, or may not be connected to a power source by itself, and only by the travel of the cleaning robot, the mop assembly is horizontally slid with respect to the ground.

In one embodiment of the present application, the mop assembly further comprises a float mechanism acting on the linkage rod. In this embodiment, the mop assembly further includes a floating mechanism acting on the linkage rod 9005, and the mop assembly is provided with the floating mechanism, so that the cleaning robot can adaptively adjust the working state of the mop assembly in the floor mopping process, and on the other hand, when the mop assembly is required to be pressed against a corresponding bearing surface, the floating mechanism can apply force to the linkage rod 9005, so that the mop 9009 is tightly attached to the corresponding bearing surface, and the purpose of self-cleaning the floor mopping or the mop is achieved. As will be appreciated by those skilled in the art, the corresponding floating mechanism is typically implemented by a resilient member.

With reference to fig. 9, 10a and 10b, a schematic view of the working position of the mop assembly of the cleaning robot to which the application relates is disclosed, wherein fig. 10a represents the mop assembly in a lowered position and fig. 10b represents the mop assembly in a raised position. In one embodiment of the present application, the floating mechanism includes a floating spring, one end of which abuts against the linkage rod, and the other end of which abuts against the robot main body. In this embodiment, the floating mechanism includes a floating spring 9010, one end of the floating spring 9010 abuts against the linkage rod 9005, and the other end abuts against the robot main body 9001, the floating spring 9010 applies force to the linkage rod 9005, and since the linkage rod 9005 is axially fixed to the cleaning member 9002 in a limiting manner, both of them have a downward movement tendency after being stressed, so that the mop 9009 installed at the bottom of the cleaning member 9002 can abut against a corresponding carrying surface to wipe the ground or clean the mop.

In one embodiment of the present application, the cleaning member is a mop rotating disc, the mounting shaft is an output shaft of a driving motor, and the driving motor drives the mop rotating disc to rotate through the output shaft. In this embodiment, the cleaning member 9002 is a mop turntable, and the mounting shaft 9004 is an output shaft of the driving motor 9011, wherein the mop turntable is driven by the driving motor 9011 to rotate around the shaft to scrub the floor.

In one embodiment of the present application, the lifting mechanism is a cam rotatable in a vertical plane, and the cam is rotated by a cam motor and is connected with the cam motor through a cam shaft. In this embodiment, the lifting mechanism is a cam 9007 rotatable in a vertical plane, and the cam 9007 is driven by a cam motor 9012 and is capable of rotating around a cam shaft 9008. When the cam 9007 moves to the convex end to abut against the linkage rod 9005, the linkage rod 9005 and the cleaning part 9002 are lifted upwards, so that the mop 9009 is separated from the corresponding bearing surface; when the protruding end of the cam 9007 moves to the opposite position, the linkage rod 9005 and the cleaning element 9002 correspondingly drop back, so that the mop 9009 is pressed against the corresponding bearing surface. It will be appreciated by those skilled in the art that the lifting mechanism may be implemented in other forms besides a cam, such as by a rack and pinion arrangement, by a telescoping strut arrangement, etc.

Referring to fig. 11a and 11b, in one embodiment of the present application, a control plate is disposed at one side of the cam, and a position sensor for detecting a rotational position of the cam is disposed on the control plate. In one embodiment of the present application, in order to enable the cleaning robot to accurately know the current working state of the mop assembly, a position sensor for detecting the rotation position of the cam 9007 is provided on the control board 9013, and through the corresponding position sensor, it can be accurately determined whether the protruding end of the cam 9007 jacks up the linkage rod 9005 vertically or moves away from the linkage rod 9005 vertically downwards, so as to know the working state of the mop assembly.

In one embodiment of the present application, holer sensors are respectively disposed at positions corresponding to two ends of the cam, and a magnet is disposed at one end of the cam. Referring to fig. 11a, the position sensor in this embodiment is a hall sensor 9014, and one end (e.g., a protruding end) of the cam 9007 is provided with a magnet 9015, and detection of the rotational position of the cam 9007 is achieved by magnetic induction between the magnet 9015 and the hall sensor 9014.

In one embodiment of the present application, the two ends of the cam are respectively provided with a photoelectric sensor at corresponding positions, and one end of the cam is provided with a boss for shielding the corresponding photoelectric sensor. Referring to fig. 11b, the position sensor in this embodiment is a photoelectric sensor 9016, and a boss 9017 is provided on (e.g., a protruding end of) the cam 9007, so that when the cam 9007 is located right above or right below the cam 9007, the boss 9017 can shield a signal of the corresponding photoelectric sensor 9016, thereby detecting the rotational position of the cam 9007.

Referring to fig. 9, 10a and 10b, in one embodiment of the present application, the cleaning member includes a bushing, the movable slot is opened in the bushing, and the cleaning member penetrates through the linkage rod through the bushing to realize movable connection. In this embodiment, the cleaning member 9002 includes a shaft sleeve 9018, a movable groove 9003 is opened in the shaft sleeve 9018, and the cleaning member 9002 penetrates through the linkage rod 9005 through the shaft sleeve 9018 to realize movable connection, wherein the movable groove 9003 provides a space for the cleaning member 9002 to move up and down on one hand, and on the other hand, the cleaning member 9002 can also rotate around the mounting shaft 9004.

In one embodiment of the present application, the limiting component is disposed at a penetrating position of the shaft sleeve and the linkage rod, and the limiting component includes a limiting bearing or a limiting step. Referring to fig. 9, 10a and 10b, a limiting component 9006 is disposed at a penetrating position of the shaft sleeve 9018 and the linkage rod 9005 in this embodiment, wherein the limiting component 9006 is a limiting bearing disposed in the linkage rod 9005, and the cleaning component 9002 and the linkage rod 9005 are limited and fixed into a whole in the axial direction by the corresponding limiting component 9006, but the cleaning component 9002 can still rotate around the mounting shaft 9004 through the shaft sleeve 9018. Referring to fig. 12, instead of a limit bearing, the limit member 9006 in this embodiment is a limit step, which is also capable of axially limiting and fixing the cleaning member 9002 and the linkage rod 9005 as a whole, and the cleaning member 9002 can still rotate about the mounting shaft 9004 through the sleeve 9018.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.

So far, the technical solutions of the present disclosure have been described in connection with the foregoing embodiments, but it is easily understood by those skilled in the art that the scope of the present disclosure is not limited to only these specific embodiments. Without departing from the technical principles of the present disclosure, a person skilled in the art may split and combine the technical solutions in the above embodiments, and may make equivalent changes or substitutions on the related technical features, and any changes, equivalents, improvements, etc. made within the technical concept and/or technical principles of the present disclosure will fall within the protection scope of the present disclosure.