CN115462709B - Cleaning method, cleaning robot and cleaning system - Google Patents

Cleaning method, cleaning robot and cleaning system Download PDF

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Publication number
CN115462709B
CN115462709B CN202210952070.1A CN202210952070A CN115462709B CN 115462709 B CN115462709 B CN 115462709B CN 202210952070 A CN202210952070 A CN 202210952070A CN 115462709 B CN115462709 B CN 115462709B
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CN
China
Prior art keywords
cleaning
base station
cleaning robot
robot
mop
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Active
Application number
CN202210952070.1A
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Chinese (zh)
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CN115462709A (en
Inventor
龚鼎
杜川
杨永森
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Yunjing Intelligent Innovation Shenzhen Co ltd
Yunjing Intelligent Shenzhen Co Ltd
Original Assignee
Yunjing Intelligent Innovation Shenzhen Co ltd
Yunjing Intelligent Shenzhen Co Ltd
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Priority to CN202210952070.1A priority Critical patent/CN115462709B/en
Publication of CN115462709A publication Critical patent/CN115462709A/en
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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes

Landscapes

  • Electric Vacuum Cleaner (AREA)

Abstract

The application relates to the technical field of cleaning, and provides a cleaning method which is applied to a cleaning robot, wherein the cleaning robot can be in butt joint with a cleaning base station, the cleaning base station is provided with a base station inlet for being connected with the cleaning robot, and the cleaning robot is also provided with a cleaning piece, and the method comprises the following steps: determining an entry area corresponding to a base station entry; controlling the cleaning robot to drive the mopping member to move so that at least part of the mopping member is positioned in the inlet area; the mop is driven to move relative to the cleaning base station to clean the entrance of the base station. The method can quickly and efficiently clean dirt at the entrance of the base station, particularly dirt at the corners of the entrance of the cleaning base station, and effectively avoid secondary pollution by controlling the cleaning robot to drive the cleaning member to clean the entrance of the base station, and can be applied to the process that the cleaning robot drives towards the cleaning base station so as to clean the entrance area before the cleaning robot accesses the cleaning base station, thereby improving the use experience of users brought by the cleaning robot and the cleaning base station.

Description

Cleaning method, cleaning robot and cleaning system
Technical Field
The application relates to the technical field of cleaning, in particular to a cleaning method, a cleaning robot and a cleaning system.
Background
The cleaning robot can drag and wipe the ground through the dragging and wiping piece arranged on the cleaning robot, and after specific time or specific area is dragged and wiped, the cleaning robot is controlled to be connected into a base station inlet which is correspondingly arranged on the cleaning base station, so that the cleaning robot is charged or the dragging and wiping piece is cleaned or replaced.
The existing cleaning robot is only designed for cleaning the ground, dirt accumulated on the cleaning piece can fall on the entrance of the base station, especially the corner of the entrance of the cleaning base station when the cleaning robot is connected to the cleaning base station, so that the area of the sanitary dead angle of the entrance of the base station is large, the entrance of the base station is easy to collect dirt and the dirt, after long-term use, the dirt degree of the entrance of the base station is more serious, and the use experience of users brought by the cleaning robot and the cleaning base station is affected.
Disclosure of Invention
The application provides a cleaning method, a cleaning robot and a cleaning system, and aims to solve the technical problems that the cleaning difficulty of dirt at a base station inlet of a cleaning base station is high, and especially the dirt is easy to collect at corners of the base station inlet and the cleaning is inconvenient.
In a first aspect, an embodiment of the present application provides a cleaning method applied to a cleaning robot, where the cleaning robot can dock with a cleaning base station, the cleaning base station is formed with a base station entrance for accessing the cleaning robot, and the cleaning robot is further provided with a cleaning member, the method includes:
Determining an entry area corresponding to a base station entry;
controlling the cleaning robot to drive the mopping member to move so that at least part of the mopping member is positioned in the inlet area;
the mop is driven to move relative to the cleaning base station to clean the entrance of the base station.
In some embodiments, driving the mop to move relative to the cleaning base station comprises:
controlling the cleaning robot to execute a first driving action to drive the mopping piece to move; and/or
Controlling the cleaning robot to execute a first rotating action to drive the mopping piece to move;
wherein the movement track of the mop element at least partially coincides with the entrance area.
In some embodiments, the cleaning base station includes a first side plate and a second side plate disposed at intervals, and a base station entrance is formed between the first side plate and the second side plate, and controls the cleaning robot to perform a first driving motion to drive the cleaning member to move, including:
controlling the cleaning robot to move towards the first side plate until the mopping piece moves to a first corner area formed by the first side plate; and/or
And controlling the cleaning robot to move towards the second side plate until the mopping piece moves to a second corner area formed by the second side plate.
In some embodiments, controlling the cleaning robot to perform a first travel motion to drive the movement of the mop further comprises:
The cleaning robot is controlled to reciprocate between the first side plate and the second side plate.
In some embodiments, the cleaning base station includes a first side plate and a second side plate disposed at intervals, and a base station inlet is formed between the first side plate and the second side plate, and controls the cleaning robot to perform a first rotation motion to drive the cleaning member to move, including:
controlling the cleaning robot to drive the mopping piece to rotate towards the first side plate; and/or
The cleaning robot is controlled to drive the mopping piece to rotate towards the second side plate.
In some embodiments, the cleaning robot includes a housing, a mop movably mounted to the housing for driving the mop relative to the cleaning base station, and further comprising:
the mop is driven to rotate relative to the shell.
In some embodiments, controlling the cleaning robot to drive movement of the mop such that at least a portion of the mop is located in the entrance region comprises:
determining a cleaning initiation area of the mop according to the inlet area, wherein the cleaning initiation area is at least partially coincident with the inlet area;
and executing a second driving action to drive the mopping member to move to the cleaning starting area.
In some embodiments, performing a second travel action to drive the mop to move to the cleaning initiation region comprises:
Driving the cleaning member to rotate around the center of the cleaning robot so that the cleaning member is positioned between the center of the cleaning robot and the cleaning base station and travels toward the cleaning base station so that the cleaning member moves to a cleaning starting area; or (b)
And driving to a first position determined according to the cleaning starting area, and driving the cleaning piece to rotate around the center of the cleaning robot so as to enable the cleaning piece to move to the cleaning starting area.
In some embodiments, controlling the cleaning robot to drive movement of the mop such that at least a portion of the mop is located in the entrance region further comprises:
the cleaning device is controlled to switch to a preset pressing state before or when the cleaning device moves to the cleaning starting area.
In some embodiments, before controlling the mop to switch to the preset pressing state, the method further includes:
the method comprises the steps of controlling the mop to be switched to a preset lifting state, wherein when the mop is controlled to be switched to a pressing state, the lifting state of the mop is released;
the method further comprises the steps of:
recording at least one first specific position of the mop in the lifted state;
controlling the cleaning robot to execute a third driving action so as to drive the mopping piece to move to at least one first specific position;
The mop is controlled to switch to a pressing state and at least one first specific position is cleaned.
In some embodiments, controlling the cleaning robot to drive movement of the mop such that at least a portion of the mop is located in the entrance region further comprises:
the rotating speed of the dragging piece is increased in a preset period of time when the dragging piece is controlled to be switched to a preset pressing state, so that the rotating speed of the dragging piece reaches a preset target rotating speed after the preset period of time;
the method further comprises the steps of:
recording at least one second specific position of the mopping member with a rotational speed less than the target rotational speed;
controlling the cleaning robot to execute a fourth driving action so as to drive the mopping piece to move to at least one second specific position;
the mop is controlled to switch to a pressing state and at least one second specific position is cleaned.
In some embodiments, the cleaning base station is provided with a docking station at the base station entrance for at least docking a mop, the method further comprising:
determining an entry area when a cleaning signal is received indicating cleaning of the mop;
after driving the cleaning piece to move relative to the cleaning base station to clean the entrance of the base station, controlling the cleaning robot to run to a docking position so as to dock the cleaning piece with the cleaning base station;
And executing a preset cleaning action on the mop.
In a second aspect, an embodiment of the present application also provides a cleaning robot, including:
a housing;
the dragging piece is arranged on the shell;
and a control device mounted on the housing, the control device comprising a processor, a memory, a computer program stored on the memory and executable by the processor, and a data bus for enabling a connection communication between the processor and the memory, wherein the computer program, when executed by the processor, implements the steps of the cleaning method according to any of the embodiments of the application.
In a third aspect, an embodiment of the present application further provides a cleaning system, where the cleaning system includes a cleaning robot and a cleaning base station, and the cleaning robot is the cleaning robot according to any one of the embodiments of the present application.
In summary, an embodiment of the present application provides a cleaning method, a cleaning robot, and a cleaning system, where the cleaning method is applied to the cleaning robot, the cleaning robot can dock with a cleaning base station, the cleaning base station is formed with a base station inlet for accessing the cleaning robot, and the cleaning robot is further provided with a cleaning member, and the method includes: determining an entry area corresponding to a base station entry; controlling the cleaning robot to drive the mopping member to move so that at least part of the mopping member is positioned in the inlet area; the mop is driven to move relative to the cleaning base station to clean the entrance of the base station. The method can quickly and efficiently clean dirt at the entrance of the base station, particularly dirt at the corners of the entrance of the cleaning base station, and effectively avoid secondary pollution caused by dirt at the entrance of the base station, and can be applied to the process that the cleaning robot drives to the cleaning base station so as to clean the entrance area before the cleaning robot accesses the cleaning base station, thereby improving the use experience of users brought by the cleaning robot and the cleaning base station.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of embodiments of the application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a cleaning method according to an embodiment of the present application;
FIG. 2 is a schematic view of a cleaning method according to an embodiment of the present application;
FIG. 3 is a schematic top view of an entrance area of a cleaning base station according to an embodiment of the present application;
FIG. 4 is a flowchart illustrating a step of controlling a cleaning robot to drive a cleaning member to move in a cleaning method according to an embodiment of the present application;
fig. 5 is a schematic view of a scenario in which a second driving action is performed in a cleaning method according to an embodiment of the present application;
FIG. 6 is a schematic view of a cleaning method according to an embodiment of the present application;
FIG. 7 is a schematic view of a first driving action performed in a cleaning method according to an embodiment of the present application;
FIG. 8 is a schematic view of another scenario in which a first driving action is performed in a cleaning method according to an embodiment of the present application;
FIG. 9 is a schematic view of another scenario in which a first driving action is performed in a cleaning method according to an embodiment of the present application;
fig. 10 is a schematic view of a cleaning scenario for cleaning a first specific location and a second specific location in a cleaning method according to an embodiment of the present application.
FIG. 11 is a schematic block diagram of a cleaning robot provided by an embodiment of the present application;
fig. 12 is a schematic block diagram of a control device of a cleaning robot provided in an embodiment of the present application;
fig. 13 is a schematic block diagram of a cleaning system provided by an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
The application provides a cleaning method, a cleaning robot and a cleaning system, wherein the cleaning method can be applied to the cleaning robot and is used for controlling the cleaning robot to execute preset actions so as to finish cleaning an entrance area of a cleaning base station.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart of a cleaning method according to an embodiment of the application.
As shown in fig. 1, the cleaning method provided by the application is applied to a cleaning robot, the cleaning robot is provided with a cleaning piece, and the cleaning robot is in communication connection with a cleaning base station, and the cleaning method comprises the steps of S1-S3:
step S1: determining an entry area corresponding to a base station entry;
as shown in fig. 2, in particular, the cleaning method provided by the present application is applied to the cleaning robot 500, the cleaning robot 500 can be docked with the corresponding cleaning base station 400, and the cleaning base station 400 is formed with a base station entrance 410 for accessing the cleaning robot 500. The cleaning robot 500 is provided with a cleaning piece 520, the cleaning robot 500 can clean the ground through the cleaning piece provided on the cleaning robot, and after a specific cleaning time or a specific cleaning area is cleaned, the cleaning robot can be connected to a base station inlet formed by a cleaning base station to charge the cleaning robot or clean the cleaning piece, and dirt accumulated on the cleaning piece can drop at the base station inlet, especially at the corners of the cleaning base station inlet, so that the area of a sanitary dead angle at the base station inlet is large, the base station inlet is easy to store dirt and the dirt degree of the base station inlet is serious after long-term use, and the user experience of a user on the cleaning robot is affected.
Based on the above, the scheme provided by the application firstly determines the entrance area corresponding to the entrance of the base station before the entrance area of the cleaning base station is dragged. It should be understood that the entry area corresponding to the base station entry specifically refers to the projected area of the base station entry bottom on the ground.
Referring to fig. 2 and 3, fig. 2 is a schematic view of a cleaning method according to an embodiment of the application, and fig. 3 is a schematic view of an entrance area of a cleaning base station according to an embodiment of the application.
As shown in fig. 2 to 3, the cleaning base station 400 includes a first side plate 430 and a second side plate 440 disposed at intervals, and an inlet area 420 formed by the base station inlet 410 and the base station inlet 410 is formed between the first side plate 430 and the second side plate 440, and a cleaning start area may be disposed between the first side plate 430 and the second side plate 440, wherein the first side plate 430 is formed with a first corner area 460, and the second side plate 440 is formed with a second corner area 470. Specifically, the first corner region 460 and the second corner region 470 are located between the first side panel 430 and the second side panel 440, and the first corner region 460 is located at a side close to the first side panel 430, and the second corner region 470 is located at a side close to the second side panel 440.
Further, the cleaning base station further includes a bottom plate 450 connected between the first side plate 430 and the second side plate 440, and the bottom plate 450 cooperates with the first side plate 430 and the second side plate 440 to form the above-mentioned base station entrance 410, and the entrance area 420 corresponding to the base station entrance 410 includes at least a surface of the bottom plate 450.
Step S2: controlling the cleaning robot to drive the mopping member to move so that at least part of the mopping member is positioned in the inlet area;
it should be noted that the cleaning robot may be used to clean the floor or through the entrance of the cleaning robot base station, for example, a mop or a roller brush. Specifically, the cleaning robot can at least drive the mopping member to relatively displace with the floor or the cleaning base station by controlling the robot to run, so that mopping of the entrance of the base station or the floor is realized. Further, the cleaning robot at least comprises a shell and a mopping piece, and the cleaning robot can drive the mopping piece and the shell to relatively displace so as to mop the entrance of the base station or the ground.
It should be understood that when the cleaning robot controls itself to travel to drive the displacement of the cleaning member and/or drive the relative displacement of the cleaning member and the housing, the cleaning member performs cleaning on the ground or the cleaning base station against which the cleaning member is abutted, and the area that the cleaning member can clean includes at least the projection area of the cleaning member.
After determining the entrance area corresponding to the entrance of the base station, the cleaning robot drives the cleaning piece to move by controlling the cleaning robot to run so as to drive the cleaning piece and at least one of the cleaning piece and the shell to relatively displace, so that at least part of projection area of the cleaning piece is located in the entrance area.
As shown in fig. 4, in some embodiments, step S2 controls the cleaning robot to drive the cleaning member to move, and specifically includes steps S21-S22:
step S21: determining a cleaning initiation area of the mop according to the inlet area, wherein the cleaning initiation area is at least partially coincident with the inlet area;
step S22: and executing a second driving action to drive the mopping member to move to the cleaning starting area.
Specifically, the cleaning robot determines a cleaning start area of the cleaning member according to the entrance area, and then executes a second driving action to drive the cleaning member to move to the cleaning start area, wherein the cleaning robot starts to drive the cleaning member to clean the entrance of the base station of the cleaning base station at the latest after the cleaning member enters the cleaning start area, and therefore the cleaning start area is at least partially overlapped with the entrance area.
As shown in fig. 7 to 8, for example, the cleaning initiation region may be located at the edge of the entrance region 420, for example, outside the first corner region 460 or outside the second corner region 470 as shown in fig. 8, that is, the cleaning robot 500 wipes the base station entrance or the floor from the edge of the entrance region by the wiping member 520, or the cleaning initiation region may be located inside the entrance region 420, for example, region a, region B or region C as shown in fig. 7, that is, the cleaning robot wipes from the inside of the entrance region 420.
It should be understood that the cleaning robot may be an area where the cleaning robot starts to drive the cleaning robot to clean the cleaning start area when the cleaning robot moves to the cleaning start area, that is, during the process that the cleaning robot travels from the external environment of the cleaning base station toward the base station entrance of the cleaning base station, the cleaning robot starts to clean the entrance area after the cleaning robot moves to the cleaning start area by driving the cleaning robot to move to the cleaning start area according to the entrance area; or the cleaning device can start to drive the cleaning device to clean the area where the cleaning device is abutted before the cleaning device moves to the cleaning starting area. Specifically, the cleaning robot starts to perform the mopping at the latest in a period when the mopping member moves to the cleaning start area.
In some embodiments, the cleaning robot may drive the mop to lift or press down in a vertical direction relative to the housing to switch the mop to a preset lifting state or pressing down state, where the cleaning robot may drive the mop to switch to a pressing down state when driving the mop to clean an area where the mop is abutted, so as to improve a cleaning effect on the floor or an entrance of the base station; and when the area which is abutted by the mopping piece is not cleaned, the mopping piece is driven to be switched into a lifting state, so that the pollution of the mopping piece attached with dirt to the passing ground in the running process of the cleaning robot is avoided.
In some embodiments, step S22 of performing a second driving action to drive the mop to move to the cleaning initiation region includes:
driving the cleaning member to rotate around the center of the cleaning robot so that the cleaning member is positioned between the center of the cleaning robot and the cleaning base station and travels toward the cleaning base station so that the cleaning member moves to a cleaning starting area; or (b)
And driving to a first position determined according to the cleaning starting area, and driving the cleaning piece to rotate around the center of the cleaning robot so as to enable the cleaning piece to move to the cleaning starting area.
As shown in fig. 5, specifically, in the process that the cleaning robot 500 travels along a path designated by a user to clean a passing floor, or in the process that the cleaning robot 500 travels toward a cleaning base station to access the cleaning base station, the traveling direction of the cleaning robot 500 is the traveling direction shown in fig. 5 (a), wherein the cleaning member 520 is located at a side of the center of the cleaning robot 500 away from the traveling direction. Based on this, the cleaning robot 500 needs to adjust the angle of the cleaning robot 500 with respect to the cleaning robot 520 center in driving the cleaning robot 520 to the cleaning start area so that the cleaning robot 520 is located between the cleaning base station and the cleaning robot 500 center as shown in fig. 5 (b).
In some embodiments, the cleaning robot performing the second travel action specifically includes: firstly, the cleaning robot drives the cleaning piece to rotate around the center of the cleaning robot so as to adjust the angle of the cleaning piece relative to the center of the cleaning robot, so that the mop is located between the center of the cleaning robot and the cleaning base station, and then travels toward the cleaning base station to move the mop to the cleaning start area.
In other embodiments, the cleaning robot performing the second driving action specifically includes: the cleaning device comprises a cleaning starting area, a cleaning robot, a cleaning piece, a driving piece and a driving piece, wherein the cleaning starting area is used for cleaning the cleaning workpiece, the driving piece is driven to rotate around the center of the cleaning robot to adjust the angle of the cleaning piece relative to the center of the cleaning robot, and the driving piece is driven to move to the first position determined according to the cleaning starting area.
As shown in fig. 5, specifically, when the cleaning robot 500 is located at the first position, the cleaning robot 500 may move the cleaning member 520 to the cleaning start area by adjusting only the angle of the cleaning member 520 with respect to the center of the cleaning robot 500, and it should be understood that the position of the center of the cleaning robot may be taken as the position of the cleaning robot, and the distance between the first position and the cleaning start area is the distance between the center of the cleaning robot and the cleaning member in the horizontal direction. For example, the position of the center of the cleaning robot 500 in fig. 5 (b) and fig. 5 (c) is the first position, and fig. 5 (b) is a view of a scene in which the cleaning robot 500 has driven the cleaning robot 520 to reach the cleaning start region, and when the positional relationship among the cleaning robot 500, the cleaning robot 520 and the cleaning base station 400 is in the state shown in fig. 5 (c), the cleaning start region is controlled by adjusting only the angle of the cleaning robot to the cleaning robot center, and then the adjusted positional relationship among the cleaning robot 520, the cleaning robot 500 and the cleaning base station 400 is in the state shown in fig. 5 (b). Accordingly, when the cleaning robot 500 is located at the first position, the cleaning robot 500 may move the cleaning robot 520 to the cleaning start area by driving only the cleaning member 520 to rotate around the center of the cleaning robot 500.
It should be understood that through adjusting the angle that drags the piece and describe with respect to cleaning robot center before going to the cleaning base station earlier, or first position and then adjust the angle that drags the piece and describe with respect to cleaning robot center earlier, it is convenient for drag the piece and remove into clean initial region and go deep into the basic station entry and drag with the basic station entry is full to wipe, moreover make when cleaning the basic station entry, it is convenient for cleaning robot drive drag the piece and carry out the motion of bigger range with respect to cleaning base station to drag the piece, the effect of dragging of cleaning robot basic station entry has been promoted, on the other hand, the size restriction to cleaning robot and cleaning base station has also been reduced.
In some embodiments, controlling the cleaning robot to drive movement of the mop such that at least a portion of the mop is located in the entrance region further comprises:
the cleaning device is controlled to switch to a preset pressing state before or when the cleaning device moves to the cleaning starting area.
The cleaning robot can drive the cleaning piece to lift or press down so as to switch the cleaning piece into a preset lifting state or pressing down state, wherein the cleaning robot can drive the cleaning piece to switch the cleaning piece into the pressing down state when driving the cleaning piece to clean the area where the cleaning piece is abutted to, so that the cleaning force and the cleaning effect on the ground or the entrance of the base station are improved; and when the floor of the path is not required to be cleaned, the dragging and wiping piece is driven to be switched into a lifting state, so that the dirt-attached dragging and wiping piece is prevented from polluting the floor of the path in the running process of the cleaning robot.
The cleaning robot further comprises a cleaning member driving member, wherein the cleaning member driving member is at least used for driving the cleaning member to lift or press down relative to the shell so as to switch the cleaning member into a preset lifting state or pressing down state.
Specifically, the cleaning robot can control the cleaning member to be switched into a preset pressing state when the cleaning member moves to the cleaning starting area, so that the cleaning force of the base station entrance can be improved, and pollution to the passing ground caused by the cleaning member attached with dirt in the running process of the cleaning robot is avoided. The cleaning robot can also control the cleaning piece to switch to a preset pressing state before the cleaning piece moves to the cleaning initial area, so that the area except the entrance of the base station can be cleaned, meanwhile, the cleaning piece is ensured to be in the pressing state when the cleaning piece moves to the entrance area, and the cleaning force of the entrance of the base station is improved.
Step S3: the mop is driven to move relative to the cleaning base station to clean the entrance of the base station.
In some embodiments, step S3 drives the mop to move relative to the cleaning station to clean the station entrance, specifically includes:
controlling the cleaning robot to execute a first driving action to drive the mopping piece to move; and/or
The cleaning robot is controlled to execute a first rotating action to drive the mopping piece to move, wherein the movement track of the mopping piece at least partially coincides with the entrance area.
It will be appreciated that when the cleaning robot performs the first travelling action and/or the first turning action, the mop is driven by the cleaning robot to move at least from the cleaning initiation area to clean the base station entrance.
Specifically, the cleaning robot may perform a first driving action to drive the cleaning member on the installation housing to move relative to the base station entrance, so that the cleaning member wipes the area where the cleaning member abuts, or perform a first rotating action to drive the cleaning member installed on the housing to rotate around the center of the cleaning robot, or perform the first driving action and the first rotating action, so that the amplitude of the relative movement between the cleaning member and the base station entrance is increased, and the cleaning effect on the base station entrance is improved. Wherein the motion track of the mopping piece driven by the cleaning robot is at least partially overlapped with the entrance area.
In some embodiments, controlling the cleaning robot to perform a first rotational motion to drive the movement of the mop specifically includes:
controlling the cleaning robot to drive the mopping piece to rotate towards the first side plate; and/or
The cleaning robot is controlled to drive the mopping piece to rotate towards the second side plate.
Specifically, as shown in fig. 6, when the cleaning robot 500 performs the first rotation, the cleaning robot may drive the cleaning member 520 to rotate in the direction of the first side plate 430, for example, drive the cleaning member 520 to rotate from the position shown in fig. 6 (a) to the position shown in fig. 6 (b); the cleaning member 520 may be driven to rotate in the direction of the second side plate 440, specifically, the cleaning member 520 may be driven to rotate from the position shown in fig. 6 (a) to the position shown in fig. 6 (c), or the cleaning member 520 may be driven to rotate in the directions of the first side plate 430 and the second side plate 440, respectively. Further, the cleaning robot 500 may further include, when performing the first rotation action: the cleaning robot 500 is controlled to rotate in one direction of the first side plate 430 and the second side plate 440, then rotate in the other direction, and then repeat at least the above two steps at least once, so as to realize the reciprocating movement of the cleaning robot 500. Specifically, the cleaning robot 500 may be reciprocally switched between a state shown in fig. 6 (b) and a state shown in fig. 6 (c) when performing the first rotation action, i.e., the cleaning robot 500 repeatedly rotates around the center of the cleaning robot 500 at the cleaning start position to drag and wipe the base station entrance.
It should be understood that when the size of the entrance area 420 is not surplus with respect to the outer size of the cleaning robot 500, that is, the distance between the first side plate 430 and the second side plate 440 is smaller than the preset distance threshold, the space left in the entrance area for the cleaning robot 500 to perform the first driving action is small, and at this time, the driving of the cleaning robot 520 to move with respect to the cleaning base station 400 to clean the entrance area 420 may control only the cleaning robot 500 to perform the first driving action, particularly, referring to fig. 6 (a) (b) (c), for example, the driving of the cleaning robot 500 to perform the first driving action may be the driving of the cleaning robot 500 to rotate from the state shown in fig. 6 (a) to the state shown in fig. 6 (b), and the driving of the cleaning robot 500 to rotate from the state shown in fig. 6 (b) to the state shown in fig. 6 (c).
As shown in fig. 2 to 3, in some embodiments, the cleaning base station includes a first side plate 430 and a second side plate 440 disposed at intervals, and a base station entrance 410 is formed between the first side plate 430 and the second side plate 440, and controls the cleaning robot to perform a first driving motion to drive the cleaning member to move, including:
controlling the cleaning robot to move towards the first side plate until the mopping piece moves to a first corner area formed by the first side plate; and/or
And controlling the cleaning robot to move towards the second side plate until the mopping piece moves to a second corner area formed by the second side plate.
Specifically, when the cleaning robot performs the first driving action, the cleaning robot may move from the cleaning start area to the first side plate until the cleaning member moves to the first corner area formed by the first side plate, may move from the cleaning start area to the first side plate until the cleaning member moves to the second corner area formed by the second side plate, or may sequentially perform two actions of moving to the first side plate and moving to the second side plate from the cleaning start area, so as to deeply and fully scrub the entrance of the base station.
As shown in fig. 7, for example, the entrance area 420 includes at least an area a, an area B, and an area C as shown in fig. 7 (a), and when the cleaning start area is located in the area B as shown in fig. 7 (a), controlling the cleaning robot 500 to perform the first driving motion to drive the cleaning member may be controlling the cleaning robot 500 to switch from the state as shown in fig. 7 (B) to the state as shown in fig. 7 (C), and then switch from the state as shown in fig. 7 (C) to the state as shown in fig. 7 (d) to sufficiently clean the base station entrance, in particular, to clean the corners of the base station including the first corner area and the second corner area.
In some embodiments, controlling the cleaning robot to perform a first travel motion to drive the movement of the mop further comprises:
the cleaning robot is controlled to reciprocate between the first side plate and the second side plate.
It should be understood that the first driving action may also be to control the cleaning robot to start from the cleaning start area, move toward the first side plate until the cleaning member moves to the first corner area formed by the first side plate, then move toward the second side plate until the cleaning member moves to the second corner area formed by the second side plate, and then repeat at least the above two steps at least once to realize the reciprocating movement between the first side plate and the second side plate. Specifically, when the cleaning robot performs the first traveling action, the cleaning robot may be reciprocally switched between a state shown in fig. 7 (b) and a state shown in fig. 7 (c), that is, the cleaning robot twists between the first side plate and the second side plate to drag and wipe the base station entrance.
In some embodiments, determining that the mop moves to a first corner region formed by the first side panel when the mop is in abutment with the first side panel; when the mopping piece is abutted with the second side plate, the mopping piece is determined to move to a second corner area formed by the second side plate.
As shown in fig. 8, the cleaning start region may be located outside the first corner region 460 formed by the first side plate 430 as shown in fig. 8 (a) or outside the second corner region 470 formed by the second side plate 440 as shown in fig. 8 (b), and the cleaning robot 500 may perform the first driving operation by moving along the edge of the entrance region 420 from the cleaning start region to drag the edge of the entrance region 420. Further, the cleaning robot 500 performs the first driving action further includes reciprocating between the first corner region 460 and the second corner region 470 along the edge of the entrance region 420 to perform sufficient wiping of the edge of the entrance region 420, particularly, to enhance the wiping effect on the outer sides of the first corner region 460 and the second corner region 470.
In some embodiments, the cleaning robot includes a housing, a mop movably mounted to the housing for driving the mop relative to the cleaning base station, and further comprising:
the mop is driven to rotate relative to the shell.
Specifically, the driving piece of the dragging piece is also used for driving the dragging piece to rotate relative to the shell, so that the cleaning effect of the dragging piece on the inlet of the base station is improved. Further, the driving piece of the mopping piece can drive the mopping piece to be switched into a preset pressing state, and meanwhile, the mopping piece is driven to rotate relative to the shell, so that the mopping force of the mopping piece on the inlet of the base station is improved, and a better cleaning effect is obtained.
In some embodiments, the cleaning initiation region is located outside the first corner region formed by the first side plate, or outside the second corner region, and the cleaning initiation region may be located outside the first corner region or outside the second corner region, so as to drive the cleaning member to move relative to the cleaning base station, or may only drive the cleaning member to rotate relative to the housing, so that the cleaning member cleans the outside of the first corner region or the second corner region.
As shown in fig. 9, for example, when the cleaning start area is located outside the first corner area 460 formed by the first side plate, the cleaning robot 500 may rotate the cleaning member 520 with respect to the housing 510 at the position shown in fig. 9 (a) to perform in-situ cleaning on the outside of the first corner area 460, may rotate the cleaning start area around the center of the cleaning robot 500 to drive the cleaning member 520 to clean the outside of the first corner area 460 as shown in fig. 9 (a) (b) (c), and may also rotate the cleaning member 520 with respect to the housing 510 while rotating around the center of the cleaning robot 500 to cause the cleaning member 520 to clean the outside of the first corner area 460. Similarly, when the cleaning initiation region is located outside of the second corner region 470, the cleaning robot 500 may drive the cleaning wipe 520 to rotate and/or pivot with respect to the housing 510.
Further, driving the mop to move relative to the cleaning base station further comprises: after the outside of one of the first corner region and the second corner region is wiped, the cleaning machine moves to the outside of the other and cleans the outside of the other.
In some embodiments, before controlling the mop to switch to the preset pressing state, the method further includes: the method comprises the steps of controlling the mop to be switched to a preset lifting state, wherein when the mop is controlled to be switched to a pressing state, the lifting state of the mop is released;
the method provided by the application further comprises the following steps:
recording at least one first specific position of the mop in the lifted state;
controlling the cleaning robot to execute a third driving action so as to drive the mopping piece to move to at least one first specific position;
and controlling the dragging piece to switch to a pressing state and dragging at least one first specific position.
Specifically, the cleaning robot can drive the cleaning piece to lift or press down in the vertical direction relative to the shell so as to switch the cleaning piece into a preset lifting state or pressing down state, wherein the cleaning robot can drive the cleaning piece to switch the cleaning piece into the pressing down state when driving the cleaning piece to clean the area where the cleaning piece is abutted to, so that the cleaning effect on the ground or the entrance of the base station is improved; and when the floor is not required to be cleaned, the cleaning robot drives the cleaning piece to be switched into a lifting state, so that the dirt-attached cleaning piece is prevented from polluting the passing floor in the running process of the cleaning robot.
It should be understood that when the mop is located at the first specific position, the mop is in a lifted state, and at this time, the mop is difficult to mop the ground in the area covered by the mop, that is, when the mop is in a lifted state, dirt attached to the mop will not pollute the ground through which the cleaning robot passes, but cannot mop the ground corresponding to the first specific position. Based on this, before controlling the mop to switch to the preset pressing state, the present embodiment further includes: the cleaning robot is characterized in that the cleaning robot is controlled to be in a preset lifting state, so that the cleaning robot can be prevented from polluting the ground through which the cleaning robot passes, and then the cleaning robot is controlled to be in a preset pressing state before the cleaning robot moves to a cleaning starting area or when the cleaning robot moves to the cleaning starting area. The method further comprises the steps of recording at least one first specific position of the dragging piece in a lifting state, controlling the cleaning robot to execute a third running action so as to drive the dragging piece to move to the at least one first specific position, controlling the dragging piece to be switched into a pressing state and dragging the at least one first specific position.
In some embodiments, controlling the cleaning robot to drive movement of the mop such that at least a portion of the mop is located in the entrance region further comprises:
The rotating speed of the dragging piece is increased in a preset period of time when the dragging piece is controlled to be switched to a preset pressing state, so that the rotating speed of the dragging piece reaches a preset target rotating speed after the preset period of time;
the method provided by the application further comprises the following steps:
recording at least one second specific position of the mopping member with a rotational speed less than the target rotational speed;
controlling the cleaning robot to execute a fourth driving action so as to drive the mopping piece to move to at least one second specific position;
the mop is controlled to switch to a pressing state and at least one second specific position is cleaned.
In an exemplary embodiment, when the at least one second specific position of the cleaning robot with the rotation speed of the cleaning robot being less than the target rotation speed is recorded, the rotation speed of the cleaning robot is first controlled to switch from the raised state to the depressed state, and then the rotation speed of the cleaning robot is raised.
It should be understood that, after the cleaning robot controls the cleaning member to switch to the pressing state, the cleaning robot needs to increase the rotation speed of the cleaning member to enhance the cleaning force and the cleaning effect of the cleaning member on the ground or the entrance of the base station where the cleaning member is abutted. And after the rotating speed of the cleaning robot is increased by a preset period, the rotating speed of the cleaning member can reach a preset target rotating speed, and the cleaning robot is also used for controlling the cleaning member at the target rotating speed to move relative to the cleaning base station so as to clean the entrance of the base station, wherein the rotating speed of the cleaning member is specifically the rotating angular speed of the cleaning member relative to the shell.
It should also be understood that the rotation speed of the cleaning robot controlling the cleaning member is less than the target rotation speed within a preset period after the cleaning robot controlling the cleaning member to be switched to the depressed state; the mopping force and mopping effect of the mopping piece on the ground contacted by the mopping piece when the rotating speed is less than the target rotating speed are lower, so that the dirt degree of the ground corresponding to the second specific position can not meet the cleaning requirement. Based on this, the method provided by the application further comprises: and recording at least one second specific position of the cleaning robot, wherein the rotating speed of the cleaning robot is smaller than the target rotating speed, controlling the cleaning robot to execute a fourth driving action so as to drive the cleaning robot to move to the at least one second specific position, controlling the cleaning robot to switch to a pressing state and cleaning the at least one second specific position.
Illustratively, controlling the mop to switch to the depressed state and clean the at least one second specific location and/or controlling the mop to switch to the depressed state and clean the at least one second specific location may be performed after cleaning the base station entrance of the cleaning base station is completed.
As shown in fig. 10, for the embodiment in which the cleaning robot is switched from the lifted state to the depressed state and the rotational speed of the cleaning member is increased again, for example, in the process in which the cleaning robot 500 travels in the direction toward the entrance area 420 to cause the cleaning member 520 to reach the cleaning start area, when the cleaning robot 500 drives the cleaning member 520 to move to the point D shown in fig. 10 (a), the cleaning member 520 is in the lifted state and the cleaning robot 500 starts to control the cleaning member 520 to switch to the depressed state, the cleaning robot 500 continues to travel in the direction toward the entrance area 420, and when the cleaning member 520 reaches the point E shown in fig. 10 (a), the cleaning robot has switched the cleaning member 520 to the depressed state, that is, in the process in which the cleaning robot 500 drives the cleaning member 520 to move from the point D to the point E, the cleaning member 520 is in the lifted state, and thus at least one first specific position is included on the path in which the cleaning member 520 moves from the point D to the point E; the cleaning robot 500 continues to travel in the direction of the entrance area 420, and the rotation speed of the cleaning member 520 remains rising but is less than the target rotation speed, and then when the cleaning member 520 reaches the point F, the rotation speed of the cleaning member reaches the target rotation speed, that is, the rotation speed of the cleaning member 520 is less than the target rotation speed in the process of the cleaning robot 500 driving the cleaning member 520 to move from the point E to the point F, so that at least one second specific position is included on the path of the cleaning member 520 moving from the point E to the point F; the cleaning robot 500 then continues to travel in the direction of the entrance area 420 to drive the mop 520 to move to the cleaning start area and clean the base station entrance 410 by the rotating mop 520.
After the cleaning robot 500 cleans the base station entrance 410, the cleaning robot 500 is as shown in fig. 10 (c): determining at least one first specific position on the path of the drawing piece 520 from the point D to the point E, then executing a third driving action to drive the drawing piece 520 to move to the first specific position, and controlling the drawing piece 520 to be switched into a pressing state so as to draw the first specific position; further, the cleaning robot 500 is also shown in fig. 10 (b): at least one second specific position is determined on the path of the drawing member 520 moving from the point D to the point E, and then a fourth driving action is performed to drive the drawing member 520 to move to the second specific position, and the drawing member 520 is controlled to switch to a pressing state to draw the second specific position.
In some embodiments, the cleaning base station is provided with a docking station at the base station entrance for at least docking a mop, the method further comprising:
determining an entry area when a cleaning signal is received indicating cleaning of the mop;
after driving the cleaning piece to move relative to the cleaning base station to clean the entrance of the base station, controlling the cleaning robot to run to a docking position so as to dock the cleaning piece with the cleaning base station;
and executing a preset cleaning action on the mop.
Specifically, the cleaning robot and the cleaning base station form a cleaning system, wherein the cleaning robot is provided with a cleaning member, the cleaning member is used for cleaning the indoor environment, the cleaning member is a mop or a rolling brush, after the cleaning robot performs a cleaning task for a period of time, the dirt degree of the cleaning member can rise, so that the cleaning capability of the cleaning robot is reduced, and the cleaning member of the cleaning robot can be mechanically abutted with the cleaning base station to clean the cleaning member, in particular, the cleaning member of the cleaning robot is moved to the abutting position of the cleaning base station.
In the embodiment of the application, when the cleaning robot receives a cleaning signal for cleaning the cleaning piece, an entrance area is determined, then after the cleaning piece is driven to move relative to the cleaning base station to clean the entrance of the base station, the cleaning robot is controlled to travel to a docking position so as to dock the cleaning piece with the cleaning base station, and after the docking of the cleaning piece with the cleaning base station is confirmed, a preset cleaning action is executed on the cleaning piece.
It will be appreciated that the cleaning signal may be generated by a user operating a corresponding control device and sent to the cleaning robot. The cleaning signal may also be generated by the cleaning base station and output to the cleaning robot, for example, periodically output to the cleaning robot when the cleaning robot performs a cleaning task, so as to instruct the cleaning robot to retrieve to the cleaning base station and clean the cleaning member after performing a cleaning task for a certain period. The cleaning signal may also be determined by the cleaning robot based on any one or a combination of a time to perform cleaning, a degree of soiling of the mop, a degree of wetting of the mop, a progress of cleaning the indoor environment, and a degree of soiling of the indoor environment, for example, the cleaning robot may generate the cleaning signal after the degree of soiling of the mop reaches a preset threshold of soiling of the mop.
In some embodiments, the cleaning base station may generate corresponding docking information according to the docking condition of the cleaning base station and the mop, and send the docking information to the cleaning robot, where the cleaning robot may obtain the docking state of the cleaning base station and the mop according to the received docking information; or the cleaning robot detects the butt joint condition of the cleaning piece and the cleaning base station to generate corresponding butt joint information, so that the cleaning base station can determine whether the cleaning piece and the cleaning base station are in butt joint or out of butt joint according to the butt joint information, and the situation that the cleaning piece and the cleaning base station are in butt joint or out of butt joint can be timely detected and confirmed.
As shown in fig. 11, the embodiment of the present application further provides a cleaning robot 100 for implementing the steps of the method of the embodiment of the present application, specifically, the cleaning robot includes a housing 510, a mop 520 and a control device 530, wherein the mop 520 and the control device 530 are respectively installed on the housing 510, and the mop 520 is configured to perform a preset mopping action to clean an entrance area 420 or a floor against which the mop 520 abuts. Further, the cleaning robot 500 provided by the present application further includes a traveling mechanism electrically connected to the control device 530, and the cleaning robot 500 can implement traveling and rotating actions in an indoor environment through the traveling mechanism.
The communication device realizes communication connection with the cleaning base station and completes the receiving and transmitting of corresponding signals, instructions and information.
As shown in fig. 12, specifically, the control device 530 includes a processor 531 and a memory 532.
By way of example, processor 531 and memory 532 are connected via a bus 533, such as an I2C (Inter-integrated Circuit) bus 533.
Specifically, the processor 531 may be a Micro-controller Unit (MCU), a central processing Unit (Central Processing Unit, CPU), or a digital signal processor 531 (Digital Signal Processor, DSP), or the like.
Specifically, the Memory 532 may be a Flash chip, a Read-Only Memory 532 (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.
Wherein the processor 531 is arranged to run a computer program stored in the memory 532 and to implement the steps of the aforementioned method when said computer program is executed.
The processor 531 is for example arranged to run a computer program stored in the memory 532 and to implement the following steps when executing the computer program:
determining an entry area corresponding to a base station entry;
controlling the cleaning robot to drive the mopping member to move so that at least part of the mopping member is positioned in the inlet area;
The mop is driven to move relative to the cleaning base station to clean the entrance of the base station.
As shown in fig. 13, the embodiment of the present application further provides a cleaning system 600 including the cleaning base station 400 and the cleaning robot 500 of any of the embodiments of the present application.
In summary, an embodiment of the present application provides a cleaning method, a cleaning robot, and a cleaning system, where the cleaning method is applied to the cleaning robot, the cleaning robot may dock with a cleaning base station, the cleaning base station is formed with a base station inlet for accessing the cleaning robot, and the cleaning robot is further provided with a cleaning member, the method includes: determining an entry area corresponding to a base station entry; controlling the cleaning robot to drive the mopping member to move so that at least part of the mopping member is positioned in the inlet area; the cleaning base station is provided with a cleaning base station inlet, a cleaning base station inlet is arranged on the cleaning base station inlet, a cleaning base station is arranged on the cleaning base station inlet, and the cleaning base station inlet is connected with the cleaning base station inlet.
It should be understood that the cleaning robot and the cleaning system described in the embodiments of the present application are only a specific example, and are not limited to the cleaning robot performing the cleaning method provided in the embodiments of the present application, nor to the cleaning system including the cleaning robot, and the cleaning robot 100 and the cleaning system of the embodiments of the present application may be implemented in other specific manners. For example, in other implementations, the cleaning robot 500 may have more or fewer components than the cleaning robot 500 shown in fig. 2, 11, and 12, and the cleaning system may have more or fewer components than the cleaning system 600 shown in fig. 13.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should also be understood that the term "and/or" as used in the present application and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (14)

1. The cleaning method is applied to a cleaning robot, the cleaning robot can be docked with a cleaning base station, the cleaning base station is provided with a base station inlet for accessing the cleaning robot, the cleaning base station comprises a first side plate, a second side plate and a bottom plate, the bottom plate is connected between the first side plate and the second side plate, the bottom plate, the first side plate and the second side plate are matched to form the base station inlet, and the base station inlet is formed between the first side plate and the second side plate; the cleaning robot is further provided with a mop, characterized in that the method comprises:
Determining an entry area corresponding to the base station entry;
controlling the cleaning robot to drive the mopping member to move so that at least part of the mopping member is positioned in the entrance area;
driving the mopping member to move relative to the cleaning base station so as to clean the entrance area corresponding to the entrance of the base station; the base station entrance area is a surface of the base plate.
2. The cleaning method of claim 1, wherein said driving the mop in motion relative to the cleaning base station comprises:
controlling the cleaning robot to execute a first driving action to drive the mopping member to move; and/or
Controlling the cleaning robot to execute a first rotating action to drive the mopping member to move;
wherein the locus of motion of the mop at least partially coincides with the entrance area.
3. The cleaning method of claim 2, wherein the controlling the cleaning robot to perform a first travel action to drive the cleaning element in motion comprises:
controlling the cleaning robot to move towards the first side plate until the mopping member moves to a first corner area formed by the first side plate; and/or
And controlling the cleaning robot to move towards the second side plate until the mopping piece moves to a second corner area formed by the second side plate.
4. The cleaning method of claim 3, wherein the controlling the cleaning robot to perform a first travel action to drive the cleaning element in motion further comprises:
the cleaning robot is controlled to reciprocate between the first side plate and the second side plate.
5. The cleaning method of claim 2, wherein the cleaning base station includes a first side plate and a second side plate disposed at intervals, and the base station entrance is formed between the first side plate and the second side plate, and controlling the cleaning robot to perform a first rotation motion to drive the cleaning member to move comprises:
controlling the cleaning robot to drive the mopping piece to rotate towards the first side plate; and/or
And controlling the cleaning robot to drive the mopping piece to rotate towards the second side plate.
6. The cleaning method of claim 1, wherein the cleaning robot includes a housing, the mop being movably mounted to the housing, the driving the mop relative to the cleaning base station, further comprising:
the mop is driven to rotate relative to the shell.
7. The cleaning method of any one of claims 1-6, wherein the controlling the cleaning robot to drive the cleaning element to move such that at least a portion of the cleaning element is located in the entrance region comprises:
Determining a cleaning initiation area of the mop according to the inlet area, wherein the cleaning initiation area is at least partially coincident with the inlet area;
and executing a second driving action to drive the mopping piece to move to the cleaning starting area.
8. The cleaning method of claim 7, wherein the performing a second travel action to drive the mop to move to the cleaning initiation region comprises:
driving the cleaning member to rotate around the center of the cleaning robot so that the cleaning member is positioned between the center of the cleaning robot and the cleaning base station and travels toward the cleaning base station so that the cleaning member moves to the cleaning start area; or (b)
And driving the cleaning robot to a first position determined according to the cleaning starting area, and driving the cleaning member to rotate around the center of the cleaning robot so as to enable the cleaning member to move to the cleaning starting area.
9. The cleaning method of claim 7, wherein the controlling the cleaning robot to drive the mop to move such that at least a portion of the mop is located in the entrance area further comprises:
and before the cleaning starting area is moved by the cleaning piece or when the cleaning starting area is moved by the cleaning piece, controlling the cleaning piece to be switched into a preset pressing state.
10. The cleaning method of claim 9, wherein prior to said controlling said mop to switch to a preset depressed state, further comprising:
controlling the mop to be switched to a preset lifting state, wherein when the mop is controlled to be switched to the pressing state, the lifting state of the mop is released;
the method further comprises the steps of:
recording at least one first specific position of the mop in the lifted state;
controlling the cleaning robot to execute a third driving action to drive the mopping member to move to the at least one first specific position;
and controlling the mop to switch to the pressing state and cleaning the at least one first specific position.
11. The cleaning method of claim 9, wherein the controlling the cleaning robot to drive the mop to move such that at least a portion of the mop is located in the entrance area further comprises:
the rotating speed of the dragging piece is increased in a preset period of time when the dragging piece is controlled to be switched to a preset pressing state, so that the rotating speed of the dragging piece reaches a preset target rotating speed after the preset period of time;
The method further comprises the steps of:
recording at least one second specific position of the mopping member with a rotational speed less than the target rotational speed;
controlling the cleaning robot to execute a fourth driving action to drive the mopping member to move to the at least one second specific position;
and controlling the mop to switch to the pressing state and cleaning the at least one second specific position.
12. The cleaning method of any of claims 1-6, wherein the cleaning base station is provided with a docking station at the base station entrance for docking at least the mop, the method further comprising:
determining the entry area when a cleaning signal is received that indicates cleaning of the mop;
after driving the cleaning piece to move relative to the cleaning base station to clean the base station entrance, controlling the cleaning robot to travel to the docking position so as to dock the cleaning piece with the cleaning base station;
and executing a preset cleaning action on the mopping piece.
13. A cleaning robot, characterized in that the cleaning robot comprises:
a housing;
the dragging piece is arranged on the shell;
control means mounted to the housing, said control means comprising a processor, a memory, a computer program stored on said memory and executable by said processor, and a data bus for enabling a connection communication between said processor and said memory, wherein said computer program, when executed by said processor, implements the steps of the cleaning method according to any one of claims 1-12.
14. A cleaning system, characterized in that the cleaning robot comprises a cleaning robot and a cleaning base station, wherein the cleaning robot is the cleaning robot according to claim 13.
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