WO2023104174A1 - Cleaning robot system, and cleaning robot and control method therefor - Google Patents

Cleaning robot system, and cleaning robot and control method therefor Download PDF

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Publication number
WO2023104174A1
WO2023104174A1 PCT/CN2022/137743 CN2022137743W WO2023104174A1 WO 2023104174 A1 WO2023104174 A1 WO 2023104174A1 CN 2022137743 W CN2022137743 W CN 2022137743W WO 2023104174 A1 WO2023104174 A1 WO 2023104174A1
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WO
WIPO (PCT)
Prior art keywords
mopping
unit
cleaning
carpet
cleaning robot
Prior art date
Application number
PCT/CN2022/137743
Other languages
French (fr)
Chinese (zh)
Inventor
张士松
钟红风
钱富
毋宏兵
Original Assignee
苏州宝时得电动工具有限公司
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Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2023104174A1 publication Critical patent/WO2023104174A1/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the invention relates to the technical field of cleaning equipment, in particular to a cleaning robot and a control method thereof.
  • cleaning robots With the development of science and technology, more and more cleaning robots have entered thousands of households to complete automatic sweeping and mopping.
  • Existing cleaning robots have implemented different working modes according to different ground materials.
  • cleaning robots can perform different cleaning strategies.
  • the cleaning robots in the prior art generally have only one cleaning strategy when encountering carpets, and have poor environmental adaptability.
  • a cleaning robot and a cleaning robot system are provided, and a method for controlling the cleaning robot is also proposed.
  • a cleaning robot the cleaning robot includes: a main body, a walking mechanism, arranged on the main body, driving the cleaning robot to move;
  • the control unit controls the walking mechanism to drive the cleaning robot to move autonomously on the surface of the area to be cleaned;
  • the mopping unit is arranged on the main body, the mopping unit has a mopping state, and in the mopping state, the The mopping unit is used for mopping the floor;
  • the mopping unit also has a raised state and a disassembled state; when the cleaning robot moves on the carpet, the mopped unit is in the raised state or the disassembled state.
  • the cleaning robot also includes:
  • the carpet identification sensor is installed on the main body to identify the carpet and send the carpet identification result to the controller;
  • the controller is configured to: respond to the carpet recognition result of the carpet recognition sensor, control the mopping unit to disengage from the main body, so that the mopping unit is in a disassembled state; or, control the mopping unit Lifting, so that the mopping unit is in a raised state.
  • the carpet identification sensor is used to identify the carpet and detect the thickness value of the carpet, and send the thickness value of the carpet to the controller, and the controller is configured to: based on the thickness of the carpet value, controlling the state of the mopping unit;
  • the cleaning robot If the thickness value of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state;
  • the mopping unit is controlled to disengage from the cleaning robot, so that the mopping unit is in a disassembled state.
  • the controller is further configured to: if the carpet thickness value detected by the carpet identification sensor is greater than a second preset value, control the cleaning robot to walk along the edge of the carpet or Walk with a distance from the carpet.
  • the cleaning robot also includes:
  • a cleaning component is arranged on the main body, the cleaning component has a cleaning state, and in the cleaning state, the cleaning component is used to perform cleaning work;
  • the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot; In the working mode, the mopping unit is controlled to be raised, so that the mopping unit is in a raised state.
  • the working mode associated with the mopping unit includes a mode of sweeping first and then mopping; the controller is configured to: when the cleaning robot is in the mode of sweeping first and then mopping, control the The cleaning robot crosses the carpet while keeping the mopping unit lifted and the cleaning unit not performing cleaning work.
  • the working mode associated with the mopping unit includes a sweeping and mopping mode; the controller is configured to: when the cleaning robot is in the sweeping and mopping mode, control the cleaning robot to keep the mopping
  • the floor unit drives onto the carpet when the floor unit is raised, and controls the cleaning unit to perform cleaning work on the carpet.
  • the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot; the controller is configured to: when the cleaning robot is in the In the sweeping mode, the mopping unit is controlled to disengage from the main body, so that the mopping unit is in a disassembled state.
  • the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor; wherein the carpet recognition result including the thickness value of said carpet;
  • the cleaning robot If the cleaning robot is in the sweeping mode, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state;
  • the cleaning robot is controlled to return to the base station, and the mopping unit is separated from the main body, so that the The above-mentioned mopping unit is in a disassembled state;
  • the cleaning robot If the cleaning robot is in the working mode associated with the mopping unit, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit in a raised state;
  • the cleaning robot If the cleaning robot is in the working mode associated with the mopping unit, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to keep the mopping unit Drive onto the carpet in a raised state.
  • the working mode associated with the mopping unit includes a sweeping and mopping mode; the controller is configured to:
  • the cleaning robot If the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; and Drive onto the carpet when the mopping unit is in a raised state, so that the cleaning component can clean the carpet;
  • the cleaning robot If the cleaning robot is in the mode of sweeping and mopping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station from the current position to update the mopping unit, Keeping the mopping unit in a clean state; and controlling the cleaning robot to drive onto the carpet while keeping the mopping unit elevated, so that the cleaning component can clean the carpet.
  • the working mode associated with the mopping unit includes sweeping first and then mopping mode; the controller is configured to:
  • the cleaning robot If the cleaning robot is in the mode of sweeping first and then mopping, and the thickness value of the carpet is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; and Controlling the cleaning robot to cross the carpet while keeping the mopping unit lifted and the cleaning component not performing cleaning work;
  • the cleaning robot If the cleaning robot is in the mode of sweeping first and then mopping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station from the current position to update the mopping unit, Keeping the mopping unit in a clean state; and controlling the cleaning robot to cross the carpet while keeping the mopping unit lifted and the cleaning component not performing cleaning work.
  • the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor; wherein the carpet recognition result including the thickness value of said carpet;
  • the cleaning robot If the cleaning robot is in the sweeping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to replace the mopping unit so that the mopping unit is in a new state;
  • the floor unit is raised, so that the cleaning robot moves on the carpet when the mopping unit is in a raised state, and the cleaning unit is in a cleaning state to clean the carpet;
  • the cleaning robot If the cleaning robot is in the mode of mopping while sweeping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; and control the cleaning The robot moves on the carpet when the mopping unit is in the disassembled state and the cleaning unit is in the cleaning state, so that the cleaning unit can clean the carpet;
  • the cleaning robot If the cleaning robot is in the mopping mode of sweeping first and then mopping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; And control the cleaning robot to cross the carpet when the mopping unit is in a disassembled state and the cleaning unit is not performing cleaning work.
  • the cleaning robot includes a lifting unit, which is arranged on the main body, and drives the mopping unit to lift, so that the mopping unit is in a raised state;
  • the lifting unit is also used to drive the mopping unit down so that the mopping unit is in a mopping state.
  • the cleaning robot includes an ejecting unit configured to eject the mopping unit so that the mopping unit is in a disassembled state.
  • the base station includes a detachment component configured to detach the mopping unit to separate the mopping unit from the cleaning robot.
  • the base station has a temporary storage position for receiving the mopping unit detached from the cleaning robot; or, the base station includes a replacement component configured to receive the mopping unit detached from the cleaning robot. ground components.
  • the base station includes a replacement component configured to replace the mopping unit for the cleaning robot after the mopping unit is detached, so that the mopping unit is in a clean state.
  • the base station includes a cleaning component configured to clean the mopping unit after the cleaning robot returns to the base station or after the mopping component is separated from the main body, so that the mopping unit In a clean state.
  • the cleaning robot further includes: a cleaning component, disposed on the main body, the cleaning component has a cleaning state, and the cleaning component is configured to perform cleaning work in the cleaning state;
  • the controller is configured to: control the cleaning robot to switch to a cleaning state when the mopping cleaning element is lifted or detached from the main body, so that the cleaning component performs the cleaning work on the carpet.
  • the controller is configured to: control the cleaning robot to walk along the edge of the carpet or have a distance from the carpet when the mopping cleaning part is lifted or separated from the main body walking.
  • the mopping unit includes a mopping cleaning part and a mopping floor, wherein the mopping floor is configured to be removably mounted with the mopping cleaning part;
  • the mopping cleaning part When the cleaning robot moves on the carpet, at least the mopping cleaning part is in a raised state or a disassembled state.
  • a control method for a cleaning robot characterized in that the cleaning robot includes a main body, a mopping unit provided on the main body with mopping cleaning parts, a carpet recognition sensor and a controller, and the mopping unit is configured as performing a mopping operation, the carpet identification sensor being configured to identify a carpet;
  • the method is applied to the controller, comprising the steps of:
  • the carpet recognition sensor Whether the target area in front of the cleaning robot is detected by the carpet recognition sensor is a carpet
  • the carpet recognition sensor detects a carpet, control the mopping unit to separate from the main body, or control the mopping unit to lift.
  • the carpet identification sensor is configured to identify the carpet and send the detected thickness value of the carpet to the controller;
  • the methods include:
  • the cleaning robot is controlled to lift the mopping unit.
  • the method also includes:
  • the cleaning robot is controlled to walk along the edge of the carpet or to walk with a distance from the carpet.
  • the cleaning robot further includes: a cleaning component, disposed on the main body, the cleaning component has a cleaning state, and in the cleaning state, the cleaning component is used to perform cleaning work;
  • the cleaning robot has a sweeping mode and a working mode associated with the mopping unit; wherein in the sweeping mode, the mopping unit does not work.
  • the method includes:
  • the method includes:
  • the mopping unit When the cleaning robot is in the sweeping mode, the mopping unit is controlled to disengage from the main body, so that the mopping unit is in a disassembled state.
  • the method includes:
  • the cleaning robot If the cleaning robot is in the sweeping mode, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state;
  • the cleaning robot is controlled to return to the base station, and the mopping unit is separated from the main body, so that the The above-mentioned mopping unit is in disassembled state.
  • the working mode associated with the mopping unit includes a sweeping and mopping mode
  • the methods include:
  • the cleaning robot If the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; and Drive onto the carpet when the mopping unit is in a raised state, so that the cleaning component can clean the carpet;
  • the cleaning robot If the cleaning robot is in the mode of mopping while sweeping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; and control the cleaning The robot moves on the carpet when the mopping unit is in the disassembled state and the cleaning unit is in the cleaning state, so that the cleaning unit can clean the carpet;
  • the working mode associated with the mopping unit includes a mode of sweeping first and then mopping; wherein, in the mode of sweeping first and then mopping, the mopping unit is in a mopping state;
  • the methods include:
  • the cleaning robot If the cleaning robot is in the mode of sweeping first and then mopping, and the thickness value of the carpet is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; and Controlling the cleaning robot to cross the carpet while keeping the mopping unit lifted and the cleaning component not performing cleaning work;
  • the cleaning robot If the cleaning robot is in the mopping mode of sweeping first and then mopping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; And control the cleaning robot to cross the carpet when the mopping unit is in a disassembled state and the cleaning unit is not performing cleaning work.
  • a cleaning robot system including a base station and the above-mentioned cleaning robot, wherein the base station includes at least one of the following components;
  • the cleaning component cleans the mopping unit for the cleaning robot.
  • a cleaning robot the cleaning robot includes a main body, a cleaning unit with a cleaning working head, a mopping unit with mopping cleaning parts, a carpet recognition sensor and a control unit arranged on the main body, and the cleaning unit is configured as Perform cleaning work;
  • the mopping unit is configured to perform mopping work;
  • the carpet identification sensor is configured to identify the carpet and send the thickness value of the detected carpet to the control unit;
  • the control unit is configured to: When the carpet thickness value detected by the carpet recognition sensor is greater than a first preset value and less than or equal to a second preset value, control the mopping cleaning part to separate from the cleaning robot or control the cleaning robot to update the Mopping the floor cleaning part, making the mopping cleaning part in a clean state, and controlling the cleaning robot to drive onto the carpet.
  • the cleaning robot when the carpet sensor detects that the carpet thickness value is greater than the first preset value and less than or equal to the second preset value, the cleaning robot will separate from the mopping cleaning part or update the mopping cleaning part, so that the subsequent cleaning robot drives on the carpet and cleans the carpet without staining the carpet.
  • control unit is further configured to control the cleaning robot to lift the mopping cleaning piece when the carpet thickness value detected by the carpet recognition sensor is less than or equal to a first preset value and drive onto said carpet.
  • the cleaning robot includes a sweeping and dragging mode
  • the control unit is further configured to: in the sweeping and dragging mode: the carpet thickness value detected by the carpet identification sensor
  • the cleaning robot is controlled to drive into the base station from the current position, and at the same time, the cleaning robot is controlled to leave the mopping cleaning part in the base station, and After the mopping cleaning part is disengaged, control the cleaning robot to return to the current position and perform the cleaning work on the carpet; or, the carpet thickness value detected by the carpet recognition sensor is greater than the first preset value
  • control the cleaning robot to drive into the base station from the current position and update the mopping cleaning parts in the base station, so that the mopping cleaning parts are in a clean state, and control the cleaning robot to return The current position and perform the cleaning work on the carpet.
  • control unit is configured to: control the cleaning robot to perform the cleaning work on the carpet while keeping lifting the mopping cleaning element.
  • control unit is further configured to: control the cleaning robot to walk along the edge of the carpet or Walk with a distance from the carpet.
  • control unit is further configured to: when the carpet thickness value detected by the carpet identification sensor is greater than a second preset value, control the mopping cleaning element to detach from the cleaning robot Or control the cleaning robot to update the mopping cleaning part, so that the mopping cleaning part is in a clean state, and control the cleaning robot to drive onto the carpet.
  • updating the mopping cleaning piece includes: replacing a clean mopping cleaning piece, or cleaning the mopping cleaning piece.
  • a control method of a cleaning robot includes a main body, a cleaning unit with a cleaning working head, a mopping unit with a mopping cleaner, a carpet recognition sensor and a control unit arranged on the main body, the cleaning unit is configured to perform cleaning work, the mopping unit is configured to perform mopping work, and the carpet identification sensor is configured to identify the carpet and send the thickness value of the detected carpet to the control unit; the method is applied to
  • the control unit includes the step of: using the carpet recognition sensor to detect in real time whether the target area in front of the cleaning robot is a carpet and obtain the thickness value of the carpet; the carpet thickness value detected by the carpet recognition sensor is greater than the first predetermined value.
  • the cleaning robot is controlled to drive onto the carpet.
  • the method further includes the step: when the carpet thickness value detected by the carpet identification sensor is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping cleaning piece and drive above mentioned rugs.
  • controlling the cleaning robot to lift the mopping cleaning part and drive onto the carpet including the steps : controlling the cleaning unit of the cleaning robot to perform cleaning work to clean the carpet.
  • the cleaning robot updates the mopping cleaning part so that the mopping cleaning part is in a clean state
  • controlling the cleaning robot to drive onto the carpet includes the steps of: controlling the cleaning robot to drive into the base station from the current position and Detach from the base station or control the cleaning robot to update the mopping cleaning piece, so that the mopping cleaning piece is in a clean state; control the cleaning robot to return to the current position; control the cleaning unit of the cleaning robot A sweep is performed to clean said carpet.
  • controlling the cleaning unit of the cleaning robot to perform cleaning work to clean the carpet includes: performing the cleaning work on the carpet while keeping the mopping cleaning member lifted.
  • the method further includes the step of: when the thickness value of the carpet detected by the carpet recognition sensor is greater than a second preset value, controlling the cleaning robot to walk along the edge of the carpet or interact with the carpet The carpet walks at intervals; or, when the carpet thickness value detected by the carpet recognition sensor is greater than a second preset value, control the mopping cleaning part to separate from the cleaning robot or control the cleaning robot to update The mopping and cleaning part keeps the mopping and cleaning part in a clean state, and controls the cleaning robot to drive onto the carpet.
  • FIG. 1 is a schematic diagram of a cleaning robot system according to an embodiment of the present invention.
  • Fig. 2 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention.
  • Fig. 3 is a structural schematic diagram of a lifting and dismounting mechanism according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a base station according to an embodiment of the present invention.
  • FIG. 5 is a system schematic diagram of a control method of a cleaning robot according to an embodiment of the present invention.
  • Fig. 6 is a schematic diagram of the cleaning robot during normal cleaning.
  • Fig. 7 is a schematic diagram when a cleaning robot detects a low-thickness carpet during normal cleaning.
  • Fig. 8 is a schematic diagram when a cleaning robot detects a high-thickness carpet during normal cleaning.
  • Fig. 9 is a schematic diagram of the cleaning robot returning to the base station to disassemble the mopping board after detecting a high-thickness carpet during normal cleaning.
  • Cleaning robot 10. Main body; 110. Shell; 120. Traveling mechanism; 20. Cleaning unit; 210. Rolling brush; 220. Side brush; 230. Dust box; 30. Mopping unit; 310. Mopping board; 320. Mopping and cleaning parts; 40. Lifting mechanism; 410. Motor; 420. Drive shaft; 430. First cam; 440. Second cam; 450. Mopping board installation frame; 460. Box; 50. Carpet recognition sensor 60. Control unit; 70. Water adding module; 80. Detection component; 200. Base station; 201. Space; 202. Replacement component; 300. Carpet.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as “first” and “second” may explicitly or implicitly include at least one of these features. In the description of the present invention, “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • the present disclosure provides a cleaning robot, including:
  • the walking mechanism is arranged on the main body to drive the cleaning robot to move;
  • control unit controlling the traveling mechanism to drive the cleaning robot to move autonomously on the surface of the area to be cleaned
  • a floor mopping unit is provided on the main body, and the floor mopping unit has a floor mopping state, and in the floor mopping state, the floor mopping unit is used for mopping the floor;
  • the mopping unit has a non-mopping state, wherein the non-mopping state includes at least one of a raised state and a disassembled state; wherein the mopping state refers to the The state in which the area surface is in contact, the disassembled state refers to the state in which the mopping unit is separated from the main body;
  • the mopping unit can not perform mopping work.
  • the mopping unit in order to prevent the mopping unit from polluting the carpet, in one embodiment, can be disassembled so that the mopping unit has a disassembled state; wherein the mopping unit at least includes mopping and cleaning
  • the mopping unit can also include a mopping board for detachably installing the mopping cleaning parts to form a mopping floor, and the mopping floor can be used to mop the surface of the area to be cleaned.
  • the mopping unit can also be disassembled, which is not limited in this disclosure.
  • the mopping unit can be dismantled by the cleaning robot, that is, the main unit has the function of dismantling the mopping unit.
  • the host is provided with a disassembly mechanism, so that the host can separate the mopping unit from the host, so that the mopping unit is in a disassembled state.
  • the detachment mechanism of the host includes a ejecting unit, which is arranged on the main body, and is used for ejecting the mopping unit to separate from the main body.
  • the ejection unit can be, for example, a second cam.
  • the floor mopping unit can also be removed by the base station, that is, the base station has the function of removing the floor mopping unit.
  • the host computer can return to the base station, and the base station can remove the floor mopping unit on the host computer.
  • the base station is provided with a detachment mechanism, so that the base station can separate the mopping unit from the host.
  • the detachment mechanism of the base station may be, for example, a detachment component, which is used to detach the mopping unit for the cleaning robot.
  • the dismantling mechanism of the base station can be a replacement component, for example, which can disassemble the mopping unit or replace the mopping unit.
  • the cleaning robot returns to the base station, and then disassembles the mopping unit, wherein the disassembly can be realized by the disassembly mechanism of the host or by the disassembly structure of the base station.
  • This embodiment is not limited.
  • the mopping unit may include a mopping board and a mopping cleaning part that can be installed on the mopping board. Therefore, disassembling the mopping unit by the host or the base station can be understood as disassembling the mopping unit as a whole, which will be connected with the mopping cleaning part. It can also be understood that only the mopping cleaning part is disassembled, and the mopping board is not disassembled; it should be understood that the removal of the mopping cleaning part can be realized by disassembling the mopping board, and this embodiment does not Do repeat.
  • the base station has components for storing, reclaiming, replacing, cleaning, etc. the mopping unit.
  • the base station has a temporary storage position for temporarily storing the disassembled mopping unit.
  • the base station has a recovery component for receiving the ejected mopping unit; the recovery component may include a recovery bin, for example, to accommodate the disassembled mopping unit.
  • the base station has a replacement component for replacing a clean mopping unit.
  • the replacement component can also receive the ejected mopping unit, that is, the replacement component can also be used as a recovery component.
  • the base station has a cleaning component for cleaning the mopping unit of the cleaning robot.
  • the mopping unit can be cleaned in a state of being detached from the main body, or can be cleaned in a state of not detaching from the main body, which is not limited in the present disclosure.
  • the cleaning robot can switch the cleaning unit to the cleaning state when the mopping unit is in a disassembled state, and clean the working surface. Perform cleaning operations.
  • the cleaning robot has a sweeping mode and is in the sweeping mode. Since the mopping unit is not required to perform the mopping work, the cleaning robot can perform the cleaning operation by the cleaning unit when the mopping unit is in a disassembled state; that is, the cleaning robot is in the sweeping mode, Mopping can be performed on any work surface such as carpets or floors with the mopping unit detached.
  • the cleaning robot can wait at the base station and be in a standby state; in other embodiments, if the cleaning robot on standby meets the maintenance conditions, the base station can Perform maintenance operations such as charging, rehydration, and dust collection on the cleaning robot.
  • the floor mopping unit can be dismantled or lifted; that is to say, the floor mopping unit has a raised state and a disassembled state.
  • the mopping unit can also have a new state (also known as a clean state), where the new state means that the mopping unit is replaced by an old (or used, such as dirty) to a new (or unused) state. used, e.g. clean).
  • the base station has a renewal function, for example, the base station includes a replacement component for replacing the mopping unit, so that the mopping unit is in a new state; or the base station includes a cleaning component , for cleaning the mopping unit, so that the mopping unit is in a new state.
  • the host can lift the mopping unit so that the mopping unit is in a raised state; it can also disassemble the mopping unit so that the mopping unit is in a disassembled state; that is, the host has two functions of lifting and disassembling the mopping unit;
  • the unit includes at least a mopping element.
  • the mopping unit may also include a mopping board for detachably installing the mopping cleaning element to form a mopping surface, which can mop the surface of the area to be cleaned.
  • the removal of the mopping unit can also be realized by the base station, and the lifting of the mopping unit is realized by the host; in other words, the base station has the function of disassembling the mopping unit, and the host has the function of lifting the mopping unit .
  • the lifting or dismounting state of the mopping unit can be controlled by the control unit of the host, for example, when the host has two functions of lifting and dismounting the mopping unit, the control unit can control the lifting or dismounting of the mopping unit, So that the mopping state is in the state of lifting or dismantling; of course, when the base station has a dismantling mopping unit, the disassembly of the mopping unit can also be realized through the communication interaction between the control unit and the base station, and this embodiment will not go into details. .
  • the cleaning robot includes a lifting mechanism configured to drive the mopping unit to be lifted, so that the mopping unit is in a raised state.
  • the lifting of the mopping unit can be realized by means of mechanical lifting, for example, by means of cam lifting, rack and pinion lifting, etc.
  • the lifting mechanism includes a cam lifting mechanism, such as a first cam, etc., for realizing Lifting unit for mopping unit.
  • the main engine lifts the mopping unit, which can be understood as lifting the mopping cleaning part, and can also be understood as lifting the mopping unit as a whole.
  • the mopping board of the mopping cleaning part is lifted; wherein, the lifting of the mopping cleaning part can be realized through the lifting of the mopping board; it can also be understood that the lifting mechanism is lifted together with the mopping unit, of course, when the mopping unit is separated from the main body Next, the lifting mechanism (especially the mop board installation frame connected to the mop board) can also be lifted separately, which will not be described in this embodiment;
  • the lifting mechanism is magnetically connected to the mopping unit; further, the mopping board of the mopping unit can be attached to the mopping board installation frame through magnets.
  • the cleaning robot can remove the mopping unit Or pass the carpet under the state of lifting the mopping unit; in other words, when the cleaning robot moves on the carpet, the mopping unit is in the state of disassembly or lifting; The mopping unit can also be in a new state.
  • the mopping unit on the cleaning robot when encountering a carpet, the mopping unit on the cleaning robot is in a disassembled or lifted state, so that the cleaning robot can move and pass through the carpet while the mopping unit is being removed or raised. It should be noted that, in other embodiments, when a carpet is encountered, the mopping unit on the cleaning robot may also be in a new state.
  • the cleaning robot may not drive onto the carpet, for example, walk around the carpet by walking along the edge of the carpet (or at a predetermined distance from the edge of the carpet), while the mopping unit The edge of the carpet can be cleaned; of course, the cleaning robot can also bypass the carpet by walking along the edge of the carpet when the mopping unit is lifted or disassembled.
  • the cleaning robot includes a carpet recognition sensor, which is arranged on the main body and is used to recognize the carpet.
  • the cleaning robot when encountering a carpet, can lift the mopping unit, disassemble the mopping unit, or renew the mopping unit, so as to avoid polluting the carpet when the cleaning robot passes through the carpet.
  • the cleaning robot drives onto the carpet is related to the mode of the cleaning robot, in other embodiments, it is also possible to determine whether the cleaning robot needs to execute , so that the mopping unit is in the state of lifting or dismantling.
  • the control unit encounters a carpet, the prerequisite for controlling the mopping unit to be in the state of lifting or dismantling is that the mode of the cleaning robot can be determined first.
  • the cleaning robot makes sense to drive onto the carpet when it needs to be cleaned. Therefore, if the cleaning robot is in a mode associated with the cleaning unit, wherein the modes associated with the cleaning unit include a sweeping mode and a sweeping and dragging mode, the control The unit will control the mopping unit to lift or disassemble when the cleaning robot encounters the carpet.
  • the sweeping mode may include a first-sweeping and then-dragging mode.
  • the control unit does not need to control the mopping unit to lift or disassemble when the cleaning robot encounters the carpet.
  • the single mopping mode may include a mopping mode of sweeping first and then mopping.
  • isolated islands for example, there are floors within the preset range of two carpets
  • carpets or floors near the threshold in order to cross the threshold
  • the control unit can also control the mopping unit to be lifted or disassembled when the cleaning robot encounters the carpet.
  • the thickness value of the carpet when the thickness value of the carpet is less than or equal to the first preset value, it is defined as a short-pile carpet; when the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value , is defined as a long-haired carpet; when the thickness value of the carpet is greater than the second preset value, it is defined as an extra-long-haired carpet.
  • the carpet recognition sensor can also be used to detect the thickness of the carpet, so that the cleaning robot can determine the state of the mopping unit according to the thickness of the carpet. For example, when the cleaning robot moves on the short-haired carpet, the mopping unit is in a raised state to avoid polluting the carpet; further, in order to enable the mopping unit to pass through the short-haired carpet in a raised state; When the robot encounters a carpet, and the carpet is a short-pile carpet, the mopping unit is in a raised state.
  • the aforementioned encountering the carpet can be understood as the cleaning robot recognizes the carpet or is at a preset distance from the carpet.
  • the detection accuracy or sensitivity of the carpet recognition sensor for example, the recognition time or recognition distance for recognizing the carpet
  • the above-mentioned encountering the carpet is understood as the cleaning robot recognizes the carpet and At a preset distance from the carpet; when the sensitivity of the carpet recognition sensor is low, the above-mentioned encountering the carpet can be understood as recognizing the carpet.
  • the mopping unit when the cleaning robot moves on the long-haired carpet, the mopping unit is in a disassembled state; that is, the cleaning robot moves on the long-haired carpet when the mopping unit is in a disassembled state;
  • the mopping unit in one embodiment, when the cleaning robot encounters the carpet, and the carpet is a long-pile carpet, the mopping unit is in a raised state.
  • the lifting mechanism includes a mopping board bracket connected to the mopping unit (especially the mopping board); if the mopping unit in a disassembled state refers to the mopping cleaning piece When it is disassembled, when the cleaning robot moves on the long-haired carpet, the mopping plate of the mopping unit with the mopping cleaning part removed can be in a lifting state, that is, the mopping plate is in a lifting state driven by the lifting mechanism, so that Improve the mobility of your cleaning robot while avoiding staining your carpet.
  • the lifting mechanism especially the mopping board mounting frame connected with the mopping board, can In the raised state, that is, when the mopping unit is completely disassembled, the mopping plate mounting frame of the lifting mechanism can be in a raised state, which reduces the movement resistance and makes it easier for the cleaning robot to move on the long-haired carpet.
  • the cleaning robot can also be used in the lifting mechanism (especially mop board mounting frame) to move on the long-pile carpet without being raised.
  • the mopping unit when the cleaning robot moves on the long-haired carpet, can be in a new state, and further, when the cleaning robot moves on the long-haired carpet, the new mopping unit is in a raised state , thereby improving the mobility of the cleaning robot while avoiding contamination of the carpet.
  • the cleaning robot encounters the super-long-haired carpet
  • the cleaning robot will not drive on the carpet.
  • the cleaning robot can walk around the carpet by walking along the edge of the carpet or a predetermined distance from the edge of the carpet.
  • the cleaning robot will not drive on the super-long-haired carpet or the cleaning robot will bypass the super-long-haired carpet.
  • the carpet recognition sensor is used to detect the thickness of the carpet, and send the detected thickness value of the carpet to the control unit, and the control unit can control the state of the mopping unit according to the thickness value of the carpet.
  • control unit is configured to: if the thickness value of the carpet is less than or equal to the first preset value (that is, the carpet is a short-pile carpet), control the lifting of the mopping unit so that the mopping unit is in a raised state; further , the control unit can drive the mopping unit to lift by controlling the lifting mechanism.
  • the first preset value that is, the carpet is a short-pile carpet
  • control unit is configured to: if the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value (that is, the carpet is a long-pile carpet), control the mopping unit to separate from the main body, so that The mopping unit is in a disassembled state; further, the control unit is configured to detach the mopping unit from the main body at the base station when the cleaning robot returns to the base station; it should be noted that the mopping unit can be detached from the main body in one of the following ways Two implementations: mode A: the control unit can push out the mopping unit by controlling the disassembly mechanism on the main unit to separate from the main body; mode B, the control unit can interact with the base station (such as the control module of the base station), and the control unit of the base station The module controls the disassembly structure on the base station to separate the mopping unit of the cleaning robot from the main body of the cleaning robot; in mode C, the control unit can interact with the disassembly
  • the lifting mechanism can include a mopping board installation frame connected with the mopping board; in one embodiment, the control unit is configured to , and less than or equal to the second preset value (that is, the carpet is a long-pile carpet), control the entire mopping unit (that is, together with the mopping board and the mopping cleaning parts connected thereto); further, the control unit is also The configuration is: control the lifting mechanism, especially the mop board installation frame connected with the mop board, to be in a raised state; for example, in the scene where the cleaning robot encounters a long-haired carpet, the control unit controls the mop board installation frame to lift; or, the control unit The cleaning robot is controlled to move on the long-haired carpet when the mop board installation frame is in a raised state; thereby making it easier for the cleaning robot to move on the long-haired carpet.
  • the control unit is configured to , and less than or equal to the second preset value (that is, the carpet is a long-pile carpet), control the entire mopping unit (that is
  • the timing of lifting the mopping board installation frame should meet: at any time between the moment when the cleaning robot removes the mopping unit and the moment when the cleaning robot drives onto the long-haired carpet, the control unit Control the lifting of the mopping board mounting frame so that the mopping board mounting frame is in a raised state and moves on the long-haired carpet;
  • the control unit can also control the cleaning robot When the lifting mechanism (especially the mop board mounting frame) is not in a raised state, move on the long-pile carpet.
  • control unit is configured to: if the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value (that is, the carpet is a long-pile carpet), control the mopping and cleaning parts to be removed ; wherein the mopping board may not be disassembled; at this time, in order to reduce the moving resistance of the cleaning robot on the long-haired carpet, further, the control unit is configured to: control the mopping board to lift, and pass through the carpet while the mopping board is kept raised; When the cleaning robot encounters a long-haired carpet, the control unit controls the mop board to be lifted, or the control unit controls the cleaning robot to move on the long-haired carpet while the mop board is kept raised; thus making it easier for the cleaning robot to move on the long-haired carpet. Move on wool carpet.
  • the control unit is configured to: when the cleaning robot encounters a long-haired carpet (that is, the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value), it controls to replace the clean mop floor unit, so that the mopping unit is in a new state, at this time, the cleaning robot can move on the long-haired carpet when the mopping unit is in a new state; further, when the cleaning robot runs into the long-haired carpet, the control unit Control the lifting of the clean mopping unit (that is, the replaced mopping unit); or, the control unit controls the cleaning robot to move on the long-haired carpet while the clean mopping unit (that is, the replaced mopping unit) is lifted ; Make the clean mopping unit not pollute the carpet, while avoiding the clean mopping unit from being polluted by the carpet; realize the mutual contamination between the mopping unit and the carpet while improving the mobility of the cleaning robot, which is conducive to improving cleaning efficiency .
  • control unit is configured to: if the thickness value of the carpet is greater than the second preset value (that is, the carpet is an ultra-long-pile carpet), control the cleaning robot to walk along the edge of the carpet or walk with a distance from the carpet .
  • the cleaning robot includes a cleaning unit disposed on the main body, the cleaning unit has a cleaning state, and in the cleaning state, the cleaning unit is used to perform cleaning work; wherein the cleaning unit has a cleaning head
  • the cleaning working head can be, for example, one or a combination of a rolling brush, a suction port, and a side brush, so as to perform cleaning work in a cleaning state.
  • the cleaning robot has a cleaning unit and a mopping unit, so that the cleaning robot has multiple working modes.
  • the working modes of the cleaning robot include but are not limited to at least one of the following: sweeping mode, mopping while sweeping, Sweep first and then mop mode (mainly the mopping mode of sweeping first and then mopping), single mopping mode; among them, in the sweeping mode, the mopping unit does not work, so as to distinguish between sweeping and mopping modes; in addition, it should be noted that, The sweeping mode may include a sweep-first mode of a sweep-then-mop mode.
  • the cleaning strategy on carpets of different thicknesses is also related to the working mode of the cleaning robot.
  • whether the cleaning robot moves on the carpet is related to whether the cleaning robot has a cleaning requirement.
  • the mop unit It is in the lifting state; at this time, for the mode with cleaning needs, such as sweeping and mopping mode or sweeping mode, the cleaning unit is in the cleaning state so that the cleaning robot can clean the carpet; and for the mode without cleaning needs, such as first After sweeping and mopping (mainly the mopping mode of rear mopping) or single mopping mode, the cleaning unit does not perform cleaning work.
  • the control unit is configured to: if the cleaning robot is in the sweeping mode and the thickness of the carpet is less than or equal to the first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; And control the cleaning robot to move on the carpet when the mopping unit is kept lifted and the cleaning unit is in the cleaning state of performing cleaning work, so as to clean the carpet; further, when the cleaning robot keeps the mopping unit lifted and the cleaning unit is performing cleaning work When the carpet cleaning is completed in the cleaning state, the cleaning robot still keeps the mopping unit lifted and the cleaning unit is in the cleaning state of performing cleaning work to continue to perform subsequent cleaning work, for example, the control unit is configured to respond to the signal sent by the carpet recognition sensor Carpet cleaning completion signal
  • the control unit is configured to: if the cleaning robot is in the sweeping and mopping mode, and the thickness value of the carpet is less than or equal to the first preset value, control the cleaning robot to lift the mopping unit, so that The mopping unit is in a raised state; and the cleaning robot is controlled to move on the carpet while keeping the mopping unit lifted and the cleaning unit is in the cleaning state of performing cleaning work, so as to clean the carpet; further, the cleaning robot keeps the mopping unit lifted And when the cleaning unit is in the cleaning state of performing cleaning work, when the carpet cleaning is completed, the mopping unit is switched from the lifting state to the mopping state, so as to continue to perform subsequent mopping work, especially for non-carpet mopping work; for example, control The unit is configured
  • the controller is configured to: if the cleaning robot is in the mode of sweeping first and then mopping (the mopping mode in the latter mopping), and the thickness value of the carpet is less than or equal to the first preset Set the value, control the cleaning robot to lift the mopping unit, so that the mopping unit is in a raised state; and control the cleaning robot to cross the carpet while keeping the mopping unit raised and the cleaning unit does not perform cleaning work; further, the cleaning robot keeps mopping After the floor unit is lifted and the cleaning unit is not performing cleaning work, the mopping unit is switched from the lifting state to the mopping state, so as to continue to perform subsequent mopping work, especially for non-carpet mopping work; for example, control The unit is
  • the cleaning robot When the cleaning robot is in the single mopping mode, and the thickness value of the carpet is less than or equal to the first preset value, the cleaning robot does not perform cleaning work in the cleaning unit, and the mopping unit is in a raised state across the carpet; further, After the cleaning robot does not perform cleaning work and the mopping unit is in a raised state across the carpet, the mopping unit is switched from the raised state to the mopping state so as to continue to perform subsequent mopping work; for example, the control unit is configured to respond to The carpet crossing completion signal sent by the carpet recognition sensor controls the mopping unit to switch from the lifting state to the mopping state, so that the cleaning robot continues to perform mopping work when the mopping unit is in the mopping state and the cleaning unit is not performing cleaning work.
  • control unit is configured to: when the cleaning robot is in the working mode associated with the mopping unit, and the mopping unit is in a raised state and crosses the short-pile carpet, control the mopping unit to be lifted
  • the state is switched to the mopping state, for example, the lifting mechanism is controlled to drive the mopping unit to descend from the first position not touching the working surface to the second position touching the working surface, so that the mopping unit can continue to perform mopping work on the working surface.
  • the completion of carpet cleaning or the completion of carpet crossing can be marked by the carpet identification result (for example, the presence or absence of carpet) of the carpet identification sensor; this embodiment will not go into details.
  • the mopping unit when the cleaning robot encounters a long-haired carpet or moves on the long-haired carpet, the mopping unit is in a disassembled state; at this time, for the mode with cleaning needs, such as the sweeping and mopping mode or the sweeping mode, the cleaning unit also It is in the cleaning state so that the cleaning robot can clean the carpet; and for the mode without cleaning requirements, such as sweeping first and then mopping (mainly the mopping mode after mopping) or single mopping mode, the cleaning unit does not need to perform cleaning work.
  • the mode with cleaning needs such as the sweeping and mopping mode or the sweeping mode
  • the cleaning unit also It is in the cleaning state so that the cleaning robot can clean the carpet; and for the mode without cleaning requirements, such as sweeping first and then mopping (mainly the mopping mode after mopping) or single mopping mode, the cleaning unit does not need to perform cleaning work.
  • the cleaning robot when the cleaning robot is in the sweeping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is in the cleaning state when the cleaning unit is in the cleaning state, and the mopping unit is in the disassembled state.
  • control unit is configured to: if the cleaning robot is in the sweeping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to The mopping unit is separated from the main body, such as controlling the cleaning robot to return to the base station, and the mopping unit is separated from the main body by the disassembly structure of the base station or the cleaning robot at the base station, so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to keep mopping
  • the ground unit is disassembled and the cleaning unit is in the cleaning state of performing cleaning work to move on the carpet to clean the carpet; further, the cleaning robot keeps the mop unit disassembled and the cleaning unit is in the cleaning state of performing cleaning work.
  • the cleaning robot continues to perform subsequent cleaning work while keeping the mopping unit disassembled and the cleaning unit is in the cleaning state of performing cleaning work.
  • the control unit is configured to respond to the carpet cleaning completion signal sent by the carpet recognition sensor, The cleaning robot is controlled to keep the mopping unit disassembled and the cleaning unit is in the cleaning state of performing cleaning work to continue cleaning. That is, when the cleaning robot is in the sweeping mode, the mopping unit is always in a disassembled state, and the cleaning unit is always in a cleaning state.
  • the cleaning robot When the cleaning robot is in the sweeping and mopping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is in the disassembled state of the mopping unit and the cleaning unit is in the cleaning state.
  • control unit is configured to: if the cleaning robot is in the sweeping and mopping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset Value, control the cleaning robot to detach the mopping unit from the main body, for example, control the cleaning robot to return to the base station, and the mopping unit will be separated from the main body by the disassembly structure of the base station or the cleaning robot, so that the mopping unit is in a disassembled state; And control the cleaning robot to move on the carpet while keeping the mopping unit disassembled and the cleaning unit is in the cleaning state to perform cleaning work on the carpet; further, the cleaning robot keeps the mopping unit disassembled and the cleaning unit is performing cleaning When the carpet cleaning is completed in the cleaning state of the work, in order to continue to perform the follow-up mopping work, especially for non-carpet mopping work, at this time, the mopping unit should be switched from the disassembled state to the mopping
  • the ground unit is reinstalled on the main body, or a new mopping unit is installed on the main body, and returns to the current position (that is, the position where the carpet cleaning is completed), and switches to the mopping state, so that the cleaning robot is in the mopping state of the mopping unit. state, and the cleaning unit is in the cleaning state to continue to perform sweeping and dragging work.
  • the timing of switching the mopping unit from the disassembled state to the mopping state should meet: any moment between the moment when the cleaning robot installs the mopping unit and the moment when the cleaning robot returns to the current position (the position where the carpet cleaning is completed) , the control unit controls the mopping unit to descend; or, at any position on the planned path from the base station where the cleaning robot installs the mopping unit to the cleaning robot returns to the current position (the position where the carpet cleaning is completed), the control unit controls the mopping unit to descend, Make the mopping unit in the mopping state, and continue to perform the subsequent mopping work; wherein, the planned path does not pass through any carpet.
  • the control unit controls the mopping unit to descend.
  • the controller is configured as follows: If the thickness value is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is controlled to separate the mopping unit from the main body, for example, the cleaning robot is controlled to return to the base station, and the base station is mopped by the detachment structure of the base station or by the detachment structure of the cleaning robot.
  • the unit is separated from the main body, so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to cross the carpet while keeping the mopping unit disassembled and the cleaning unit does not perform cleaning work; further, the cleaning robot keeps the mopping unit disassembled and the cleaning unit After crossing the carpet without performing cleaning work, the mopping unit is switched from the disassembled state to the mopping state so as to continue to perform subsequent mopping work, especially for non-carpet mopping work; therefore, the control unit is configured to respond Based on the signal of the completion of the carpet crossing sent by the carpet recognition sensor, the cleaning robot is controlled to install the mopping unit.
  • the timing of switching the mopping unit from the disassembled state to the mopping state should meet: any moment between the moment when the cleaning robot installs the mopping unit and the moment when the cleaning robot returns to the current position (the position where the carpet is spanned) , the control unit controls the mopping unit to descend; or, at any position on the planned path from the base station where the cleaning robot installs the mopping unit to the cleaning robot returns to the current position (the position where the carpet spanning is completed), the control unit controls the mopping unit to descend, Make the mopping unit in the mopping state, and continue to perform the subsequent mopping work; wherein, the planned path does not pass through any carpet.
  • the cleaning robot if the carpet cannot be avoided on the planned path, that is, when there is a carpet position point on the planned path, the cleaning robot returns to the current position from the base station position where the mopping unit is installed to the cleaning robot (the position where the carpet is spanned) ) at any non-carpet position on the planned path, the control unit controls the mopping unit to descend.
  • the cleaning robot When the cleaning robot is in the single mopping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is in a state where the mopping unit is disassembled, and the cleaning unit does not perform cleaning work Next, cross the carpet; further, after the cleaning robot is in the disassembled state and the cleaning unit does not perform the sweeping work, the mopping unit is switched from the disassembled state to the mopping state, so as to continue to perform subsequent mopping work; therefore , in one embodiment, the control unit is configured to respond to the carpet recognition sensor sends a carpet spanning completion signal, control the cleaning robot to install the mopping unit, for example, control the cleaning robot to return from the current position (here: the position where the carpet spanning is completed) Go to the base station, reinstall the mopping unit that was originally removed on the main body, or install a new mopping unit on the main body, and return to the current position (that is, the position where the carpet spanning is completed), switch to the
  • the strategy corresponding to the "drag" mode in the sweep-then-drag mode is the same Single mopping mode for mopping only.
  • the mopping unit when the cleaning robot encounters a long-haired carpet or moves on a long-haired carpet, the mopping unit can also be in a new state; at this time, the mopping unit in a new state is clean , will not cause pollution to the carpet; in order to improve the mobile performance of the cleaning robot on the long-haired carpet and avoid the carpet from polluting the mopping unit, further, the new mopping unit should be placed on the long-haired carpet in a raised state.
  • the cleaning unit is in the cleaning state so that the cleaning robot can clean the carpet; while for modes without cleaning needs, such as sweeping first and then Mopping (mainly the mopping mode of rear mopping) or single mopping mode, the cleaning unit does not need to perform cleaning work.
  • the control unit is configured as follows: if the cleaning robot In the sweeping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to renew the mopping unit so that the mopping unit is in a new state, for example, control the cleaning robot from the current position (Here refers to the position where the carpet is encountered) Return to the base station.
  • the mopping unit is first separated from the main body by the disassembly structure of the base station or the disassembly structure of the cleaning robot, and then the new mopping unit is installed on the cleaning robot by the replacement component of the base station.
  • the cleaning robot to return to the base station from the current position (here refers to the position where the carpet is encountered), and the disassembly and installation of the mopping unit is completed at the base station by the replacement structure of the base station, so that the mopping The unit is in a new state; the mopping unit in the new state is controlled to lift, so that the cleaning robot moves on the carpet while keeping the new mopping unit lifted and the cleaning unit is in the cleaning state of performing cleaning work to clean the carpet.
  • the cleaning robot keeps the new mopping unit lifted and the cleaning unit is in the cleaning state of performing cleaning work
  • the cleaning robot still keeps the mopping unit lifted and the cleaning unit is in the cleaning state of performing cleaning work , continue to perform subsequent cleaning work
  • the control unit is configured to respond to the carpet cleaning completion signal sent by the carpet recognition sensor, control the cleaning robot to keep the mopping unit lifted and the cleaning unit to continue to perform cleaning work in the cleaning state of performing cleaning work.
  • the control unit is configured to: if the cleaning robot is in the sweeping and mopping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the first Two preset values, control the cleaning robot to renew the mopping unit, so that the mopping unit is in a new state, for example, control the cleaning robot to return to the base station from the current position (referring to the position where the carpet is encountered here), and at the base station, at first by the base station Disassemble the structure or remove the mopping unit from the main body by the disassembly structure of the cleaning robot, and then install the new mopping unit on the main body of the cleaning robot by the replacement component of the base station, so that the mo
  • the cleaning robot keeps the mopping unit lifted and the cleaning unit is in the cleaning state of performing the cleaning work, when the carpet is cleaned, in order to continue to perform the follow-up mopping work, especially It is for non-carpet mopping work.
  • the mopping unit should be switched from the lifting state to the mopping state; therefore, the control unit is configured to respond to the carpet cleaning completion signal sent by the carpet recognition sensor, and control the cleaning robot to mop the floor.
  • the unit is switched from the lifting state to the mopping state, so that the cleaning robot continues to perform sweeping and mopping work when the mopping unit is in the mopping state and the cleaning unit is in the cleaning state.
  • the timing of the mopping unit switching from the new state to the lifting state should meet: the time between the moment when the cleaning robot is equipped with the mopping unit and the moment when the cleaning robot returns to the current position (that is, the position where the carpet is encountered)
  • the control unit controls the lifting of the new mopping unit; or, at any position on the planned path from the base station where the cleaning robot installs the mopping unit to the cleaning robot returns to the current position (that is, the position where the carpet is encountered), the control unit controls The mopping unit is raised, so that the mopping unit is in the raised state, and continues to perform subsequent movement on the encountered carpet; wherein, the planned path does not pass through any carpet.
  • the control unit controls the lifting of the mopping unit.
  • the controller is configured to: if the cleaning robot is in the mode of sweeping first and then mopping (the mopping mode in the latter mopping), And the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to renew the mopping unit, so that the mopping unit is in a new state, for example, control the cleaning robot from the current position (here refers to encounter to the position of the carpet) and return to the base station, at the base station, the mopping unit is first separated from the main body by the detachment structure of the base station or the detachment structure of the cleaning robot, and then the new mopping unit
  • the control unit is configured to control the cleaning robot to switch from the lifting state to the mopping state in response to the carpet spanning completion signal sent by the carpet recognition sensor, so that the cleaning robot is in the mopping state of the mopping unit, and the cleaning unit is in the cleaning state.
  • the working mode of the cleaning robot can be set at the factory, can also be input by the user through the interface of the cleaning robot, or can be set by the user through the application program, which is not limited in this disclosure.
  • the cleaning robot has multiple modes. For the sequence of determining the working mode and the thickness of the carpet, in one embodiment, first determine the working mode of the cleaning robot, such as receiving the working mode selected by the user or in the absence of In the case of user input, it can be determined according to the factory mode; then the cleaning robot performs cleaning work in this working mode, and when it encounters a carpet, it recognizes the thickness of the carpet, and finally, executes according to the working mode of the cleaning robot and the thickness of the carpet corresponding strategy.
  • the working mode of the cleaning robot such as receiving the working mode selected by the user or in the absence of In the case of user input, it can be determined according to the factory mode; then the cleaning robot performs cleaning work in this working mode, and when it encounters a carpet, it recognizes the thickness of the carpet, and finally, executes according to the working mode of the cleaning robot and the thickness of the carpet corresponding strategy.
  • the thickness of the carpet can be identified first, and then the working mode of the cleaning robot can be determined, and finally a corresponding strategy can be executed according to the working mode of the cleaning robot and the thickness of the carpet.
  • This disclosure does not limit it.
  • the mopping unit is controlled to be raised so that the mopping unit is in a raised state; further, the cleaning robot is controlled to be in a raised state in the mopping unit, And the cleaning unit moves on the carpet in the cleaning state to clean the carpet;
  • the cleaning robot is controlled to continue cleaning when the mopping unit is in a raised state and the cleaning unit is in a cleaning state.
  • Strategy 1 Control the cleaning robot to return to the base station, separate the mopping unit from the main body, so that the mopping unit is in a disassembled state; further, control the cleaning robot to move on the carpet when the mopping unit is in a disassembled state, and the cleaning unit is in a cleaning state. carpet cleaning;
  • the cleaning robot is controlled to keep the mopping unit in a disassembled state, and the cleaning unit continues to clean while it is in a cleaning state.
  • Strategy 2 Control the cleaning robot to return to the base station, replace the mopping unit, so that the mopping unit is in a new state; further, control the lifting of the new mopping unit, so that the cleaning robot is in a lifting state in the mopping unit, and the cleaning unit is in the cleaning state Move on the carpet in the state to clean the carpet.
  • the cleaning robot is controlled to keep the mopping unit in a raised state, and the cleaning unit continues to clean while it is in a cleaning state.
  • the cleaning robot If the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is less than or equal to the first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; further, control the cleaning robot to mop the floor The unit is in the lifting state, and the cleaning unit is in the cleaning state and moves on the carpet to clean the carpet;
  • control the mopping unit to switch from the lifting state to the mopping state, so that the cleaning robot is in the mopping state in the mopping unit, and the cleaning unit continues to sweep while mopping in the cleaning state.
  • Strategy 1 Control the cleaning robot to return to the base station from the current position to disassemble the mopping unit, so that the mopping unit is in the disassembled state; Move on the carpet so that the cleaning unit can clean the carpet;
  • the cleaning robot can have a lifting mechanism that lifts the mopping unit, wherein the lifting mechanism includes a mopping board installation frame connected to the mopping unit, in order to improve the mobile performance of the cleaning robot on the carpet, avoid the possible impact of the mounting frame;
  • the mopping board mounting frame is controlled to be raised, so that the cleaning robot is in the disassembled state of the mopping unit, the mopping board mounting frame is in the lifting state, and the cleaning unit moves on the carpet in the cleaning state;
  • control the cleaning robot to return to the base station to install the mopping unit, and control the mopping unit to switch to the mopping state, so that the cleaning robot continues to mop the floor while the mopping unit is in the mopping state and the cleaning unit is in the cleaning state. Swipe and drag to work.
  • Strategy 2 Control the cleaning robot to return to the base station from the current position to update the mopping unit, so that the mopping unit is in a new state; further, control the new mopping unit to lift, so that the cleaning robot is in a raised state in the new mopping unit , the cleaning unit moves on the carpet in a cleaning state to clean the carpet.
  • the mopping unit is controlled to switch from the raised state to the mopping state, so that the cleaning robot continues to sweep and mop while the mopping unit is in the mopping state and the cleaning unit is in the cleaning state.
  • the cleaning robot is in the mode of sweeping first and then mopping (the mopping unit is in the mopping state), and the thickness of the carpet is less than or equal to the first preset value, control the cleaning robot to lift the mopping unit (that is, switch from the mopping state to Lifting state), so that the mopping unit is in the lifting state; further, the cleaning robot is controlled to cross the carpet when the mopping unit is raised and the cleaning unit does not perform cleaning work;
  • the mopping unit is controlled to switch from the raised state to the mopping state, so that the cleaning robot continues to mop the floor when the mopping unit is in the mopping state and the cleaning unit does not perform cleaning work.
  • Strategy 1 Control the cleaning robot to return to the base station from the current position to disassemble the mopping unit, so that the mopping unit is in the disassembled state; further, control the cleaning robot to return to the current position, and the mopping unit is in the disassembled state, and the cleaning unit does not perform cleaning across the carpet while working;
  • Strategy 2 Control the cleaning robot to return to the base station from the current position to update the mopping unit, so that the mopping unit is in a new state; further, control the lifting of the new mopping unit, so that the cleaning robot is lifted in the mopping unit and the cleaning unit is not executed Sweeping works across the carpet.
  • the mopping unit is controlled to switch from the lifting state to the mopping state, so that the cleaning robot continues to mop the floor when the mopping unit is in the mopping state and the cleaning unit does not perform cleaning work.
  • Table 1 The strategy table of the cleaning robot under different modes and different carpet thicknesses
  • the scene where the mopping unit is lifted is not limited to the scene where the cleaning robot encounters the carpet mentioned above, and may also include obstacle surmounting, return (returning to the base station), transition, etc.; in order to adapt to different scene requirements, the cleaning robot In the case of encountering carpets, overcoming obstacles, transitioning or returning to the base station, the mopping unit is in a raised state; the transition refers to the movement of the cleaning robot from one area (A area) to another area (such as B area).
  • the process of switching (such as starting to clean another area), wherein, area A and area B are two different areas, and the division of areas can be divided by cleaning robots, for example, the cleaning robot automatically divides according to the actual wall surface or the cleaning robot according to The functional division of the area (such as kitchen, bathroom, living room, bedroom, etc.); it can also be divided by the user, for example, the user manually divides it by drawing on the generated map through the App; the starting point for the mopping unit to be lifted is when the cleaning robot ends. A location where an area (A area) is cleaned.
  • transition when the cleaning robot finishes cleaning area A, the process of moving to the cleaning starting point of area B is called transition, where the position where the cleaning of area A ends is defined is the starting point of the transition; the starting position of cleaning in area B is the end of the transition; the mopping unit is raised at the starting point of the transition, and the cleaning robot moves from the starting point of the transition to the end of the transition when the mopping unit is in a raised state , and then at the end of the transition, the mopping unit can be switched from the lifting state to the mopping state, so as to mop the area B.
  • the cleaning robot can have multiple cleaning modes. Considering the demand for the mopping unit in different modes, in one embodiment, the cleaning robot can determine the state of the mopping unit according to the mode it is in.
  • control unit is configured to: control the state of the mopping unit based on the mode of the cleaning robot;
  • the control unit controls the mopping unit from the main body disengage, so that the mopping unit is in a disassembled state.
  • the mopping unit is working, so the cleaning robot is working in association with the mopping unit
  • the main unit is equipped with a mopping unit.
  • the control unit controls the mopping unit to be lifted, so that the mopping unit is in a raised state; and when the scene where the mopping unit needs to be lifted When it disappears, the control unit controls the mopping unit to descend, so that the mopping unit is in the mopping state and continues to perform the mopping work;
  • the control unit controls the mopping unit to lift, so that the cleaning robot is in the mopping unit. Elevate across the carpet;
  • control unit controls the mopping unit to switch from the lifting state to the mopping state, so that the cleaning robot When the mopping unit is in the mopping state, perform subsequent mopping work.
  • the cleaning unit such as the sweeping and mopping mode.
  • the cleaning unit is in the cleaning state, so that The carpet is cleaned during the process of crossing the carpet; and in the process of crossing the carpet, if it is in the working mode associated with the mopping unit, it has nothing to do with the cleaning unit, such as sweeping first and then mopping mode (mopping mode after mopping) ), single mopping mode, at this time the cleaning unit is in a non-cleaning state, that is, the cleaning robot neither mops nor sweeps the floor when it crosses the carpet.
  • the control unit controls the mopping unit to lift (for example, the mopping unit is switched from the mopping state to the lifting state at the starting point of the transition), so that The cleaning robot moves from the starting point of the transition to the end of the transition when the mopping unit is raised;
  • control unit can control the mopping unit to switch from the lifting state to the mopping state state, so that the cleaning robot performs subsequent mopping work when the mopping unit is in the mopping state.
  • the cleaning unit is in the cleaning state, so that the cleaning unit performs the cleaning work during the transition process; and during the transition process, if it is in the working mode associated with the mopping unit, it has nothing to do with the cleaning unit.
  • the cleaning unit is in a non-cleaning state at this time, that is, the cleaning robot neither mops nor sweeps the floor during the transition.
  • the control unit controls the mopping The unit is lifted (for example, controlling the mopping unit to switch from the mopping state to the lifting state at the current position), so that the cleaning robot moves from the current position to the position where the base station is in the state where the mopping unit is raised;
  • the maintenance conditions include But not limited to charging (charging the cleaning robot), rehydration (replenishing liquid for the water tank of the cleaning robot), dust collection (recycling the garbage in the dust box of the cleaning robot), and replacing the mopping cleaning parts.
  • control The unit can control the mopping unit to switch from the lifting state to the mopping state, so that the cleaning robot performs subsequent mopping work when the mopping unit is in the mopping state.
  • the cleaning unit is in the cleaning state at this time, In order to perform the cleaning work by the cleaning unit during the return process; and if it is in the working mode associated with the mopping unit, it has nothing to do with the cleaning unit, such as sweeping first and then mopping mode (mopping mode after mopping), single mopping the floor mode, the cleaning unit is in a non-cleaning state at this time, that is, the cleaning robot neither mops nor sweeps the floor during the return process.
  • the cleaning unit In order to perform the cleaning work by the cleaning unit during the return process; and if it is in the working mode associated with the mopping unit, it has nothing to do with the cleaning unit, such as sweeping first and then mopping mode (mopping mode after mopping), single mopping the floor mode, the cleaning unit is in a non-cleaning state at this time, that is, the cleaning robot neither mops nor sweeps the floor during the return process.
  • the cleaning robot during the return process, no matter whether it is in the working mode associated with the mopping unit or whether it is associated with the cleaning unit, in order to prevent secondary pollution during the return process, the cleaning robot, during the return process, The cleaning unit is in a non-cleaning state, that is, the cleaning robot neither mops nor sweeps the floor.
  • the cleaning robot system includes a cleaning robot 100 and a base station 200 .
  • the cleaning robot 100 can walk along a predetermined program, and return to the base station 200 when needed.
  • the cleaning robot 100 returns to the base station 200 , it can be charged, the floor mopping cleaning part 320 can be disassembled, and the floor mopping cleaning part 320 can be updated.
  • Renewing the mopping and cleaning piece 320 includes replacing a clean mopping and cleaning piece 320, or cleaning the mopping and cleaning piece 320, wherein cleaning the mopping and cleaning piece 320 includes drying the mopping and cleaning piece 320, and the mopping and cleaning piece 320 can also be cleaned at the same time. Clean to remove stains. Cleaning the mopping cleaner 320 may be done when the mopping cleaner 320 is installed on the cleaning robot 100 , or it may be disassembled for cleaning and then reinstalled on the cleaning robot 100 . Cleaning the mopping cleaning piece 320 includes replacing a clean unused mopping cleaning piece 320 , or an old mopping cleaning piece 320 that has at least been cleaned or dried.
  • the specific type of the mopping cleaning part 320 is not limited, such as mopping cloth, mopping paper, sponge, etc.; the mopping cleaning part 320 can be disposable or reusable.
  • the cleaning robot 100 includes a main body 10, a cleaning unit 20 located on the main body 10, a mopping unit 30, a lifting mechanism 40, a carpet recognition sensor 50 and a control unit 60, and the mopping unit 30 is installed on the lifting platform. agency40.
  • the cleaning unit 20 is configured to perform cleaning work
  • the mopping unit 30 is configured to perform mopping work
  • the lifting mechanism 40 is configured to lift and disassemble the mopping unit 30
  • the carpet identification sensor 50 is configured to identify the carpet 300 (such as 7 and 8 )
  • the control unit 60 can control the cleaning robot 100 to execute different working modes according to the identification result.
  • control unit 60 is not specifically limited, and may include an embedded digital signal processor (Digital Signal Processor, DSP), a microprocessor (Micro Processor Unit, MPU), a specific integrated circuit (Application Specific Integrated Circuit, ASIC), etc. Describe in detail below in conjunction with accompanying drawing.
  • DSP Digital Signal Processor
  • MPU Micro Processor Unit
  • ASIC Application Specific Integrated Circuit
  • the main body 10 specifically includes a housing 110 for accommodating other components, and a traveling mechanism 120 for driving the cleaning robot 100 to move automatically.
  • a rechargeable battery (not shown) is provided in the main body 10 .
  • the traveling mechanism 120 is specifically a traveling wheel, and may also be a crawler belt.
  • the type of rechargeable battery may be a nickel cadmium, nickel metal hydride, lithium ion, etc. type battery.
  • the cleaning unit 20 is configured to perform cleaning work while the cleaning robot 100 is walking.
  • the cleaning unit 20 includes a roller brush 210 and a side brush 220 disposed at the bottom of the main body 10 .
  • the roller brush 210 and the side brush 220 may be driven to rotate by a motor.
  • the cleaning unit 20 also includes a dust box 230 disposed at the bottom of the main body 10 .
  • the roller brush 210 and the side brush 220 are cleaning heads of the cleaning unit 20 .
  • the rolling brush 210 and the side brush 220 can also be arranged alternatively.
  • the cleaning head can also be a vacuum suction port.
  • the mopping unit 30 is configured to perform a mopping task while the cleaning robot 100 is walking, and has a mopping cleaning element.
  • the mopping unit 30 includes a mopping board 310 and a mopping cleaning member 320 installed on the mopping board 310 .
  • the cleaning robot 100 may further include a water adding module 70 capable of automatically supplying water to the mopping unit 30 .
  • the water adding module 70 can be controlled to spray water on the mopping cleaning member 320 as needed, so as to keep the mopping unit 30 in a wet state.
  • the lifting mechanism 40 is configured to install the mopping unit 30 , it can lift or lower the mopping unit 30 , and push the mopping unit 30 out from the lifting mechanism 40 .
  • the lifting mechanism 40 lifts the mopping unit 30, the water adding module 70 does not work, the water adding module 70 does not spray water on the mopping cleaning part 320, and the mopping unit 30 does not work.
  • the lifting mechanism 40 includes a motor 410 , a drive shaft 420 driven to rotate by the motor 410 , a first cam 430 and a second cam 440 mounted on the drive shaft 420 , and a mopping plate mounting frame 450 .
  • the mop board installation frame 450 can be in contact with the first cam 430 .
  • the mopping board 310 of the mopping unit 30 is installed on the mopping board installation frame 450 , which can be in contact with the second cam 440 .
  • the mopping board 310 of the mopping unit 30 can be attracted to the mopping board installation frame 450 through magnets.
  • the first cam 430 drives the mopping board installation frame 450 to drive the mopping unit 30 up and down, and when the first cam 430 lifts the mopping board 310 to the highest point, the second cam 440 makes the mopping unit 30 free from the magnet
  • the suction force and the mop board installation frame 450 are disassembled.
  • the mopping board installation frame 450 descends. Thereby, the mopping unit 30 is lifted and removed and the mopping unit 30 is removed.
  • the lifting mechanism 40 lifts the mopping unit 30, the mopping unit 30 cannot perform mopping work.
  • the lifting mechanism 40 lowers the mopping unit 30, the mopping unit 30 can perform mopping work.
  • the mopping plate installation frame 450 is in contact with the first cam 430 through a square frame 460 , wherein the square frame 460 is set outside the first cam 430 .
  • the first cam 430 rotates, the cam surface of the first cam 430 contacts the inner wall of the frame 460 .
  • the above-mentioned first cam 430 is a lifting unit for realizing the mopping unit 30
  • the second cam 440 is a ejecting unit for pushing out the mopping unit 30 .
  • the lifting unit in the lifting mechanism 40 is not limited to the above-mentioned first cam 430 , for example, it may be a linear motion module driven by a motor.
  • the ejecting unit in the lifting mechanism 40 is not limited to the above-mentioned second cam 440 , for example, it may be a linear motion module driven by a motor.
  • the mopping unit 30 when the lifting mechanism 40 lifts the mopping unit 30 , the mopping unit 30 can be simultaneously lifted up to be detached from the lifting mechanism 40 .
  • the lifting mechanism 40 lifts the mopping unit 30 to disassemble it from the lifting mechanism 40 , so that the mopping unit 30 is separated from the cleaning robot.
  • the base station 200 performs other actions, such as temporarily storing the disassembled mopping unit and replacing the clean mopping unit 30 .
  • the mopping unit 30 can also be raised first, but the mopping unit 30 is not jacked up, and the mopping unit is jacked up when needed. In this embodiment, the whole mopping unit 30 is detached or replaced together, so as to achieve detachment and replacement of the mopping cleaning member 320 .
  • the mopping cleaning part 320 it is also possible to replace only the mopping cleaning part 320, that is, not to replace the mopping board 310 in the mopping unit 30.
  • the mopping unit 30 only includes the mopping cleaning part 320.
  • the lifting mechanism 40 only lifts or lowers the mopping cleaning member 320 .
  • the disassembly (or lifting) of the mopping cleaning part can be realized by disassembling (or lifting) the mopping board.
  • the mopping board 310 and the lifting mechanism 40 of the mopping unit 30 can be integrated, and they can be raised and lowered together;
  • the base station 200 has a space 201 into which the cleaning robot 100 can drive.
  • the base station 200 is provided with a replacement assembly 202, and the replacement assembly 202 is configured to receive the ejected mopping unit 30 and replace the clean mopping unit 30 when the cleaning robot 100 drives into the base station 200 according to the replacement instruction.
  • the replacement assembly 202 can also only receive the mopping unit 30 pushed out by the second cam 440 , that is, only put the mopping unit 30 into the mopping unit storage position, but not replace the clean mopping unit 30 .
  • the cleaning robot 100 further includes a detection component 80 configured to detect whether the mopping unit 30 is in a mopping state and whether the cleaning unit 20 is in a cleaning state.
  • the detection component 80 includes a position sensor, and judges whether the mopping unit 30 is in the mopping state by detecting the position change of the lifting mechanism 40 .
  • the detection component 80 includes an angle sensor, which can detect whether the cleaning unit 20 is in a cleaning state by detecting the operation of the motor of the cleaning unit 20 .
  • the replacement assembly 202 can cooperate with the lifting mechanism 40 to replace the clean mopping unit 30 .
  • the replacement assembly 202 can also complete the replacement of the mopping unit 30 alone.
  • the replacement assembly 202 can also be configured only to disassemble the mopping unit 30 to separate the mopping unit 30 from the cleaning robot 100 .
  • the base station 200 includes a cleaning component for the cleaning robot 100 to clean the mopping cleaner 320 .
  • the cleaning component cleans the mopping cleaning part 320 of the cleaning robot 100 to keep it in a clean state.
  • the base station 200 includes a mopping unit storage place, which can temporarily store the removed mopping unit 30 .
  • the mopping unit 30 can be cleaned to make it in a clean state; or, the mopping unit 30 is replaced at the mopping unit storage position; Or when changing, you can only clean or replace the mopping cleaning part 320, or you can clean or replace it together with the mopping plate 310 that installs the mopping cleaning part 320; There is no specific limitation in this embodiment.
  • the base station 200 has a detachment assembly for the cleaning robot to detach the mopping and cleaning part 320 , the detachment assembly is configured to disassemble the mopping and cleaning part 320 , but not configured to replace the mopping and cleaning part 320 .
  • the base station 200 has a cleaning component for cleaning the mopping member 320 of the cleaning robot 100 .
  • the cleaning component may be cleaning the mopping cleaning member 320 on the cleaning robot 100 .
  • the cleaning robot 100 can have a first working mode, a second working mode and a third working mode during operation, so that users can choose one of them to use according to their needs.
  • the first working mode is defined as the sweeping and mopping mode, that is, when the cleaning robot 100 is walking, the cleaning unit 20 performs cleaning tasks, and the mopping unit 30 performs mopping work at the same time.
  • the second mode of operation is defined as the mode of mopping after sweeping first, that is, the cleaning robot 100 first cleans the area to be cleaned once in the sweeping mode, and then works in the mopping mode; wherein, in the sweeping mode, the mopping unit 30 does not work, and the mopping mode , the cleaning unit 20 does not work.
  • the third working mode is a simple sweeping mode.
  • the mopping unit 30 when the mopping unit 30 is in the mopping state, it may be in the above-mentioned first working mode or the second working mode. Since the mopping unit 30 is in a wet and dirty state, when the cleaning robot 100 target area is When the carpet 300 is used, the existing cleaning strategy cannot deal with the carpet 300 of different thicknesses, resulting in that the carpet 300 cannot be cleaned or the carpet 300 is dirty when a thicker carpet is encountered.
  • the inventors have found that even when the cleaning robot is in the sweeping mode (it can be the sweeping mode in the first sweeping and then mopping mode, or the third working mode mentioned above), when encountering a thicker carpet, the mop carried
  • the cleaning part 320 may be in a dirty state, and if sweeping continues at this time, the mopping cleaning part 320 may still dirty the carpet 300 .
  • embodiments of the present invention propose the following improvement solutions.
  • the carpet identification sensor 50 is configured to identify the carpet 300 and send the detected thickness value of the carpet 300 to the control unit 60 , and the control unit 60 can control the cleaning robot 100 to perform different working modes according to the thickness value of the carpet 300 .
  • the carpet identification sensor 50 can identify the thickness of the carpet 300 by means of ultrasonic detection, which can be detected according to the energy change and time reflected by the object.
  • the thickness of the carpet 300 is distinguished by the division of intervals.
  • the carpet recognition sensor 50 can be arranged at the front of the side of the robot or the front of the ground of the robot.
  • the carpet recognition sensor 50 can be a visual sensor, which can detect the side thickness of the carpet 300 through an image, and can be arranged in the middle of the front side of the robot.
  • the control unit 60 is configured to be configured to control the lifting mechanism 40 when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 satisfies 0 ⁇ d ⁇ H1, that is, when the thickness value of the carpet 300 is less than or equal to the first preset value.
  • the mopping unit 30 is lifted and the cleaning robot 100 drives onto the carpet 300 .
  • the control unit 60 is further configured to: when the carpet thickness value detected by the carpet recognition sensor is greater than the first preset value (H1) and less than or equal to the second preset value (H2), that is, the thickness d of the carpet 300 satisfies H1 ⁇ When d ⁇ H2, control the cleaning robot 100 to disengage or control the cleaning robot 100 to update the mopping cleaning part 320, so that the mopping cleaning part is in a clean state; and control the cleaning unit 20 from a non-cleaning state Switch to the sweeping state and the cleaning robot 100 drives onto the carpet 300 .
  • H1 the first preset value
  • H2 the second preset value
  • the cleaning robot 100 disengages from the mopping and cleaning part 320 , which refers to disassembling the mopping and cleaning part 320 , and before the next installation of the mopping and cleaning part 320 , the cleaning robot 100 is in a state of not carrying the mopping and cleaning part 320 during operation.
  • the cleaning robot 100 may be disassembled by itself, or the base station 200 may disassemble. Updating the mopping and cleaning piece 320 may be replacing the mopping and cleaning piece 320 with a new one, or cleaning the mopping and cleaning piece 320 being used.
  • the control unit 60 is further configured to: when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than a second preset value, that is, when the carpet thickness d satisfies H2 ⁇ d, control the cleaning robot 100 to move along the carpet 300 walks along the edge of or spaced from said carpet;
  • the cleaning robot 100 can also be configured to include an avoidance mode, so that the cleaning robot walks along the edge of the carpet 300 or walks with a distance from the carpet 300 in the avoidance mode.
  • the control unit 60 is further configured to: when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than a second preset value, control the mopping cleaning part 320 to separate from the cleaning robot 100 or control the cleaning robot 100 to update the mopping cleaning function. Part 320, so that the mopping cleaning part 320 is in a clean state, and the control cleaning unit is switched from a non-sweeping state to a sweeping state and drives onto the carpet.
  • the carpet sensor detects in real time whether the target area in front of the cleaning robot 100 is a carpet 300 and sends the acquired thickness value of the carpet 300 to the control unit 60 .
  • the mopping unit 30 does not lift up, and the cleaning robot 100 continues the original cleaning strategy.
  • the carpet sensor detects that the thickness of the carpet 300 is less than or equal to the first preset value, it is defined as a short-pile carpet, and the lifting mechanism 40 lifts the mopping unit 30 .
  • the cleaning robot 100 is in the first working mode (sweeping and dragging mode)
  • the cleaning robot 100 is controlled to drive onto the carpet 300 , and the cleaning unit 20 of the cleaning robot 100 performs cleaning work to clean the carpet 300 .
  • the carpet sensor detects that the thickness value of the carpet 300 is greater than the first preset value and less than or equal to the second preset value
  • the cleaning robot 100 is in the second working mode (sweeping first and then mopping mode)
  • the cleaning robot 100 will be in the cleaning unit 20.
  • the carpet 300 is straddled while the cleaning work is being performed. In the embodiment of the present invention, crossing the carpet 300 means that the cleaning robot 100 drives from one side of the carpet 300 across the carpet 300 and reaches the other side of the carpet 300 .
  • the cleaning robot 100 is controlled to lift the mopping cleaning member 320 . No matter how the subsequent cleaning robot passes over the carpet 300, the carpet 300 will not be soiled.
  • the carpet sensor detects that the thickness of the carpet 300 is greater than the first preset value and less than or equal to the second preset value, it is defined as a long-pile carpet.
  • cleaning robot 100 can still pass through easily; state so that the carpet 300 will not be soiled when the cleaning robot 100 drives onto the carpet.
  • the cleaning robot 100 can return to the base station 200 to disassemble the mopping unit 30, or use the replacement assembly 202 in the base station 200 to replace the clean mopping unit 30, or clean the mopping unit 30 in the base station 200 (or other positions), so that subsequent cleaning After the robot 100 drives onto the carpet 300, no matter whether the carpet 300 is cleaned or not, the carpet 300 will not be soiled.
  • the cleaning robot 100 when the carpet sensor detects that the thickness value of the carpet 300 is greater than the first preset value and less than or equal to the second preset value (H1 ⁇ d ⁇ H2), if the cleaning robot 100 is in the first working mode, the cleaning robot 100 will Continue to clean the carpet 300 while maintaining the state of lifting the mopping unit 30 . At this time, the mopping cleaning piece 320 is updated so that the carpet 300 will not be polluted.
  • the carpet sensor detects that the thickness d of the carpet 300 satisfies H1 ⁇ d ⁇ H2
  • the cleaning robot 100 if the cleaning robot 100 is in the second working mode, the cleaning robot 100 will walk along the edge of the carpet 300. The edge of the carpet is dirty; or, the cleaning robot 100 keeps lifting the mopping unit 30 and the sweeping unit 20 does not perform cleaning work and crosses the carpet 300. At this time, the mopping cleaning part 320 is updated so as not to make the carpet dirty.
  • the cleaning robot 100 may drive on the carpet 300 regardless of the working mode, and the control unit 60 controls the cleaning unit 20 by The non-cleaning state is switched to the sweeping state, and the carpet 20 is used for cleaning without making the carpet 300 dirty.
  • the control unit 60 can also control the mopping cleaning part 320 to separate from the cleaning robot 100 or control the cleaning robot 100 to update the mopping cleaning part 320, so that the mopping The floor cleaning part 320 is in a clean state, the cleaning robot 100 is controlled to drive onto the carpet 300 and the cleaning unit 20 performs cleaning work.
  • the cleaning robot 100 when the thickness of the carpet 300 is greater than the second preset value, the cleaning robot 100 is controlled to enter the avoidance mode, so that the cleaning robot 100 walks along the edge of the carpet 300 or walks with a distance from the carpet 300 in the avoidance mode.
  • the first preset value H1 is 10-15mm, and the second preset value H2 is 15-25mm.
  • the first preset value H1 is 12mm
  • the second preset value H2 is 20mm.
  • the carpet 300 with a thickness of 12 mm or less is defined as a short-pile carpet.
  • the cleaning robot 100 only needs to lift the mopping unit 30. After the cleaning robot 100 drives on the carpet 300, it will not stain the carpet 300 whether or not it cleans the carpet 300. Above 12 mm, The carpet 300 with a thickness of less than 20 mm is defined as a long-pile carpet.
  • H1 and H2 are examples, and during specific implementation, the above-mentioned H1 and H2 can be redefined with reference to the ability of the lifting mechanism 40 to raise the height of the mopping unit 30 .
  • the lifting capacity of the lifting mechanism 40 is only 8mm, then H1 can be determined as 8mm.
  • control unit 60 is configured to: in the first working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet identification sensor 50 is less than or equal to the first preset value, the cleaning robot 100 is controlled to mop the floor unit 30 is raised, and the cleaning robot 100 is controlled to drive onto the carpet 300 and clean the carpet 300.
  • control unit 60 is configured to: in the first working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet identification sensor 50 is greater than the first preset value and less than or equal to the second preset value, control The cleaning robot 100 drives into the base station 200 from the current position and disengages from the mopping and cleaning part in the base station 200, and after the mopping and cleaning part 320 is disengaged, the cleaning robot 100 is controlled to return to the current position and perform the cleaning work on the carpet 300.
  • control unit 60 is configured to: in the first working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than the first preset value and less than or equal to the second preset value, the cleaning work After the end, the cleaning robot 100 is controlled to return to the base station 200 to install the mop unit 30 , and return to continue cleaning and mopping at the same time.
  • control unit 60 is configured to: in the first working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet identification sensor 50 is greater than the first preset value and less than or equal to the second preset value, control The cleaning robot 100 drives into the base station 200 from the current position, and updates the mopping and cleaning part 320 in the base station 200, so that the mopping and cleaning part 320 is in a clean state, and controls the cleaning robot 100 to return to the current position and perform cleaning work on the carpet 300 .
  • the mopping cleaning part 320 is updated in the base station 200 by replacing the mop unit 30 , and the replacement assembly 202 descends to transfer the raised mopping unit 30 away and place a new mopping unit again. 30.
  • control unit 60 is configured to: in the second working mode of the cleaning robot 100: control the cleaning robot 100 to keep lifting the mopping cleaner 320 and the cleaning unit 20 does not perform cleaning work After crossing the carpet 300, and the cleaning robot 100 crosses the carpet 300, the mopping cleaner 320 is controlled to perform the mopping work.
  • the carpet 300 has been cleaned by the cleaning unit 20 in advance, so the cleaning robot 100 can continue to perform the mopping work after crossing the carpet 300 .
  • the control unit 60 is configured to: in the second working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet identification sensor 50 is greater than the first preset value and less than or equal to the second preset value, the control unit The cleaning robot 100 drives into the base station 200 from the current position and replaces a new mopping cleaning part 320 in the base station, and controls the cleaning robot 100 to return to the current position, and keeps lifting the mopping cleaning part 320 And the cleaning unit 20 crosses the carpet 300 without performing cleaning work, and after the cleaning robot 100 crosses the carpet 300, controls the mopping cleaner 320 to perform the mopping work; or the When the thickness d of the carpet detected by the carpet identification sensor satisfies H1 ⁇ d ⁇ H2, the cleaning machine 100 is controlled to walk along the edge of the carpet 300 and the mopping cleaner 320 performs the mopping work. Regardless of mopping the floor after crossing the carpet 300 , or walking along the edge of the carpet 300 and mopping the floor, the carpet 300 will not be polluted because the mopping cleaning part
  • the carpet sensor detects that the thickness of the carpet 300 is less than or equal to the first preset value, it is defined as a short-pile carpet, and the lifting mechanism 40 lifts the mopping unit 30 . If the cleaning robot 100 is in the first working mode, the cleaning robot 100 is controlled to drive onto the carpet 300 , and the cleaning unit 20 of the cleaning robot 100 performs cleaning work.
  • the cleaning robot 100 can return to the base station 200 to disassemble the mopping unit 30, or use the replacement component 202 in the base station 200 to replace it with a new one.
  • the avoidance mode includes the cleaning robot 100 walking along the edge of the carpet 300 and avoiding the carpet 300 .
  • the mopping unit 30 of the cleaning robot 100 is in a mopping state.
  • the lifting mechanism 40 of the cleaning robot 100 lifts the mopping unit 30 , and the cleaning robot 100 will drive onto the carpet 300 .
  • the lifting mechanism 40 lifts the mopping unit 30 , and controls the cleaning robot 100 to drive onto the carpet 300 , and the control unit 60 controls the cleaning robot 100 to clean the carpet 300 .
  • the cleaning robot 100 will lift the mopping unit 30 and the cleaning unit 20 does not perform cleaning work across the carpet 300, and after the cleaning robot 100 strides over the carpet 300, the lifting mechanism 40 Lower the mopping unit 30 and continue mopping.
  • the cleaning robot 100 If the cleaning robot 100 is working in the first working mode, the cleaning robot 100 returns to the base station 200 to replace a new mopping unit 30 . Then return, when the mopping unit 30 is in the raised state, the cleaning unit 20 is controlled to continue cleaning the carpet 300 .
  • the cleaning robot 100 works in the second mode of operation, as shown in Figure 9, the cleaning robot 100 returns to the base station 200 to replace the new mopping unit 30 by the replacement assembly 202, then returns, and the mopping unit 30 is in a raised state After the cleaning robot 100 crosses the carpet 300, the lifting mechanism 40 lowers the mopping unit 30 and continues to mop the floor. Alternatively, since the carpet 300 does not need to be cleaned, the cleaning robot 100 does not directly drive onto the carpet 300 , but walks along the edge of the carpet 300 and mops the floor.
  • the cleaning robot 100 in the embodiment of the present invention implements different cleaning strategies for carpets 300 of different thicknesses, which can ensure that when the mopping unit 30 is in the mopping state, no matter what working mode the cleaning robot 100 is in, the cleaning robot 100 performs subsequent actions. When commanded, the mopping units 30 will not pollute the carpet 300 , thus facilitating the cleaning of the carpet 300 .
  • the cleaning robot 100 of the embodiment of the present invention may not be provided with the cleaning unit 20, but only the mopping unit 30 is provided. All will not pollute the carpet 300.
  • An embodiment of the present invention also proposes a cleaning robot control method, which can be applied to the cleaning robot 100 of the above-mentioned embodiment.
  • the control method of the cleaning robot 100 is applied to the control unit 60 and includes the following steps.
  • the cleaning robot 100 breaks away from the mopping cleaning part 320 or updates the mopping cleaning part 320, so that subsequent cleaning The carpet 300 will not be soiled when the robot cleans the carpet 300 after driving onto the carpet.
  • S200 includes the steps of:
  • S230 Control the cleaning unit of the cleaning robot to perform cleaning work to clean the carpet; or to cross the carpet 300 when the cleaning unit 20 is not performing cleaning work.
  • the cleaning robot 100 also includes a detection component 80, and the above S230 includes steps:
  • the cleaning unit 20 When the cleaning unit 20 is in the sweeping state and the mopping unit 30 is in the mopping state, it indicates that the cleaning robot 100 is in the first working mode of sweeping and mopping. When encountering a thicker carpet 300 (long-haired carpet), the cleaning robot is controlled. 100 performs a cleaning action in the state of lifting the mopping unit 30 to clean the carpet 300 .
  • the cleaning unit 20 When the cleaning unit 20 is not in the sweeping state and the mopping unit 30 is in the mopping state, it indicates that the cleaning robot 100 is in the second working mode of sweeping first and then mopping. When encountering a thicker carpet 300 (long hair carpet), due to the carpet 300 has been cleaned by the cleaning unit 20 once before, and at this time, the cleaning robot 100 does not need to go on the carpet 300 , and directly walks along the edge of the carpet 300 to mop the floor. When the cleaning unit 20 is not in the sweeping state and the mopping unit 30 is in the mopping state, it indicates that the cleaning robot 100 is in the second working mode of sweeping first and then mopping. At this time, the cleaning unit 20 may not perform cleaning work.
  • the cleaning unit 20 When the cleaning unit 20 is not in the sweeping state and the mopping unit 30 is in the mopping state, it indicates that the cleaning robot 100 is in the second working mode of sweeping first and then mopping. At this time, the carpet 300 can also be put on, and the cleaning unit 20 performs cleaning work, that is, You can scan again.
  • controlling the cleaning unit 20 of the cleaning robot 100 to perform cleaning work to clean the carpet 300 includes: performing the cleaning work on the carpet 300 while keeping the mopping cleaning member 320 lifted. Describe cleaning work. Although the mopping and cleaning part 320 will not stain the carpet, lifting it can reduce the resistance when the cleaning robot 100 moves forward.
  • control method of the cleaning robot also includes the steps of:
  • the surface encounters a carpet 300 (short-pile carpet) with a smaller thickness, and the cleaning robot 100 lifts the mopping cleaning part 320 and drives onto the carpet 300, and the mopping cleaning part 320 will not stain carpet.
  • S300 includes the step of: S310, controlling the cleaning unit of the cleaning robot to perform cleaning work to clean the carpet. If the cleaning robot 100 is in the first working mode of sweeping and mopping, when encountering a carpet 300 (short-pile carpet) with a smaller thickness, the cleaning robot 100 is controlled to perform a cleaning action while lifting the mopping unit 30 to clean the carpet. Carpet 300.
  • control method of the cleaning robot also includes the steps of:
  • the carpet thickness value is greater than the second preset value, it indicates that the cleaning robot 100 has encountered an ultra-long-haired carpet, which is defined as an ultra-long-haired carpet at this time, and the cleaning robot 100 cannot cross or it is relatively difficult to cross. Therefore, no matter the cleaning robot 100 is in the first working mode or the second working mode, the cleaning robot 100 can walk along the edge of the carpet 300, the cleaning unit 20 performs cleaning work and the mopping unit 30 performs mopping work, or, The mopping unit 30 performs the mopping work.
  • the cleaning robot 100 if the cleaning robot 100 is in the first working mode at this time, the cleaning robot 100 will sweep and drag while walking along the edge of the carpet 300 . If the cleaning robot 100 is in the second working mode at this time, the cleaning robot 100 only mops the floor when walking along the edge of the carpet 300 .
  • the cleaning robot 100 can forcibly drive on the carpet 300 . If the cleaning robot 100 is in the first working mode, control the cleaning unit 20 to switch from the non-cleaning state to the cleaning state and clean the carpet. If the cleaning robot 100 is in the second working mode, it can cross the carpet while maintaining the state of lifting the mopping cleaning member 320 .
  • the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

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Abstract

A cleaning robot (100) applicable to different cleaning scenarios. The cleaning robot comprises: a main body (10); a walking mechanism (120), which is arranged on the main body (10) and drives the cleaning robot (100) to move; a control unit (60), which controls the walking mechanism (120) to drive the cleaning robot (100) to autonomously move on the surface of an area to be cleaned; and a mopping unit (30), which is arranged on the main body (10), wherein the mopping unit (30) has a mopping state; when in the mopping state, the mopping unit (30) is used for carrying out mopping work; the mopping unit (30) further has a lifted state and a disassembled state; and when the cleaning robot (100) moves on a carpet (300), the mopping unit (30) is in the lifted state or the disassembled state. Further provided are a control method for a cleaning robot, and a cleaning robot system.

Description

清洁机器人***、清洁机器人及其控制方法Cleaning robot system, cleaning robot and control method thereof 技术领域technical field
本发明涉及清洁设备技术领域，特别是涉及一种清洁机器人及其控制方法。The invention relates to the technical field of cleaning equipment, in particular to a cleaning robot and a control method thereof.
背景技术Background technique
随着科技发展，越来越多清洁机器人进入千家万户，用以完成自动扫地拖地工作。现有的清洁机器人已实现根据地面材质不同而执行不同的工作模式。如许多环境中会同时存在地板和地毯，清洁机器人可执行不同的清扫策略。然而，现有技术中的清洁机器人在遇到地毯时一般只有一种清扫策略,环境适应性差。With the development of science and technology, more and more cleaning robots have entered thousands of households to complete automatic sweeping and mopping. Existing cleaning robots have implemented different working modes according to different ground materials. As in many environments where both floors and carpets are present, cleaning robots can perform different cleaning strategies. However, the cleaning robots in the prior art generally have only one cleaning strategy when encountering carpets, and have poor environmental adaptability.
发明内容Contents of the invention
有鉴于此，提供一种清洁机器人、清洁机器人***，还提出一种清洁机器人的控制方法。In view of this, a cleaning robot and a cleaning robot system are provided, and a method for controlling the cleaning robot is also proposed.
一种清洁机器人，所述清洁机器人包括：主体，行走机构，设于所述主体，带动清洁机器人移动；A cleaning robot, the cleaning robot includes: a main body, a walking mechanism, arranged on the main body, driving the cleaning robot to move;
控制单元，控制所述行走机构带动所述清洁机器人在待清洁区域表面自主移动；拖地单元，设于所述主体，所述拖地单元具有拖地状态，在所述拖地状态下，所述拖地单元用于执行拖地工作；所述拖地单元还具有抬升状态和拆卸状态；所述清洁机器人在地毯上移动时,所述拖地单元处于抬升状态或拆卸状态。The control unit controls the walking mechanism to drive the cleaning robot to move autonomously on the surface of the area to be cleaned; the mopping unit is arranged on the main body, the mopping unit has a mopping state, and in the mopping state, the The mopping unit is used for mopping the floor; the mopping unit also has a raised state and a disassembled state; when the cleaning robot moves on the carpet, the mopped unit is in the raised state or the disassembled state.
在其中一个实施例中，所述清洁机器人还包括:In one of the embodiments, the cleaning robot also includes:
地毯识别传感器，设于主体，对地毯进行识别，并将地毯识别结果发送给控制器；The carpet identification sensor is installed on the main body to identify the carpet and send the carpet identification result to the controller;
所述控制器被配置为：响应于所述地毯识别传感器的地毯识别结果，控制所述拖地单元从所述主体脱离，使得所述拖地单元处于拆卸状态；或者，控制所述拖地单元抬升，使得所述拖地单元处于抬升状态。The controller is configured to: respond to the carpet recognition result of the carpet recognition sensor, control the mopping unit to disengage from the main body, so that the mopping unit is in a disassembled state; or, control the mopping unit Lifting, so that the mopping unit is in a raised state.
在其中一个实施例中，所述地毯识别传感器，用于识别地毯并检测地毯的厚度值，将所述地毯的厚度值发送给控制器，所述控制器被配置为：基于所述地毯的厚度值，控制所述拖地单元的状态；其中，In one of the embodiments, the carpet identification sensor is used to identify the carpet and detect the thickness value of the carpet, and send the thickness value of the carpet to the controller, and the controller is configured to: based on the thickness of the carpet value, controlling the state of the mopping unit; where,
若所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；If the thickness value of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state;
若所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述拖地单元从所述清洁机器人脱离，使得所述拖地单元处于拆卸状态。If the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the mopping unit is controlled to disengage from the cleaning robot, so that the mopping unit is in a disassembled state.
在其中一个实施例中，所述控制器还被配置为：若所述地毯识别传感器检测到的所述地毯厚度值大于第二预设值，控制所述清洁机器人沿所述地毯的边缘行走或与所述地毯有间距地行走。In one of the embodiments, the controller is further configured to: if the carpet thickness value detected by the carpet identification sensor is greater than a second preset value, control the cleaning robot to walk along the edge of the carpet or Walk with a distance from the carpet.
在其中一个实施例中，述清洁机器人还包括：In one of the embodiments, the cleaning robot also includes:
清扫组件，设于所述主体，所述清扫组件具有清扫状态，在所述清扫状态下，所述清扫组件用于执行清扫工作；A cleaning component is arranged on the main body, the cleaning component has a cleaning state, and in the cleaning state, the cleaning component is used to perform cleaning work;
所述清洁机器人扫地模式，以及与所述拖地单元关联的工作模式；其中在所述扫地模式下，所述拖地单元不工作。The sweeping mode of the cleaning robot, and the working mode associated with the mopping unit; wherein in the sweeping mode, the mopping unit does not work.
在其中一个实施例中，所述控制器被配置为：基于所述清洁机器人所处的模式，控制所述拖地单元的状态；在所述清洁机器人处于所述与所述拖地单元关联的工作模式下，控制所述拖地单元抬升，使得所述拖地单元处于抬升状态。In one of the embodiments, the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot; In the working mode, the mopping unit is controlled to be raised, so that the mopping unit is in a raised state.
在其中一个实施例中，所述与所述拖地单元关联的工作模式包括先扫后拖模式；所述控制器被配置为：在所述清洁机器人处于先扫后拖模式下，控制所述清洁机器人在保持所述拖地单元抬升，且所述清扫单元不执行清扫工作的状态下跨越所述地毯。In one of the embodiments, the working mode associated with the mopping unit includes a mode of sweeping first and then mopping; the controller is configured to: when the cleaning robot is in the mode of sweeping first and then mopping, control the The cleaning robot crosses the carpet while keeping the mopping unit lifted and the cleaning unit not performing cleaning work.
所述与所述拖地单元关联的工作模式包括边扫边拖模式；所述控制器被配置为：在所述清洁机器人处 于边扫边拖模式下，控制所述清洁机器人在保持所述拖地单元抬升的状态下驶上地毯，且控制所述清扫单元对所述地毯执行清扫工作。The working mode associated with the mopping unit includes a sweeping and mopping mode; the controller is configured to: when the cleaning robot is in the sweeping and mopping mode, control the cleaning robot to keep the mopping The floor unit drives onto the carpet when the floor unit is raised, and controls the cleaning unit to perform cleaning work on the carpet.
在其中一个实施例中，所述控制器被配置为：基于所述清洁机器人所处的模式，控制所述拖地单元的状态；所述控制器被配置为：在所述清洁机器人处于所述扫地模式下，控制所述拖地单元从所述主体脱离，使得所述拖地单元处于拆卸状态。In one of the embodiments, the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot; the controller is configured to: when the cleaning robot is in the In the sweeping mode, the mopping unit is controlled to disengage from the main body, so that the mopping unit is in a disassembled state.
在其中一个实施例中，所述控制器被配置为：基于所述清洁机器人所处的模式和所述地毯识别传感器的地毯识别结果，控制所述拖地单元的状态；其中所述地毯识别结果包括所述地毯的厚度值；In one of the embodiments, the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor; wherein the carpet recognition result including the thickness value of said carpet;
若所述清洁机器人处于扫地模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；If the cleaning robot is in the sweeping mode, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state;
若所述清洁机器人处于扫地模式，且所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述清洁机器人返回基站，将所述拖地单元从主体脱离，使得所述拖地单元处于拆卸状态；If the cleaning robot is in the sweeping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is controlled to return to the base station, and the mopping unit is separated from the main body, so that the The above-mentioned mopping unit is in a disassembled state;
若所述清洁机器人处于与所述拖地单元关联的工作模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；If the cleaning robot is in the working mode associated with the mopping unit, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit in a raised state;
若所述清洁机器人处于与所述拖地单元关联的工作模式，且所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述清洁机器人在保持所述拖地单元抬升的状态下驶上地毯。If the cleaning robot is in the working mode associated with the mopping unit, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to keep the mopping unit Drive onto the carpet in a raised state.
在其中一个实施例中，所述与所述拖地单元关联的工作模式包括边扫边拖模式；所述控制器被配置为：In one of the embodiments, the working mode associated with the mopping unit includes a sweeping and mopping mode; the controller is configured to:
若所述清洁机器人处于边扫边拖模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；并在所述拖地单元处于抬升的状态下驶上地毯，以便所述清洁组件对所述地毯进行清扫；If the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; and Drive onto the carpet when the mopping unit is in a raised state, so that the cleaning component can clean the carpet;
若所述清洁机器人处于边扫边拖模式，且所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述清洁机器人由当前位置返回基站更新所述拖地单元，使得所述拖地单元处于干净状态；并控制所述清洁机器人在保持所述拖地单元抬升的状态下驶上地毯，以便所述清洁组件对所述地毯进行清扫。If the cleaning robot is in the mode of sweeping and mopping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station from the current position to update the mopping unit, Keeping the mopping unit in a clean state; and controlling the cleaning robot to drive onto the carpet while keeping the mopping unit elevated, so that the cleaning component can clean the carpet.
在其中一个实施例中，所述与所述拖地单元关联的工作模式包括先扫后拖模式；所述控制器被配置为：In one of the embodiments, the working mode associated with the mopping unit includes sweeping first and then mopping mode; the controller is configured to:
若所述清洁机器人处于先扫后拖模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；并控制所述清洁机器人在保持所述拖地单元抬升且清扫组件不执行清扫工作的状态下跨越地毯；If the cleaning robot is in the mode of sweeping first and then mopping, and the thickness value of the carpet is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; and Controlling the cleaning robot to cross the carpet while keeping the mopping unit lifted and the cleaning component not performing cleaning work;
若所述清洁机器人处于先扫后拖模式，且所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述清洁机器人由当前位置返回基站更新所述拖地单元，使得所述拖地单元处于干净状态；并控制所述清洁机器人在保持所述拖地单元抬升且清扫组件不执行清扫工作的状态下跨越地毯。If the cleaning robot is in the mode of sweeping first and then mopping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station from the current position to update the mopping unit, Keeping the mopping unit in a clean state; and controlling the cleaning robot to cross the carpet while keeping the mopping unit lifted and the cleaning component not performing cleaning work.
在其中一个实施例中，所述控制器被配置为：基于所述清洁机器人所处的模式和所述地毯识别传感器的地毯识别结果，控制所述拖地单元的状态；其中所述地毯识别结果包括所述地毯的厚度值；In one of the embodiments, the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor; wherein the carpet recognition result including the thickness value of said carpet;
若清洁机器人处于扫地模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人返回基站将拖地单元更换，使得拖地单元处于换新状态；控制新的拖地单元抬升，使得清洁机器人在拖地单元处于抬升状态，清扫单元处于清扫状态下在地毯上移动，对地毯进行清扫；If the cleaning robot is in the sweeping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to replace the mopping unit so that the mopping unit is in a new state; The floor unit is raised, so that the cleaning robot moves on the carpet when the mopping unit is in a raised state, and the cleaning unit is in a cleaning state to clean the carpet;
若清洁机器人处于边扫边拖模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人返回基站拆卸拖地单元，使得拖地单元处于拆卸状态；并控制清洁机器人在拖地单元处于拆卸状态，清扫单元处于清扫状态下在地毯上移动，以便清扫单元对地毯进行清扫；If the cleaning robot is in the mode of mopping while sweeping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; and control the cleaning The robot moves on the carpet when the mopping unit is in the disassembled state and the cleaning unit is in the cleaning state, so that the cleaning unit can clean the carpet;
若清洁机器人处于先扫后拖的拖地模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人返回基站拆卸拖地单元，使得拖地单元处于拆卸状态；并控制清洁机器人在拖地单元处于拆卸状态，清扫单元清扫单元不执行清扫工作的状态下跨越地毯。If the cleaning robot is in the mopping mode of sweeping first and then mopping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; And control the cleaning robot to cross the carpet when the mopping unit is in a disassembled state and the cleaning unit is not performing cleaning work.
在其中一个实施例中，所述清洁机器人包括升降单元，设置于主体，带动所述拖地单元抬升，使得所述拖地单元处于抬升状态；In one of the embodiments, the cleaning robot includes a lifting unit, which is arranged on the main body, and drives the mopping unit to lift, so that the mopping unit is in a raised state;
所述升降单元还用于带动所述拖地单元下降，使得所述拖地单元处于拖地状态。The lifting unit is also used to drive the mopping unit down so that the mopping unit is in a mopping state.
在其中一个实施例中，所述清洁机器人包括顶出单元，被配置为将所述拖地单元顶出，使得所述拖地单元处于拆卸状态。In one of the embodiments, the cleaning robot includes an ejecting unit configured to eject the mopping unit so that the mopping unit is in a disassembled state.
在其中一个实施例中，所述基站包括拆卸组件，被配置为拆卸拖地单元，使拖地单元与清洁机器人脱离。In one of the embodiments, the base station includes a detachment component configured to detach the mopping unit to separate the mopping unit from the cleaning robot.
在其中一个实施例中，所述基站具有临时存储位，用于接收与所述清洁机器人脱离的拖地单元；或者，所述基站包括更换组件，被配置为接收与所述清洁机器人脱离的拖地组件。In one of the embodiments, the base station has a temporary storage position for receiving the mopping unit detached from the cleaning robot; or, the base station includes a replacement component configured to receive the mopping unit detached from the cleaning robot. ground components.
在其中一个实施例中，所述基站包括更换组件，被配置为在所述拖地单元脱离后，为所述清洁机器人更换拖地单元，使得所述拖地单元处于干净状态。In one of the embodiments, the base station includes a replacement component configured to replace the mopping unit for the cleaning robot after the mopping unit is detached, so that the mopping unit is in a clean state.
在其中一个实施例中，所述基站包括清洁组件，被配置为在所述清洁机器人返回基站后或所述拖地组件脱离主体后，对所述拖地单元进行清洗，使得所述拖地单元出于干净状态。In one of the embodiments, the base station includes a cleaning component configured to clean the mopping unit after the cleaning robot returns to the base station or after the mopping component is separated from the main body, so that the mopping unit In a clean state.
在其中一个实施例中，所述清洁机器人还包括:清扫组件，设于所述主体，所述清扫组件具有清扫状态，所述清扫组件被配置为在所述清扫状态下，执行清扫工作；In one of the embodiments, the cleaning robot further includes: a cleaning component, disposed on the main body, the cleaning component has a cleaning state, and the cleaning component is configured to perform cleaning work in the cleaning state;
所述控制器被配置为：在所述拖地清洁件抬升或者脱离主体的状态下，控制所述清洁机器人切换为清扫状态，使得清扫组件对所述地毯执行所述清扫工作。The controller is configured to: control the cleaning robot to switch to a cleaning state when the mopping cleaning element is lifted or detached from the main body, so that the cleaning component performs the cleaning work on the carpet.
在其中一个实施例中，所述控制器被配置为：控制所述清洁机器人在所述拖地清洁件处于抬升或者脱离主体的状态下，沿所述地毯的边缘行走或与所述地毯有间距地行走。In one of the embodiments, the controller is configured to: control the cleaning robot to walk along the edge of the carpet or have a distance from the carpet when the mopping cleaning part is lifted or separated from the main body walking.
在其中一个实施例中，所述拖地单元包括拖地清洁件和拖地板，其中所述拖地板被配置为可移除地安装有所述拖地清洁件；In one of the embodiments, the mopping unit includes a mopping cleaning part and a mopping floor, wherein the mopping floor is configured to be removably mounted with the mopping cleaning part;
所述清洁机器人在地毯上移动时,至少所述拖地清洁件处于抬升状态或拆卸状态。When the cleaning robot moves on the carpet, at least the mopping cleaning part is in a raised state or a disassembled state.
一种清洁机器人的控制方法，其特征在于，所述清洁机器人包括主体，设于所述主体的具有拖地清洁件的拖地单元、地毯识别传感器和控制器，所述拖地单元被配置为执行拖地工作，所述地毯识别传感器被配置为识别地毯；A control method for a cleaning robot, characterized in that the cleaning robot includes a main body, a mopping unit provided on the main body with mopping cleaning parts, a carpet recognition sensor and a controller, and the mopping unit is configured as performing a mopping operation, the carpet identification sensor being configured to identify a carpet;
所述方法应用于所述控制器，包括步骤：The method is applied to the controller, comprising the steps of:
通过所述地毯识别传感器检测清洁机器人前方目标区域是否为地毯；Whether the target area in front of the cleaning robot is detected by the carpet recognition sensor is a carpet;
若所述地毯识别传感器检测到地毯，控制所述拖地单元从所述主体脱离，或者，控制所述拖地单元抬升。If the carpet recognition sensor detects a carpet, control the mopping unit to separate from the main body, or control the mopping unit to lift.
在其中一个实施例中，所述地毯识别传感器被配置为识别地毯并将检测到的地毯的厚度值发送给所述控制器；In one of the embodiments, the carpet identification sensor is configured to identify the carpet and send the detected thickness value of the carpet to the controller;
所述方法包括：The methods include:
若所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述拖地单元从所述清洁机器人脱离；If the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the mopping unit to separate from the cleaning robot;
若所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元。If the thickness of the carpet is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping unit.
在其中一个实施例中，所述方法还包括：In one embodiment, the method also includes:
若所述地毯识别传感器检测到的所述地毯厚度值大于第二预设值，控制所述清洁机器人沿所述地毯的边缘行走或与所述地毯有间距地行走。If the carpet thickness value detected by the carpet recognition sensor is greater than a second preset value, the cleaning robot is controlled to walk along the edge of the carpet or to walk with a distance from the carpet.
在其中一个实施例中，所述清洁机器人还包括：清扫组件，设于所述主体，所述清扫组件具有清扫状 态，在所述清扫状态下，所述清扫组件用于执行清扫工作；In one of the embodiments, the cleaning robot further includes: a cleaning component, disposed on the main body, the cleaning component has a cleaning state, and in the cleaning state, the cleaning component is used to perform cleaning work;
所述清洁机器人具有扫地模式，以及与所述拖地单元关联的工作模式；其中在所述扫地模式下，所述拖地单元不工作。The cleaning robot has a sweeping mode and a working mode associated with the mopping unit; wherein in the sweeping mode, the mopping unit does not work.
在其中一个实施例中，所述方法包括：In one embodiment, the method includes:
当所述清洁机器人处于扫地模式下，若所述地毯识别传感器检测到所述地毯，控制所述拖地单元从所述清洁机器人脱离或者控制所述拖地单元抬升。When the cleaning robot is in the sweeping mode, if the carpet recognition sensor detects the carpet, control the mopping unit to separate from the cleaning robot or control the mopping unit to lift.
在其中一个实施例中，所述方法包括：In one embodiment, the method includes:
在所述清洁机器人处于所述扫地模式下，控制所述拖地单元从所述主体脱离，使得所述拖地单元处于拆卸状态。When the cleaning robot is in the sweeping mode, the mopping unit is controlled to disengage from the main body, so that the mopping unit is in a disassembled state.
在其中一个实施例中，所述方法包括：In one embodiment, the method includes:
基于所述清洁机器人所处的模式和所述地毯识别传感器的地毯识别结果，控制所述拖地单元的状态；其中所述地毯识别结果包括所述地毯的厚度值；Controlling the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor; wherein the carpet recognition result includes a thickness value of the carpet;
若所述清洁机器人处于扫地模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；If the cleaning robot is in the sweeping mode, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state;
若所述清洁机器人处于扫地模式，且所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述清洁机器人返回基站，将所述拖地单元从主体脱离，使得所述拖地单元处于拆卸状态。If the cleaning robot is in the sweeping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is controlled to return to the base station, and the mopping unit is separated from the main body, so that the The above-mentioned mopping unit is in disassembled state.
在其中一个实施例中，所述与所述拖地单元关联的工作模式包括边扫边拖模式；In one of the embodiments, the working mode associated with the mopping unit includes a sweeping and mopping mode;
所述方法包括：The methods include:
若所述清洁机器人处于边扫边拖模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；并在所述拖地单元处于抬升的状态下驶上地毯，以便所述清洁组件对所述地毯进行清扫；If the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; and Drive onto the carpet when the mopping unit is in a raised state, so that the cleaning component can clean the carpet;
若清洁机器人处于边扫边拖模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人返回基站拆卸拖地单元，使得拖地单元处于拆卸状态；并控制清洁机器人在拖地单元处于拆卸状态，清扫单元处于清扫状态下在地毯上移动，以便清扫单元对地毯进行清扫；If the cleaning robot is in the mode of mopping while sweeping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; and control the cleaning The robot moves on the carpet when the mopping unit is in the disassembled state and the cleaning unit is in the cleaning state, so that the cleaning unit can clean the carpet;
在其中一个实施例中，所述与所述拖地单元关联的工作模式包括先扫后拖模式；其中，先扫后拖模式中，拖地单元处于拖地状态；In one of the embodiments, the working mode associated with the mopping unit includes a mode of sweeping first and then mopping; wherein, in the mode of sweeping first and then mopping, the mopping unit is in a mopping state;
所述方法包括：The methods include:
若所述清洁机器人处于先扫后拖模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；并控制所述清洁机器人在保持所述拖地单元抬升且清扫组件不执行清扫工作的状态下跨越地毯；If the cleaning robot is in the mode of sweeping first and then mopping, and the thickness value of the carpet is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; and Controlling the cleaning robot to cross the carpet while keeping the mopping unit lifted and the cleaning component not performing cleaning work;
若清洁机器人处于先扫后拖的拖地模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人返回基站拆卸拖地单元，使得拖地单元处于拆卸状态；并控制清洁机器人在拖地单元处于拆卸状态，清扫单元清扫单元不执行清扫工作的状态下跨越地毯。If the cleaning robot is in the mopping mode of sweeping first and then mopping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; And control the cleaning robot to cross the carpet when the mopping unit is in a disassembled state and the cleaning unit is not performing cleaning work.
一种清洁机器人***，包括基站和上述的清洁机器人，其中所述基站包括以下组件的至少一个；A cleaning robot system, including a base station and the above-mentioned cleaning robot, wherein the base station includes at least one of the following components;
拆卸组件，为所述清洁机器人拆卸拖地单元；Disassemble the assembly and disassemble the mopping unit for the cleaning robot;
更换组件，为所述清洁机器人更换干净的拖地单元；Replace the assembly, and replace the cleaning robot with a clean mopping unit;
清洁组件，为所述清洁机器人清洁拖地单元。The cleaning component cleans the mopping unit for the cleaning robot.
一种清洁机器人，所述清洁机器人包括主体，设于所述主体的具有清洁工作头的清扫单元、具有拖地 清洁件的拖地单元、地毯识别传感器和控制单元，所述清扫单元被配置为执行清扫工作；所述拖地单元被配置为执行拖地工作；所述地毯识别传感器被配置为识别地毯并将检测到地毯的厚度值发送给所述控制单元；所述控制单元被配置为：所述地毯识别传感器检测到的所述地毯厚度值大于第一预设值小于等于第二预设值时，控制所述拖地清洁件从所述清洁机器人脱离或者控制所述清洁机器人更新所述拖地清洁件，使得所述拖地清洁件处于干净状态,及控制所述清洁机器人驶上地毯。A cleaning robot, the cleaning robot includes a main body, a cleaning unit with a cleaning working head, a mopping unit with mopping cleaning parts, a carpet recognition sensor and a control unit arranged on the main body, and the cleaning unit is configured as Perform cleaning work; the mopping unit is configured to perform mopping work; the carpet identification sensor is configured to identify the carpet and send the thickness value of the detected carpet to the control unit; the control unit is configured to: When the carpet thickness value detected by the carpet recognition sensor is greater than a first preset value and less than or equal to a second preset value, control the mopping cleaning part to separate from the cleaning robot or control the cleaning robot to update the Mopping the floor cleaning part, making the mopping cleaning part in a clean state, and controlling the cleaning robot to drive onto the carpet.
上述清洁机器人，地毯传感器检测到地毯厚度值大于第一预设值小于等于第二预设值时，清洁机器人脱离拖地清洁件或更新拖地清洁件，从而后续清洁机器人驶上地毯后清扫地毯时不会弄脏地毯。For the above-mentioned cleaning robot, when the carpet sensor detects that the carpet thickness value is greater than the first preset value and less than or equal to the second preset value, the cleaning robot will separate from the mopping cleaning part or update the mopping cleaning part, so that the subsequent cleaning robot drives on the carpet and cleans the carpet without staining the carpet.
在其中一个实施例中，所述控制单元还被配置为：所述地毯识别传感器检测到的所述地毯厚度值小于等于第一预设值时，控制所述清洁机器人抬升所述拖地清洁件且驶上所述地毯。In one of the embodiments, the control unit is further configured to control the cleaning robot to lift the mopping cleaning piece when the carpet thickness value detected by the carpet recognition sensor is less than or equal to a first preset value and drive onto said carpet.
在其中一个实施例中，所述清洁机器人包括边扫边拖模式，所述控制单元还被配置为：在所述边扫边拖模式下：所述地毯识别传感器检测到的所述地毯厚度值大于第一预设值小于等于第二预设值时，控制所述清洁机器人由当前位置驶入基站，同时控制所述清洁机器人在所述基站内脱离所述拖地清洁件，且在所述拖地清洁件脱离后，控制所述清洁机器人返回所述当前位置后并对所述地毯执行所述清扫工作；或，所述地毯识别传感器检测到的所述地毯厚度值大于第一预设值小于等于第二预设值时，控制所述清洁机器人由当前位置驶入基站且在所述基站内更新拖地清洁件，使得所述拖地清洁件处于干净状态，且控制所述清洁机器人返回所述当前位置并对所述地毯执行所述清扫工作。In one of the embodiments, the cleaning robot includes a sweeping and dragging mode, and the control unit is further configured to: in the sweeping and dragging mode: the carpet thickness value detected by the carpet identification sensor When it is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is controlled to drive into the base station from the current position, and at the same time, the cleaning robot is controlled to leave the mopping cleaning part in the base station, and After the mopping cleaning part is disengaged, control the cleaning robot to return to the current position and perform the cleaning work on the carpet; or, the carpet thickness value detected by the carpet recognition sensor is greater than the first preset value When it is less than or equal to the second preset value, control the cleaning robot to drive into the base station from the current position and update the mopping cleaning parts in the base station, so that the mopping cleaning parts are in a clean state, and control the cleaning robot to return The current position and perform the cleaning work on the carpet.
在其中一个实施例中，所述控制单元被配置为：控制所述清洁机器人在保持抬升所述拖地清洁件的状态下对所述地毯执行所述清扫工作。In one of the embodiments, the control unit is configured to: control the cleaning robot to perform the cleaning work on the carpet while keeping lifting the mopping cleaning element.
在其中一个实施例中，所述控制单元还被配置为：所述地毯识别传感器检测到的所述地毯厚度值大于第二预设值时，控制所述清洁机器人沿所述地毯的边缘行走或与所述地毯有间距地行走。In one of the embodiments, the control unit is further configured to: control the cleaning robot to walk along the edge of the carpet or Walk with a distance from the carpet.
在其中一个实施例中，所述控制单元还被配置为：所述地毯识别传感器检测到的所述地毯厚度值大于第二预设值时，控制所述拖地清洁件从所述清洁机器人脱离或者控制所述清洁机器人更新所述拖地清洁件，使得所述拖地清洁件处于干净状态,控制所述清洁机器人驶上地毯。In one of the embodiments, the control unit is further configured to: when the carpet thickness value detected by the carpet identification sensor is greater than a second preset value, control the mopping cleaning element to detach from the cleaning robot Or control the cleaning robot to update the mopping cleaning part, so that the mopping cleaning part is in a clean state, and control the cleaning robot to drive onto the carpet.
在其中一个实施例中，更新所述拖地清洁件包括：更换干净的拖地清洁件，或清洁所述拖地清洁件。In one embodiment, updating the mopping cleaning piece includes: replacing a clean mopping cleaning piece, or cleaning the mopping cleaning piece.
一种清洁机器人的控制方法，所述清洁机器人包括主体，设于所述主体的具有清洁工作头的清扫单元、具有拖地清洁件的拖地单元、地毯识别传感器和控制单元，所述清扫单元被配置为执行清扫工作，所述拖地单元被配置为执行拖地工作，所述地毯识别传感器被配置为识别地毯并将检测到地毯的厚度值发送给所述控制单元；所述方法应用于所述控制单元，包括步骤：通过所述地毯识别传感器实时检测清洁机器人前方目标区域是否为地毯并获取所述地毯的厚度值；所述地毯识别传感器检测到的所述地毯厚度值大于第一预设值小于等于第二预设值时，控制所述拖地清洁件从所述清洁机器人脱离或者控制所述清洁机器人更新所述拖地清洁件，使得所述拖地清洁件处于干净状态,及控制所述清洁机器人驶上地毯。A control method of a cleaning robot, the cleaning robot includes a main body, a cleaning unit with a cleaning working head, a mopping unit with a mopping cleaner, a carpet recognition sensor and a control unit arranged on the main body, the cleaning unit is configured to perform cleaning work, the mopping unit is configured to perform mopping work, and the carpet identification sensor is configured to identify the carpet and send the thickness value of the detected carpet to the control unit; the method is applied to The control unit includes the step of: using the carpet recognition sensor to detect in real time whether the target area in front of the cleaning robot is a carpet and obtain the thickness value of the carpet; the carpet thickness value detected by the carpet recognition sensor is greater than the first predetermined value. When the set value is less than or equal to the second preset value, control the mopping cleaning piece to separate from the cleaning robot or control the cleaning robot to update the mopping cleaning piece, so that the mopping cleaning piece is in a clean state, and The cleaning robot is controlled to drive onto the carpet.
在其中一个实施例中，所述方法还包括步骤：所述地毯识别传感器检测到的所述地毯厚度值小于等于第一预设值时，控制所述清洁机器人抬升所述拖地清洁件且驶上所述地毯。In one of the embodiments, the method further includes the step: when the carpet thickness value detected by the carpet identification sensor is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping cleaning piece and drive above mentioned rugs.
在其中一个实施例中，所述地毯识别传感器检测到的所述地毯厚度值小于等于第一预设值时，控制所述清洁机器人抬升所述拖地清洁件且驶上所述地毯,包括步骤：控制所述清扫机器人的所述清扫单元执行清扫工作，清洁所述地毯。In one of the embodiments, when the thickness value of the carpet detected by the carpet identification sensor is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping cleaning part and drive onto the carpet, including the steps : controlling the cleaning unit of the cleaning robot to perform cleaning work to clean the carpet.
在其中一个实施例中，所述地毯识别传感器检测到的所述地毯厚度值大于第一预设值小于等于第二预设值时，控制所述拖地清洁件从所述清洁机器人脱离或者控制所述清洁机器人更新所述拖地清洁件，使得所述拖地清洁件处于干净状态,及控制所述清洁机器人驶上地毯，包括步骤：控制所述清洁机器人由当前位置驶入基站且在所述基站内脱离或者控制所述清洁机器人更新所述拖地清洁件，使得所述拖地清洁件处 于干净状态；控制所述清洁机器人返回所述当前位置；控制所述清扫机器人的所述清扫单元执行清扫工作，清洁所述地毯。In one of the embodiments, when the carpet thickness value detected by the carpet recognition sensor is greater than the first preset value and less than or equal to the second preset value, control the mopping cleaning part to separate from the cleaning robot or control The cleaning robot updates the mopping cleaning part so that the mopping cleaning part is in a clean state, and controlling the cleaning robot to drive onto the carpet includes the steps of: controlling the cleaning robot to drive into the base station from the current position and Detach from the base station or control the cleaning robot to update the mopping cleaning piece, so that the mopping cleaning piece is in a clean state; control the cleaning robot to return to the current position; control the cleaning unit of the cleaning robot A sweep is performed to clean said carpet.
在其中一个实施例中，控制所述清扫机器人的所述清扫单元执行清扫工作，清洁所述地毯，包括：在保持抬升所述拖地清洁件的状态下对所述地毯执行所述清扫工作。In one embodiment, controlling the cleaning unit of the cleaning robot to perform cleaning work to clean the carpet includes: performing the cleaning work on the carpet while keeping the mopping cleaning member lifted.
在其中一个实施例中，所述方法还包括步骤：所述地毯识别传感器检测到的所述地毯厚度值大于第二预设值时，控制所述清洁机器人沿所述地毯的边缘行走或与所述地毯有间距地行走；或，所述地毯识别传感器检测到的所述地毯厚度值大于第二预设值时，控制所述拖地清洁件从所述清洁机器人脱离或者控制所述清洁机器人更新所述拖地清洁件，使得所述拖地清洁件处于干净状态,控制所述清洁机器人驶上地毯。In one of the embodiments, the method further includes the step of: when the thickness value of the carpet detected by the carpet recognition sensor is greater than a second preset value, controlling the cleaning robot to walk along the edge of the carpet or interact with the carpet The carpet walks at intervals; or, when the carpet thickness value detected by the carpet recognition sensor is greater than a second preset value, control the mopping cleaning part to separate from the cleaning robot or control the cleaning robot to update The mopping and cleaning part keeps the mopping and cleaning part in a clean state, and controls the cleaning robot to drive onto the carpet.
附图说明Description of drawings
构成本申请的一部分的附图用来提供对本实用新型的进一步理解，本实用新型的示意性实施例及其说明用以解释本实用新型，并不构成对本实用新型的不当限定。The accompanying drawings constituting a part of this application are used to provide a further understanding of the utility model, and the schematic embodiments of the utility model and their descriptions are used to explain the utility model, and do not constitute improper limitations to the utility model.
为了更清楚地说明本实用新型实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本实用新型的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some implementations of the present invention. For example, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.
图1为本发明一实施例的清洁机器人***的示意图。FIG. 1 is a schematic diagram of a cleaning robot system according to an embodiment of the present invention.
图2为本发明一实施例的清洁机器人的结构示意图。Fig. 2 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention.
图3为本发明一实施例的升降拆卸机构的结构示意图。Fig. 3 is a structural schematic diagram of a lifting and dismounting mechanism according to an embodiment of the present invention.
图4为本发明一实施例的基站的结构示意图。FIG. 4 is a schematic structural diagram of a base station according to an embodiment of the present invention.
图5为本发明一实施例的清洁机器人的控制方法的***原理图。FIG. 5 is a system schematic diagram of a control method of a cleaning robot according to an embodiment of the present invention.
图6为清洁机器人正常清扫时的示意图。Fig. 6 is a schematic diagram of the cleaning robot during normal cleaning.
图7为清洁机器人正常清扫时检测到低厚度地毯时的示意图。Fig. 7 is a schematic diagram when a cleaning robot detects a low-thickness carpet during normal cleaning.
图8为清洁机器人正常清扫时检测到高厚度地毯时的示意图。Fig. 8 is a schematic diagram when a cleaning robot detects a high-thickness carpet during normal cleaning.
图9为清洁机器人正常清扫时检测到高厚度地毯后返回基站拆卸拖布板的示意图。Fig. 9 is a schematic diagram of the cleaning robot returning to the base station to disassemble the mopping board after detecting a high-thickness carpet during normal cleaning.
图中的相关元件对应编号如下：The corresponding numbers of the relevant components in the figure are as follows:
100、清洁机器人；10、主体；110、壳体；120、行走机构；20、清扫单元；210、滚刷；220、边刷；230、尘盒；30、拖地单元；310、拖布板；320、拖地清洁件；40、抬升机构；410、电机；420、驱动轴；430、第一凸轮；440、第二凸轮；450、拖布板安装架；460、方框；50、地毯识别传感器；60、控制单元；70、加水模块；80、检测组件；200、基站；201、空间；202、更换组件；300、地毯。100. Cleaning robot; 10. Main body; 110. Shell; 120. Traveling mechanism; 20. Cleaning unit; 210. Rolling brush; 220. Side brush; 230. Dust box; 30. Mopping unit; 310. Mopping board; 320. Mopping and cleaning parts; 40. Lifting mechanism; 410. Motor; 420. Drive shaft; 430. First cam; 440. Second cam; 450. Mopping board installation frame; 460. Box; 50. Carpet recognition sensor 60. Control unit; 70. Water adding module; 80. Detection component; 200. Base station; 201. Space; 202. Replacement component; 300. Carpet.
具体实施方式Detailed ways
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本发明。但是本发明能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本发明内涵的情况下做类似改进，因此本发明不受下面公开的具体实施例的限制。In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or Elements must have certain orientations, be constructed and operate in certain orientations, and therefore should not be construed as limitations on the invention.
此外，术语“第一”、“第二”仅用以描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.
本公开提供了一种清洁机器人，包括：The present disclosure provides a cleaning robot, including:
主体，main body,
行走机构，设于所述主体，带动清洁机器人移动；The walking mechanism is arranged on the main body to drive the cleaning robot to move;
控制单元，控制行走机构带动所述清洁机器人在待清洁区域表面自主移动；a control unit, controlling the traveling mechanism to drive the cleaning robot to move autonomously on the surface of the area to be cleaned;
拖地单元，设于所述主体，所述拖地单元具有拖地状态，在所述拖地状态下，所述拖地单元用于执行拖地工作；A floor mopping unit is provided on the main body, and the floor mopping unit has a floor mopping state, and in the floor mopping state, the floor mopping unit is used for mopping the floor;
其中，所述拖地单元具有非拖地状态，其中非拖地状态包括抬升状态和拆卸状态的至少一种；其中所述拖地状态是指所述拖地单元拖地单元与所述待清洁区域表面接触的状态，所述拆卸状态是指所述拖地单元从所述主体脱离的状态；所述抬升状态是指所述拖地单元抬起与待清洁区域表面不接触的状态，使得所述拖地单元能够不执行拖地工作。Wherein, the mopping unit has a non-mopping state, wherein the non-mopping state includes at least one of a raised state and a disassembled state; wherein the mopping state refers to the The state in which the area surface is in contact, the disassembled state refers to the state in which the mopping unit is separated from the main body; The mopping unit can not perform mopping work.
考虑到清洁机器人的使用环境中会存在地毯，为了避免拖地单元污染地毯，在一个实施例中，拖地单元可被拆卸，使得拖地单元具有拆卸状态；其中拖地单元至少包括拖地清洁件，在一个实施例中，拖地单元还可以包括拖布板，用于可拆卸地安装拖地清洁件，以形成拖地面，拖地面可对待清洁区域表面进行拖地工作。Considering that there will be carpets in the use environment of the cleaning robot, in order to prevent the mopping unit from polluting the carpet, in one embodiment, the mopping unit can be disassembled so that the mopping unit has a disassembled state; wherein the mopping unit at least includes mopping and cleaning In one embodiment, the mopping unit can also include a mopping board for detachably installing the mopping cleaning parts to form a mopping floor, and the mopping floor can be used to mop the surface of the area to be cleaned.
需要指出的是，除了清洁机器人清洁地毯的场景下有拆卸拖地单元的需求，在其他场景，例如越障(比如越上台阶等)，为了避免台阶对拖地单元造成损坏或者避免拖地单元影响越障，在该越障场景下，拖地单元也可以拆卸，对此本公开不做限定。It should be pointed out that in addition to the scene where the cleaning robot cleans the carpet, there is a need to disassemble the mopping unit. In other scenarios, such as overcoming obstacles (such as climbing up steps, etc.), in order to avoid damage to the mopping unit caused by the steps or to avoid the mopping unit Affecting obstacle surmounting, in this obstacle surmounting scenario, the mopping unit can also be disassembled, which is not limited in this disclosure.
在一个实施例中，拖地单元可由清洁机器人进行拆除，即主机具有拆拖地单元的功能。In one embodiment, the mopping unit can be dismantled by the cleaning robot, that is, the main unit has the function of dismantling the mopping unit.
为了实现拖地单元的拆卸，在一个实施例中，主机设有拆卸机构，使得主机可实现拖地单元与主机脱离，使得拖地单元处于拆卸状态。In order to realize the disassembly of the mopping unit, in one embodiment, the host is provided with a disassembly mechanism, so that the host can separate the mopping unit from the host, so that the mopping unit is in a disassembled state.
在一个实施例中，主机的拆卸机构包括顶出单元，设于主体，用于将拖地单元顶出，以脱离主体。其中顶出单元例如可以是第二凸轮。In one embodiment, the detachment mechanism of the host includes a ejecting unit, which is arranged on the main body, and is used for ejecting the mopping unit to separate from the main body. Wherein the ejection unit can be, for example, a second cam.
当然，在其他实施例中，拖地单元也可以由基站进行拆除，即基站具有拆除拖地单元的功能，此时主机可以通过返回基站，由基站对主机上的拖地单元进行拆除。Certainly, in other embodiments, the floor mopping unit can also be removed by the base station, that is, the base station has the function of removing the floor mopping unit. At this time, the host computer can return to the base station, and the base station can remove the floor mopping unit on the host computer.
为了实现基站的拆卸功能，在一个实施例中，基站设有拆卸机构，使得基站可实现将拖地单元脱离主机。In order to realize the detachment function of the base station, in one embodiment, the base station is provided with a detachment mechanism, so that the base station can separate the mopping unit from the host.
在一个实施例中，基站的拆卸机构例如可以是拆卸组件，为清洁机器人拆卸拖地单元。此外，当基站具有换新功能时，基站的拆卸机构例如可以是更换组件，既可以拆卸拖地单元，也可以更换拖地单元。In one embodiment, the detachment mechanism of the base station may be, for example, a detachment component, which is used to detach the mopping unit for the cleaning robot. In addition, when the base station has a replacement function, the dismantling mechanism of the base station can be a replacement component, for example, which can disassemble the mopping unit or replace the mopping unit.
至于拆卸拖地单元的位置，在一个实施例中，清洁机器人返回至基站，再对拖地单元进行拆卸，其中，拆卸可以由主机的拆卸机构实现，也可以由基站的拆卸结构实现，对此本实施例不做限定。As for the position where the mopping unit is disassembled, in one embodiment, the cleaning robot returns to the base station, and then disassembles the mopping unit, wherein the disassembly can be realized by the disassembly mechanism of the host or by the disassembly structure of the base station. This embodiment is not limited.
需要说明的是，拖地单元可包括拖布板和能够安装于拖布板的拖地清洁件，因此，主机或者基站拆卸拖地单元，可以理解为拆卸拖地单元整体，即将连接有拖地清洁件的拖布板一起拆卸下来，也可以理解为仅拆卸拖地清洁件，而拖布板并不拆卸；应当理解的是，拖地清洁件的拆除可以通过拖布板的拆卸实现，对此本实施例不做赘述。It should be noted that the mopping unit may include a mopping board and a mopping cleaning part that can be installed on the mopping board. Therefore, disassembling the mopping unit by the host or the base station can be understood as disassembling the mopping unit as a whole, which will be connected with the mopping cleaning part. It can also be understood that only the mopping cleaning part is disassembled, and the mopping board is not disassembled; it should be understood that the removal of the mopping cleaning part can be realized by disassembling the mopping board, and this embodiment does not Do repeat.
考虑到如何处理在基站拆卸下来的拖地单元的问题，在一个实施例中，基站具有对拖地单元进行存储、回收、更换、清洗等的部件。Considering how to deal with the mopping unit removed from the base station, in one embodiment, the base station has components for storing, reclaiming, replacing, cleaning, etc. the mopping unit.
为了实现拖地单元的存储，在一个实施例中，基站具有临时存储位，临时存储拆卸的拖地单元。In order to realize the storage of the mopping unit, in one embodiment, the base station has a temporary storage position for temporarily storing the disassembled mopping unit.
为了实现拖地单元的回收，在一个实施例中，基站具有回收组件，接收顶出的拖地单元；回收组件例如可以包括回收仓，以收容拆卸下来的拖地单元。In order to realize the recovery of the mopping unit, in one embodiment, the base station has a recovery component for receiving the ejected mopping unit; the recovery component may include a recovery bin, for example, to accommodate the disassembled mopping unit.
为了实现拖地单元的更换，使得拖地状态处于换新状态(干净状态)，在一个实施例中，基站具有更换组件，更换干净的拖地单元。需要说明的是，更换组件也可以接收顶出的拖地单元，即更换组件也可以作为回收组件。In order to realize the replacement of the mopping unit, so that the mopping state is in a new state (clean state), in one embodiment, the base station has a replacement component for replacing a clean mopping unit. It should be noted that the replacement component can also receive the ejected mopping unit, that is, the replacement component can also be used as a recovery component.
为了实现拖地单元的清洗，使得清洁机器人处于换新状态，在一个实施例中，基站具有清洁组件，清洗清洁机器人的拖地单元。需要指出的是，拖地单元可以在脱离主体的状态下进行清洗，也可以在未脱离主体的状态下进行清洗，对此本公开不做限定。In order to realize the cleaning of the mopping unit, so that the cleaning robot is in a new state, in one embodiment, the base station has a cleaning component for cleaning the mopping unit of the cleaning robot. It should be noted that the mopping unit can be cleaned in a state of being detached from the main body, or can be cleaned in a state of not detaching from the main body, which is not limited in the present disclosure.
至于拖地单元脱离主体后，清洁机器人的后续动作，在一个实施例中，若清洁机器人具有清扫单元，清洁机器人可以在拖地单元处于拆卸状态下，将清扫单元切换为清扫状态，对工作表面执行清扫作业。As for the follow-up actions of the cleaning robot after the mopping unit is separated from the main body, in one embodiment, if the cleaning robot has a cleaning unit, the cleaning robot can switch the cleaning unit to the cleaning state when the mopping unit is in a disassembled state, and clean the working surface. Perform cleaning operations.
例如，清洁机器人具有扫地模式且处于扫地模式，由于无需拖地单元执行拖地工作，因此清洁机器人可以在拖地单元处于拆卸状态下，由清扫单元执行清扫作业；即，清洁机器人在扫地模式，可以在拖地单元拆卸的状态下，对地毯或地板等任何工作表面执行清扫作业。For example, the cleaning robot has a sweeping mode and is in the sweeping mode. Since the mopping unit is not required to perform the mopping work, the cleaning robot can perform the cleaning operation by the cleaning unit when the mopping unit is in a disassembled state; that is, the cleaning robot is in the sweeping mode, Mopping can be performed on any work surface such as carpets or floors with the mopping unit detached.
当然，在另一实施例中，若清洁机器人无清洁任务，此时清洁机器人可以在基站等待，处于待机状态；在其他实施例中，若待机下的清洁机器人满足维护条件的情况下，基站可对清洁机器人进行充电、补液、集尘等维护操作。Of course, in another embodiment, if the cleaning robot has no cleaning tasks, the cleaning robot can wait at the base station and be in a standby state; in other embodiments, if the cleaning robot on standby meets the maintenance conditions, the base station can Perform maintenance operations such as charging, rehydration, and dust collection on the cleaning robot.
在一个实施例中，拖地单元可被拆除,也可以被抬升；也就是说，所述拖地单元具有抬升状态和拆卸状态。In one embodiment, the floor mopping unit can be dismantled or lifted; that is to say, the floor mopping unit has a raised state and a disassembled state.
当然，所述拖地单元还可以具有换新状态(又称为干净状态)，其中换新状态是指拖地单元由旧的(或使用过的，例如脏的)更换为新的(或未使用过的，例如干净的)。为了实现拖地单元的换新，在一个实施例中，基站具有换新功能，例如基站包括更换组件，用于对拖地单元进行更换，使得拖地单元处于换新状态；或基站包括清洁组件，用于对拖地单元进行清洗，使得拖地单元处于换新状态。Of course, the mopping unit can also have a new state (also known as a clean state), where the new state means that the mopping unit is replaced by an old (or used, such as dirty) to a new (or unused) state. used, e.g. clean). In order to realize the renewal of the mopping unit, in one embodiment, the base station has a renewal function, for example, the base station includes a replacement component for replacing the mopping unit, so that the mopping unit is in a new state; or the base station includes a cleaning component , for cleaning the mopping unit, so that the mopping unit is in a new state.
例如主机既可以抬升拖地单元，使得拖地单元处于抬升状态；又可以拆卸拖地单元，使得拖地单元处于拆卸状态；即主机具有拖地单元的抬升和拆卸两种功能；其中，拖地单元至少包括拖地清洁件。当然，在其他实施例中，拖地单元还可以包括拖布板，用于可拆卸地安装拖地清洁件，以形成拖地面，拖地面可对待清洁区域表面进行拖地工作。For example, the host can lift the mopping unit so that the mopping unit is in a raised state; it can also disassemble the mopping unit so that the mopping unit is in a disassembled state; that is, the host has two functions of lifting and disassembling the mopping unit; The unit includes at least a mopping element. Of course, in other embodiments, the mopping unit may also include a mopping board for detachably installing the mopping cleaning element to form a mopping surface, which can mop the surface of the area to be cleaned.
需要说明的是，在其他实施例中，拖地单元拆除的还可以由基站实现，拖地单元的抬升由主机实现；换言之，基站具有拆卸拖地单元的功能，主机具有抬升拖地单元的功能。It should be noted that, in other embodiments, the removal of the mopping unit can also be realized by the base station, and the lifting of the mopping unit is realized by the host; in other words, the base station has the function of disassembling the mopping unit, and the host has the function of lifting the mopping unit .
应当指出的是，拖地单元的抬升或拆卸状态可以由主机的控制单元来控制，例如，当主机具有拖地单元抬升和拆卸两种功能时，控制单元可以控制拖地单元的抬升或拆卸，使得拖地状态处于抬升或拆卸的状态；当然，当基站具有拆卸拖地单元时，也可以通过控制单元与基站的通信交互来实现拖地单元的拆卸，对此本实施例不做过多赘述。It should be noted that the lifting or dismounting state of the mopping unit can be controlled by the control unit of the host, for example, when the host has two functions of lifting and dismounting the mopping unit, the control unit can control the lifting or dismounting of the mopping unit, So that the mopping state is in the state of lifting or dismantling; of course, when the base station has a dismantling mopping unit, the disassembly of the mopping unit can also be realized through the communication interaction between the control unit and the base station, and this embodiment will not go into details. .
关于拖地单元的拆除的方式上文已论述过，因此这里仅针对拖地单元的抬升的实现方式进行简要说明：The method of removing the mopping unit has been discussed above, so here is only a brief description of the way to lift the mopping unit:
为了实现拖地单元的抬升，在一个实施例中，所述清洁机器人包括抬升机构，所述抬升机构被配置为带动所述拖地单元抬升，使得拖地单元处于抬升状态。In order to realize the lifting of the mopping unit, in one embodiment, the cleaning robot includes a lifting mechanism configured to drive the mopping unit to be lifted, so that the mopping unit is in a raised state.
其中，拖地单元的抬升可以通过机械抬升的方式实现，例如通过凸轮抬升、齿轮齿条抬升等方式实现，在一个实施例中，抬升机构包括凸轮抬升机构，例如第一凸轮等，用于实现拖地单元的升降单元。Wherein, the lifting of the mopping unit can be realized by means of mechanical lifting, for example, by means of cam lifting, rack and pinion lifting, etc. In one embodiment, the lifting mechanism includes a cam lifting mechanism, such as a first cam, etc., for realizing Lifting unit for mopping unit.
需要指出的是，当拖地单元包括拖布板和拖地清洁件时，此时，主机抬升拖地单元，可以理解为抬升拖地清洁件，也可以理解为抬升拖地单元整体，即将带有拖地清洁件的拖布板抬升；其中，拖地清洁件的抬升是可以通过拖布板的抬升实现；还可以理解为，抬升机构与拖地单元一起抬升,当然,在拖地单元脱离主体的情况下,抬升机构(尤其是与拖布板连接的拖布板安装架)也可以单独抬升,对此本实施例不做赘述；It should be pointed out that when the mopping unit includes a mopping board and a mopping cleaning part, at this time, the main engine lifts the mopping unit, which can be understood as lifting the mopping cleaning part, and can also be understood as lifting the mopping unit as a whole. The mopping board of the mopping cleaning part is lifted; wherein, the lifting of the mopping cleaning part can be realized through the lifting of the mopping board; it can also be understood that the lifting mechanism is lifted together with the mopping unit, of course, when the mopping unit is separated from the main body Next, the lifting mechanism (especially the mop board installation frame connected to the mop board) can also be lifted separately, which will not be described in this embodiment;
考虑到拖地单元于抬升机构的连接问题，在一个实施例中，抬升机构与拖地单元通过磁性连接；进一步的，拖地单元的拖布板可通过磁铁吸附于拖布板安装架。Considering the connection between the mopping unit and the lifting mechanism, in one embodiment, the lifting mechanism is magnetically connected to the mopping unit; further, the mopping board of the mopping unit can be attached to the mopping board installation frame through magnets.
考虑到清洁机器人通常在移动过程中会遇到地毯，为了避免拖地单元污染地毯，在一个实施例中,由于拖地单元可被拆除,也可以被抬升，因此清洁机器人可以在拆除拖地单元或者抬升拖地单元的状态下通过地毯；换言之，清洁机器人在地毯上移动时,拖地单元是处于拆卸或抬升的状态；当然，在其他实施例中，在地毯上移动时，清洁机器人上的拖地单元也可以处于换新的状态。Considering that the cleaning robot usually encounters the carpet during the movement, in order to prevent the mopping unit from polluting the carpet, in one embodiment, since the mopping unit can be removed or lifted, the cleaning robot can remove the mopping unit Or pass the carpet under the state of lifting the mopping unit; in other words, when the cleaning robot moves on the carpet, the mopping unit is in the state of disassembly or lifting; The mopping unit can also be in a new state.
进一步的，在遇到地毯时，清洁机器人上的拖地单元处于拆卸或抬升的状态，以便清洁机器人能够在拆除拖地单元或者抬升拖地单元的状态下移动并通过地毯。需要说明的是，在其他实施例中，遇到地毯时，清洁机器人上的拖地单元也可以处于换新的状态。Further, when encountering a carpet, the mopping unit on the cleaning robot is in a disassembled or lifted state, so that the cleaning robot can move and pass through the carpet while the mopping unit is being removed or raised. It should be noted that, in other embodiments, when a carpet is encountered, the mopping unit on the cleaning robot may also be in a new state.
当然，为了避免拖地单元污染地毯，在其他实施例中，清洁机器人还可以不驶上地毯，例如通过沿地毯边缘(或与地毯边缘间隔预定距离)行走的方式绕过地毯，同时拖地单元可以对地毯边缘进行清洁；当然，清洁机器人也可以在拖地单元处于抬升或拆卸的状态下沿地毯边缘行走的方式绕过地毯。Of course, in order to prevent the mopping unit from polluting the carpet, in other embodiments, the cleaning robot may not drive onto the carpet, for example, walk around the carpet by walking along the edge of the carpet (or at a predetermined distance from the edge of the carpet), while the mopping unit The edge of the carpet can be cleaned; of course, the cleaning robot can also bypass the carpet by walking along the edge of the carpet when the mopping unit is lifted or disassembled.
考虑到如何判断清洁机器人遇到地毯，在一个实施例中，清洁机器人包括地毯识别传感器，设于主体上，用于对地毯进行识别。Considering how to judge that the cleaning robot encounters a carpet, in one embodiment, the cleaning robot includes a carpet recognition sensor, which is arranged on the main body and is used to recognize the carpet.
因此，在一个实施例中，遇到地毯时，清洁机器人可以抬升拖地单元、拆卸拖地单元或者对拖地单元换新的状态中选择一种，从而避免清洁机器人通过地毯时污染地毯。Therefore, in one embodiment, when encountering a carpet, the cleaning robot can lift the mopping unit, disassemble the mopping unit, or renew the mopping unit, so as to avoid polluting the carpet when the cleaning robot passes through the carpet.
需要指出的是，鉴于清洁机器人是否驶上地毯与清洁机器人的模式有关，因此，在其他实施例中，也可先根据清洁机器人所处的模式，再确定清洁机器人是否需要执行在遇到地毯时，使拖地单元处于抬或拆状态，换言之，控制单元在遇到地毯时，控制拖地单元处于抬或拆的状态的前提条件是，可以先确定清洁机器人的模式。It should be pointed out that, since whether the cleaning robot drives onto the carpet is related to the mode of the cleaning robot, in other embodiments, it is also possible to determine whether the cleaning robot needs to execute , so that the mopping unit is in the state of lifting or dismantling. In other words, when the control unit encounters a carpet, the prerequisite for controlling the mopping unit to be in the state of lifting or dismantling is that the mode of the cleaning robot can be determined first.
例如，在需要对地毯进行清扫时驶上地毯是有意义的，因此，若所述清洁机器人处于与清扫单元关联的模式，其中与清扫单元关联的模式包括扫地模式、边扫边拖模式，控制单元才会在清洁机器人遇到地毯时，控制拖地单元抬升或拆卸。需要说明的是，扫地模式可包括先扫后拖模式的先扫的扫地模式。For example, it makes sense to drive onto the carpet when it needs to be cleaned. Therefore, if the cleaning robot is in a mode associated with the cleaning unit, wherein the modes associated with the cleaning unit include a sweeping mode and a sweeping and dragging mode, the control The unit will control the mopping unit to lift or disassemble when the cleaning robot encounters the carpet. It should be noted that the sweeping mode may include a first-sweeping and then-dragging mode.
又如，在可以不对地毯进行清扫，同时为了避免污染地毯，因此，若清洁机器人处于单拖地模式时，控制单元无需在清洁机器人遇到地毯时，控制拖地单元抬升或拆卸。需要说明的是，单拖地模式可以包括先扫后拖模式的后拖的拖地模式。当然，考虑到某些特殊场景，比如孤岛(例如两条地毯的预设范围内存在地板)，门槛附近处的地毯或地板(为了跨越门槛)等，此时，即使单拖模式下，遇到地毯，拖地单元抬升或拆卸也是有意义的，因此，若清洁机器人处于单拖地模式时，控制单元也可以在清洁机器人遇到地毯时，控制拖地单元抬升或拆卸。For another example, in order not to clean the carpet and to avoid polluting the carpet, if the cleaning robot is in the single-mopping mode, the control unit does not need to control the mopping unit to lift or disassemble when the cleaning robot encounters the carpet. It should be noted that the single mopping mode may include a mopping mode of sweeping first and then mopping. Of course, considering some special scenarios, such as isolated islands (for example, there are floors within the preset range of two carpets), carpets or floors near the threshold (in order to cross the threshold), etc., at this time, even in single-drag mode, encountering It is also meaningful for the carpet and the mopping unit to be lifted or disassembled. Therefore, if the cleaning robot is in the single mopping mode, the control unit can also control the mopping unit to be lifted or disassembled when the cleaning robot encounters the carpet.
鉴于地毯具有多种厚度，在一个实施例中，地毯的厚度值小于等于第一预设值时，定义为短毛地毯；地毯的厚度值大于第一预设值小于等于第二预设值时，定义为长毛地毯；地毯的厚度值大于第二预设值时，定义为超长毛地毯。In view of the fact that the carpet has multiple thicknesses, in one embodiment, when the thickness value of the carpet is less than or equal to the first preset value, it is defined as a short-pile carpet; when the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value , is defined as a long-haired carpet; when the thickness value of the carpet is greater than the second preset value, it is defined as an extra-long-haired carpet.
在一个实施例中，地毯识别传感器还可以用于对地毯的厚度进行检测，以便清洁机器人可以根据地毯 厚度确定拖地单元的状态。例如，清洁机器人在短毛地毯上移动时，拖地单元处于抬升状态，以避免污染地毯；进一步的，为了使拖地单元能够在抬升的状态下通过短毛地毯；在一个实施例中，清洁机器人在遇到地毯，且地毯为短毛地毯时，拖地单元便处于抬升状态。In one embodiment, the carpet recognition sensor can also be used to detect the thickness of the carpet, so that the cleaning robot can determine the state of the mopping unit according to the thickness of the carpet. For example, when the cleaning robot moves on the short-haired carpet, the mopping unit is in a raised state to avoid polluting the carpet; further, in order to enable the mopping unit to pass through the short-haired carpet in a raised state; When the robot encounters a carpet, and the carpet is a short-pile carpet, the mopping unit is in a raised state.
其中，上述的遇到地毯可以理解为清洁机器人识别出地毯或者距离地毯预设距离处。考虑到地毯识别传感器的检测精度或者灵敏度(例如识别出地毯的识别时间或识别距离)不同，因此，对于地毯识别传感器的灵敏度高的情况下，上述的遇到地毯理解为清洁机器人识别出地毯且距离地毯预设距离处；对于地毯识别传感器的灵敏度低的情况下，上述的遇到地毯可理解为识别出地毯即可。Wherein, the aforementioned encountering the carpet can be understood as the cleaning robot recognizes the carpet or is at a preset distance from the carpet. Considering that the detection accuracy or sensitivity of the carpet recognition sensor (for example, the recognition time or recognition distance for recognizing the carpet) is different, therefore, when the sensitivity of the carpet recognition sensor is high, the above-mentioned encountering the carpet is understood as the cleaning robot recognizes the carpet and At a preset distance from the carpet; when the sensitivity of the carpet recognition sensor is low, the above-mentioned encountering the carpet can be understood as recognizing the carpet.
又如，清洁机器人在长毛地毯上移动时，拖地单元处于拆卸状态；即，清洁机器人在拖地单元处于拆卸的状态下在长毛地毯上移动；For another example, when the cleaning robot moves on the long-haired carpet, the mopping unit is in a disassembled state; that is, the cleaning robot moves on the long-haired carpet when the mopping unit is in a disassembled state;
同样的，为了使拖地单元能够在拆卸的状态下通过长毛地毯，在一个实施例中，清洁机器人在遇到地毯，且地毯为长毛地毯时，拖地单元便处于抬升状态。Similarly, in order to enable the mopping unit to pass through the long-pile carpet in the disassembled state, in one embodiment, when the cleaning robot encounters the carpet, and the carpet is a long-pile carpet, the mopping unit is in a raised state.
进一步的，考虑到拖地单元包括拖布板和拖地清洁件，抬升机构包括与拖地单元(尤其是拖布板)连接的拖布板支架；若处于拆卸状态的拖地单元是指拖地清洁件拆卸下来的状态时，则清洁机器人在长毛地毯上移动时，拆卸了拖地清洁件的拖地单元的拖布板可处于抬升状态，即拖布板在抬升机构的驱动下处于抬升状态，从而在避免污染地毯的同时提高清洁机器人的移动性能。类似的，若处于拆卸状态的拖地单元是指拖地单元整个拆卸下来的状态时，则清洁机器人在长毛地毯上移动时，抬升机构，尤其是与拖布板连接的拖布板安装架，可处于抬升状态，即拖地单元整个拆卸下来时，抬升机构的拖布板安装架可处于抬升状态，减轻移动阻力，使得清洁机器人能够更容易在长毛地毯上移动。当然，在其他实施例中，考虑到拖地单元(尤其是拖布板)的高度是高于长毛地毯的，因此，当拖地单元整个拆卸下来时，清洁机器人也可以在抬升机构(尤其是拖布板安装架)不处于抬升的状态下在长毛地毯上移动。Further, considering that the mopping unit includes a mopping board and a mopping cleaning piece, the lifting mechanism includes a mopping board bracket connected to the mopping unit (especially the mopping board); if the mopping unit in a disassembled state refers to the mopping cleaning piece When it is disassembled, when the cleaning robot moves on the long-haired carpet, the mopping plate of the mopping unit with the mopping cleaning part removed can be in a lifting state, that is, the mopping plate is in a lifting state driven by the lifting mechanism, so that Improve the mobility of your cleaning robot while avoiding staining your carpet. Similarly, if the mopping unit in the disassembled state refers to the state where the mopping unit is completely disassembled, then when the cleaning robot moves on the long-haired carpet, the lifting mechanism, especially the mopping board mounting frame connected with the mopping board, can In the raised state, that is, when the mopping unit is completely disassembled, the mopping plate mounting frame of the lifting mechanism can be in a raised state, which reduces the movement resistance and makes it easier for the cleaning robot to move on the long-haired carpet. Of course, in other embodiments, considering that the height of the mopping unit (especially the mopping board) is higher than the long-haired carpet, therefore, when the whole mopping unit is disassembled, the cleaning robot can also be used in the lifting mechanism (especially mop board mounting frame) to move on the long-pile carpet without being raised.
当然，在其他实施例中，清洁机器人在长毛地毯上移动时，拖地单元可处于换新状态，进一步的，当清洁机器人在长毛地毯上移动时，换新的拖地单元处于抬升状态，从而在避免污染地毯的同时提高清洁机器人的移动性能。Of course, in other embodiments, when the cleaning robot moves on the long-haired carpet, the mopping unit can be in a new state, and further, when the cleaning robot moves on the long-haired carpet, the new mopping unit is in a raised state , thereby improving the mobility of the cleaning robot while avoiding contamination of the carpet.
再如，考虑到超长毛地毯可能影响清洁机器人的正常行驶，例如被缠住或卡住，为了避免这一问题，同时防止污染地毯，在一个实施例中，清洁机器人遇到超长毛地毯时，无论拖地单元处于何种状态，清洁机器人均不驶上地毯，例如清洁机器人可以通过沿地毯边缘或距离地毯边缘预定距离行走的方式绕过地毯，换言之，清洁机器人遇到超长毛地毯时，拖地单元可以处于抬升、拆卸、换新的任意一种状态，清洁机器人均不驶上该超长毛地毯或者说清洁机器人会绕过该超长毛地毯。For another example, considering that the super-long-haired carpet may affect the normal driving of the cleaning robot, such as being entangled or stuck, in order to avoid this problem and prevent the carpet from being polluted, in one embodiment, the cleaning robot encounters the super-long-haired carpet When the mopping unit is in any state, the cleaning robot will not drive on the carpet. For example, the cleaning robot can walk around the carpet by walking along the edge of the carpet or a predetermined distance from the edge of the carpet. When the mopping unit can be in any state of lifting, dismounting, and replacement, the cleaning robot will not drive on the super-long-haired carpet or the cleaning robot will bypass the super-long-haired carpet.
进一步的，地毯识别传感器用于对地毯的厚度进行检测，并将检测的地毯的厚度值发送给控制单元，控制单元可以根据地毯的厚度值控制拖地单元的状态。Further, the carpet recognition sensor is used to detect the thickness of the carpet, and send the detected thickness value of the carpet to the control unit, and the control unit can control the state of the mopping unit according to the thickness value of the carpet.
例如，控制单元被配置为：若地毯的厚度值小于等于第一预设值(即地毯为短毛地毯)时，控制所述拖地单元抬升，使得所述拖地单元处于抬升状态；进一步的，控制单元可通过控制抬升机构驱动拖地单元抬升。又如，控制单元被配置为：若地毯的厚度值大于第一预设值，且小于等于第二预设值(即地毯为长毛地毯)时，控制所述拖地单元与主体脱离，使得所述拖地单元处于拆卸状态；进一步的，控制单元被配置为清洁机器人返回基站时，在基站将拖地单元从主体上脱离；需要说明的是，拖地单元脱离主体可以通过以下方式的一种实现：方式A：控制单元可通过控制主机上的拆卸机构将拖地单元顶出，以脱离主体；方式B，控制单元可通过与基站(例如基站的控制模块)进行交互，由基站的控制模块控制基站上的拆卸结构将清洁机器人的拖地单元脱离清洁机器人的主体；方式C，控制单元可通过与基站的拆卸结构进行指令交互，由清洁机器人的控制单元控制基站的拆卸结构将拖地单元脱离清洁机器人的主体。For example, the control unit is configured to: if the thickness value of the carpet is less than or equal to the first preset value (that is, the carpet is a short-pile carpet), control the lifting of the mopping unit so that the mopping unit is in a raised state; further , the control unit can drive the mopping unit to lift by controlling the lifting mechanism. As another example, the control unit is configured to: if the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value (that is, the carpet is a long-pile carpet), control the mopping unit to separate from the main body, so that The mopping unit is in a disassembled state; further, the control unit is configured to detach the mopping unit from the main body at the base station when the cleaning robot returns to the base station; it should be noted that the mopping unit can be detached from the main body in one of the following ways Two implementations: mode A: the control unit can push out the mopping unit by controlling the disassembly mechanism on the main unit to separate from the main body; mode B, the control unit can interact with the base station (such as the control module of the base station), and the control unit of the base station The module controls the disassembly structure on the base station to separate the mopping unit of the cleaning robot from the main body of the cleaning robot; in mode C, the control unit can interact with the disassembly structure of the base station, and the control unit of the cleaning robot controls the disassembly structure of the base station to mop the floor The unit breaks away from the main body of the cleaning robot.
鉴于拖地单元可包括拖布板和拖地清洁件，抬升机构可包括与拖布板连接的拖布板安装架；在一个实施例中，控制单元被配置为若地毯的厚度值大于第一预设值，且小于等于第二预设值(即地毯为长毛地毯)时，控制整个拖地单元(即连同拖布板及其上连接的拖地清洁件)一起拆卸下来；进一步地，控制单元还被配置为：控制抬升机构，尤其是与拖布板连接的拖布板安装架，处于抬升状态；例如，在清洁机器人遇到长毛地毯的场景下，控制单元控制拖布板安装架抬升；或者，控制单元控制清洁机器人在拖布板安装架处于抬升的状态下，在长毛地毯上移动；从而使得清洁机器人能够更容易在长毛地毯上移动。In view of the fact that the mopping unit can include a mopping board and a mopping cleaning piece, the lifting mechanism can include a mopping board installation frame connected with the mopping board; in one embodiment, the control unit is configured to , and less than or equal to the second preset value (that is, the carpet is a long-pile carpet), control the entire mopping unit (that is, together with the mopping board and the mopping cleaning parts connected thereto); further, the control unit is also The configuration is: control the lifting mechanism, especially the mop board installation frame connected with the mop board, to be in a raised state; for example, in the scene where the cleaning robot encounters a long-haired carpet, the control unit controls the mop board installation frame to lift; or, the control unit The cleaning robot is controlled to move on the long-haired carpet when the mop board installation frame is in a raised state; thereby making it easier for the cleaning robot to move on the long-haired carpet.
可以理解的是，在将拖地单元拆卸下来，拖布板安装架抬升时机应满足：在清洁机器人拆卸下拖地单元的时刻到清洁机器人驶上长毛地毯的时刻之间的任意时刻，控制单元控制拖布板安装架抬升，使得拖布板安装架处于抬升的状态下，在长毛地毯上移动；It can be understood that, when the mopping unit is disassembled, the timing of lifting the mopping board installation frame should meet: at any time between the moment when the cleaning robot removes the mopping unit and the moment when the cleaning robot drives onto the long-haired carpet, the control unit Control the lifting of the mopping board mounting frame so that the mopping board mounting frame is in a raised state and moves on the long-haired carpet;
当然，考虑到拖地单元(尤其是拖布板)的厚度度通常是大于长毛地毯的厚度，因此，在其他实施例中，当拖地单元整个被拆卸下来时，控制单元也可以控制清洁机器人在抬升机构(尤其是拖布板安装架)不处于抬升的状态下，在长毛地毯上移动。Of course, considering that the thickness of the mopping unit (especially the mopping board) is usually greater than the thickness of the long-pile carpet, therefore, in other embodiments, when the mopping unit is completely disassembled, the control unit can also control the cleaning robot When the lifting mechanism (especially the mop board mounting frame) is not in a raised state, move on the long-pile carpet.
在另一实施例中，控制单元被配置为：若地毯的厚度值大于第一预设值，且小于等于第二预设值(即地毯为长毛地毯)时，控制拖地清洁件拆卸下来；其中拖布板可不拆卸；此时，为了减轻清洁机器人在长毛地毯上的移动阻力，进一步的，控制单元被配置为：控制拖布板抬升，在拖布板保持抬升的状态下通过地毯；例如在清洁机器人遇到长毛地毯的场景下，控制单元控制拖布板抬升，或者，控制单元控制清洁机器人在拖布板保持抬升的状态下，在长毛地毯上移动；从而使得清洁机器人能够更容易在长毛地毯上移动。In another embodiment, the control unit is configured to: if the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value (that is, the carpet is a long-pile carpet), control the mopping and cleaning parts to be removed ; wherein the mopping board may not be disassembled; at this time, in order to reduce the moving resistance of the cleaning robot on the long-haired carpet, further, the control unit is configured to: control the mopping board to lift, and pass through the carpet while the mopping board is kept raised; When the cleaning robot encounters a long-haired carpet, the control unit controls the mop board to be lifted, or the control unit controls the cleaning robot to move on the long-haired carpet while the mop board is kept raised; thus making it easier for the cleaning robot to move on the long-haired carpet. Move on wool carpet.
当然，在其他实施例中，控制单元被配置为：清洁机器人在遇到长毛地毯(即地毯的厚度值大于第一预设值，且小于等于第二预设值)，控制更换干净的拖地单元，使得拖地单元处于换新状态，此时，清洁机器人可以在拖地单元处于换新的状态下在长毛地毯上移动；进一步的，当清洁机器人遇到长毛地毯时，控制单元控制干净的拖地单元(即经过更换的拖地单元)抬升；或者，控制单元控制清洁机器人在干净的拖地单元(即经过更换的拖地单元)抬升的状态下，在长毛地毯上移动；使得干净的拖地单元不污染地毯，同时避免了干净的拖地单元被地毯污染；实现了在避免拖地单元和地毯相互污染的同时还提高了清洁机器人的移动性能，有利于提高清洁效率。Of course, in other embodiments, the control unit is configured to: when the cleaning robot encounters a long-haired carpet (that is, the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value), it controls to replace the clean mop floor unit, so that the mopping unit is in a new state, at this time, the cleaning robot can move on the long-haired carpet when the mopping unit is in a new state; further, when the cleaning robot runs into the long-haired carpet, the control unit Control the lifting of the clean mopping unit (that is, the replaced mopping unit); or, the control unit controls the cleaning robot to move on the long-haired carpet while the clean mopping unit (that is, the replaced mopping unit) is lifted ; Make the clean mopping unit not pollute the carpet, while avoiding the clean mopping unit from being polluted by the carpet; realize the mutual contamination between the mopping unit and the carpet while improving the mobility of the cleaning robot, which is conducive to improving cleaning efficiency .
再如，控制单元被配置为：若地毯的厚度值大于第二预设值(即地毯为超长毛地毯)时，控制清洁机器人沿所述地毯的边缘行走或与所述地毯有间距地行走。For another example, the control unit is configured to: if the thickness value of the carpet is greater than the second preset value (that is, the carpet is an ultra-long-pile carpet), control the cleaning robot to walk along the edge of the carpet or walk with a distance from the carpet .
在一个实施例中，清洁机器人包括清扫单元，设于所述主体，所述清扫单元具有清扫状态，在所述清扫状态下，所述清扫单元用于执行清扫工作；其中清扫单元具有清扫工作头，清扫工作头例如可以是滚刷、吸口、边刷中的一个或者组合，以便清扫状态下执行清扫工作。In one embodiment, the cleaning robot includes a cleaning unit disposed on the main body, the cleaning unit has a cleaning state, and in the cleaning state, the cleaning unit is used to perform cleaning work; wherein the cleaning unit has a cleaning head The cleaning working head can be, for example, one or a combination of a rolling brush, a suction port, and a side brush, so as to perform cleaning work in a cleaning state.
在一个实施例中，清洁机器人具有清扫单元和拖地单元，使得清洁机器人具有多种工作模式，例如清洁机器人的工作模式包括但不限于以下的至少一种：扫地模式，边扫边拖模式、先扫后拖模式(主要是先扫后拖的拖地模式)、单拖模式；其中，扫地模式下，拖地单元不工作，以便于边扫边拖模式区分；另外，需要说明的是，扫地模式可包括先扫后拖模式的先扫模式。In one embodiment, the cleaning robot has a cleaning unit and a mopping unit, so that the cleaning robot has multiple working modes. For example, the working modes of the cleaning robot include but are not limited to at least one of the following: sweeping mode, mopping while sweeping, Sweep first and then mop mode (mainly the mopping mode of sweeping first and then mopping), single mopping mode; among them, in the sweeping mode, the mopping unit does not work, so as to distinguish between sweeping and mopping modes; in addition, it should be noted that, The sweeping mode may include a sweep-first mode of a sweep-then-mop mode.
考虑到清洁机器人可具有多种模式，因此，在不同厚度地毯上的清扫策略与清洁机器人的工作模式也是相关的。Considering that the cleaning robot can have multiple modes, the cleaning strategy on carpets of different thicknesses is also related to the working mode of the cleaning robot.
一方面，短毛地毯，抬升，长毛地毯，拖地单元拆卸，考虑到对于拖地模式，清洁机器人On the one hand, short-haired carpets, lifts, long-haired carpets, mopping unit removal, considering that for the mopping mode, the cleaning robot
另一方面，在一个实施例中，对于清洁机器人在地毯上移动是否清扫与清洁机器人是否具有清扫的需求相关，例如，清洁机器人遇到短毛地毯或者在短毛地毯上移动时，拖地单元处于抬升状态；此时，对于 有清扫需求的模式，例如边扫边拖模式或扫地模式时，清扫单元处于清扫状态，以便清洁机器人可以对地毯进行清扫；而对于无清扫需求的模式，例如先扫后拖(主要是后拖的拖地模式)或者单拖地模式，清扫单元不执行清扫工作。On the other hand, in one embodiment, whether the cleaning robot moves on the carpet is related to whether the cleaning robot has a cleaning requirement. For example, when the cleaning robot encounters a short-pile carpet or moves on a short-pile carpet, the mop unit It is in the lifting state; at this time, for the mode with cleaning needs, such as sweeping and mopping mode or sweeping mode, the cleaning unit is in the cleaning state so that the cleaning robot can clean the carpet; and for the mode without cleaning needs, such as first After sweeping and mopping (mainly the mopping mode of rear mopping) or single mopping mode, the cleaning unit does not perform cleaning work.
即，在清洁机器人处于扫地模式，且地毯的厚度值小于等于第一预设值的情况下，清洁机器人在清扫单元处于清扫状态，且拖地单元处于抬升状态下在地毯上移动并清扫地毯；因此，在一个实施例中，控制单元被配置为：若清洁机器人处于扫地模式，且地毯的厚度值小于等于第一预设值，控制清洁机器人抬升拖地单元，使得拖地单元处于抬升状态；并控制清洁机器人在保持拖地单元抬升且清扫单元处于执行清扫工作的清扫状态下在地毯上移动，以对地毯进行清扫；进一步的，在清洁机器人保持拖地单元抬升且清扫单元处于执行清扫工作的清扫状态下对地毯清扫完成时，清洁机器人仍然在保持拖地单元抬升且清扫单元处于执行清扫工作的清扫状态下继续执行后续的清扫工作，例如控制单元被配置为响应于地毯识别传感器发送的地毯清扫完成信号，控制清洁机器人保持拖地单元抬升且清扫单元处于执行清扫工作的清扫状态下继续清扫工作。That is, when the cleaning robot is in the sweeping mode and the thickness value of the carpet is less than or equal to the first preset value, the cleaning robot moves on the carpet and cleans the carpet when the cleaning unit is in a cleaning state and the mopping unit is in a raised state; Therefore, in one embodiment, the control unit is configured to: if the cleaning robot is in the sweeping mode and the thickness of the carpet is less than or equal to the first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; And control the cleaning robot to move on the carpet when the mopping unit is kept lifted and the cleaning unit is in the cleaning state of performing cleaning work, so as to clean the carpet; further, when the cleaning robot keeps the mopping unit lifted and the cleaning unit is performing cleaning work When the carpet cleaning is completed in the cleaning state, the cleaning robot still keeps the mopping unit lifted and the cleaning unit is in the cleaning state of performing cleaning work to continue to perform subsequent cleaning work, for example, the control unit is configured to respond to the signal sent by the carpet recognition sensor Carpet cleaning completion signal, control the cleaning robot to keep the mopping unit lifted and the cleaning unit in the cleaning state of performing cleaning work to continue cleaning.
在清洁机器人处于边扫边拖模式，且地毯的厚度值小于等于第一预设值的情况下，清洁机器人在清扫单元处于清扫状态，且拖地单元处于抬升状态下在地毯上移动，对地毯进行清扫工作；因此，在一个实施例中，控制单元被配置为：若清洁机器人处于边扫边拖模式，且地毯的厚度值小于等于第一预设值，控制清洁机器人抬升拖地单元，使得拖地单元处于抬升状态；并控制清洁机器人在保持拖地单元抬升且清扫单元处于执行清扫工作的清扫状态下在地毯上移动，以对地毯进行清扫；进一步的，清洁机器人在保持拖地单元抬升且清扫单元处于执行清扫工作的清扫状态下对地毯清扫完成时，拖地单元由抬升状态切换为拖地状态，以便继续执行后续的拖地工作，尤其是针对非地毯的拖地工作；例如控制单元被配置为响应于地毯识别传感器发送的地毯清扫完成信号，控制拖地单元由抬升状态切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态、清扫单元处于清扫状态下继续执行边扫边拖工作。When the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is less than or equal to the first preset value, the cleaning robot moves on the carpet when the cleaning unit is in a cleaning state and the mopping unit is in a raised state. Carry out cleaning work; therefore, in one embodiment, the control unit is configured to: if the cleaning robot is in the sweeping and mopping mode, and the thickness value of the carpet is less than or equal to the first preset value, control the cleaning robot to lift the mopping unit, so that The mopping unit is in a raised state; and the cleaning robot is controlled to move on the carpet while keeping the mopping unit lifted and the cleaning unit is in the cleaning state of performing cleaning work, so as to clean the carpet; further, the cleaning robot keeps the mopping unit lifted And when the cleaning unit is in the cleaning state of performing cleaning work, when the carpet cleaning is completed, the mopping unit is switched from the lifting state to the mopping state, so as to continue to perform subsequent mopping work, especially for non-carpet mopping work; for example, control The unit is configured to respond to the carpet cleaning completion signal sent by the carpet recognition sensor, control the mopping unit to switch from the lifting state to the mopping state, so that the cleaning robot continues to perform side cleaning when the mopping unit is in the mopping state and the cleaning unit is in the cleaning state. Sweeping and mopping work.
在清洁机器人处于先扫后拖模式(后拖中的拖地模式)，且地毯的厚度值小于等于第一预设值的情况下，清洁机器人在清扫单元不执行清扫工作，且拖地单元处于抬升的状态下跨越地毯；因此，在一个实施例中，控制器被配置为：若清洁机器人处于先扫后拖模式(后拖中的拖地模式)，且地毯的厚度值小于等于第一预设值，控制清洁机器人抬升拖地单元，使得拖地单元处于抬升状态；并控制清洁机器人在保持拖地单元抬升且清扫单元不执行清扫工作的状态下跨越地毯；进一步的，清洁机器人在保持拖地单元抬升且清扫单元不执行清扫工作的状态下跨越地毯后，拖地单元由抬升状态切换为拖地状态，以便继续执行后续的拖地工作，尤其是针对非地毯的拖地工作；例如控制单元被配置为响应于地毯识别传感器发送的地毯跨越完成信号，控制拖地单元由抬升状态切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态、清扫单元不执行清扫工作的状态下继续执行拖地工作。在清洁机器人处于单拖地模式，且地毯的厚度值小于等于第一预设值的情况下，清洁机器人在清扫单元不执行清扫工作，且拖地单元处于抬升的状态下跨越地毯；进一步的，清洁机器人在不执行清扫工作，且拖地单元处于抬升的状态下跨越地毯后，拖地单元由抬升状态切换为拖地状态，以便继续执行后续的拖地工作；例如控制单元被配置为响应于地毯识别传感器发送的地毯跨越完成信号，控制拖地单元由抬升状态切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态、清扫单元不执行清扫工作的状态下继续执行拖地工作。When the cleaning robot is in the mode of sweeping first and then mopping (the mopping mode in the latter mopping), and the thickness value of the carpet is less than or equal to the first preset value, the cleaning robot does not perform cleaning work in the cleaning unit, and the mopping unit is in Across the carpet in the state of lifting; therefore, in one embodiment, the controller is configured to: if the cleaning robot is in the mode of sweeping first and then mopping (the mopping mode in the latter mopping), and the thickness value of the carpet is less than or equal to the first preset Set the value, control the cleaning robot to lift the mopping unit, so that the mopping unit is in a raised state; and control the cleaning robot to cross the carpet while keeping the mopping unit raised and the cleaning unit does not perform cleaning work; further, the cleaning robot keeps mopping After the floor unit is lifted and the cleaning unit is not performing cleaning work, the mopping unit is switched from the lifting state to the mopping state, so as to continue to perform subsequent mopping work, especially for non-carpet mopping work; for example, control The unit is configured to control the mopping unit to switch from the lifting state to the mopping state in response to the carpet crossing completion signal sent by the carpet recognition sensor, so that the cleaning robot is in the mopping state when the mopping unit is in the mopping state and the cleaning unit is not performing cleaning work. Continue to perform mopping work. When the cleaning robot is in the single mopping mode, and the thickness value of the carpet is less than or equal to the first preset value, the cleaning robot does not perform cleaning work in the cleaning unit, and the mopping unit is in a raised state across the carpet; further, After the cleaning robot does not perform cleaning work and the mopping unit is in a raised state across the carpet, the mopping unit is switched from the raised state to the mopping state so as to continue to perform subsequent mopping work; for example, the control unit is configured to respond to The carpet crossing completion signal sent by the carpet recognition sensor controls the mopping unit to switch from the lifting state to the mopping state, so that the cleaning robot continues to perform mopping work when the mopping unit is in the mopping state and the cleaning unit is not performing cleaning work.
综上，考虑到上述有拖的模式下，例如边扫边拖模式、先扫后拖(后拖的拖地模式)、单拖地模式下，由于清洁机器人是在拖地单元抬升的状态下在短毛地毯上移动(例如清扫或跨越)，当清洁机器人在地毯清扫完成或者地毯跨越完成后，为了保证拖地工作的继续进行，因此，在清洁机器人处于与拖地单元关联的工作模式，且拖地单元处于抬升的状态下越过短毛地毯后，拖地单元应由抬升状态切换为拖地状态，以 便继续执行后续针对非地毯的拖地工作。故，在一个实施例中，控制单元被配置为：在清洁机器人处于与拖地单元关联的工作模式，且拖地单元处于抬升的状态下越过短毛地毯的情况下，控制拖地单元由抬升状态切换为拖地状态，例如控制抬升机构驱动拖地单元由不接触工作表面的第一位置下降到接触工作表面的第二位置，使得拖地单元能够继续对工作表面执行拖地工作。In summary, considering the above mopping modes, such as sweeping while mopping mode, sweeping first and then mopping (the mopping mode after mopping), and single mopping mode, since the cleaning robot is in the state where the mopping unit is raised Moving (such as sweeping or spanning) on short-pile carpets, when the cleaning robot completes the sweeping of the carpet or the completion of the carpet spanning, in order to ensure the continuation of the mopping work, therefore, when the cleaning robot is in the working mode associated with the mopping unit, And after the mopping unit is in the raised state and crosses the short-pile carpet, the mopping unit should be switched from the raised state to the mopping state, so as to continue to perform subsequent mopping work for non-carpets. Therefore, in one embodiment, the control unit is configured to: when the cleaning robot is in the working mode associated with the mopping unit, and the mopping unit is in a raised state and crosses the short-pile carpet, control the mopping unit to be lifted The state is switched to the mopping state, for example, the lifting mechanism is controlled to drive the mopping unit to descend from the first position not touching the working surface to the second position touching the working surface, so that the mopping unit can continue to perform mopping work on the working surface.
需要说明的是，地毯清扫完成或者地毯跨越完成可以以地毯识别传感器的地毯识别结果(例如地毯的有无)作为标志；对此本实施例不做赘述。It should be noted that the completion of carpet cleaning or the completion of carpet crossing can be marked by the carpet identification result (for example, the presence or absence of carpet) of the carpet identification sensor; this embodiment will not go into details.
又如，清洁机器人遇到长毛地毯或者在长毛地毯上移动时，拖地单元处于拆卸状态；此时，对于有清扫需求的模式，例如边扫边拖模式或扫地模式时，清扫单元同样处于清扫状态，以便清洁机器人对地毯进行清扫；而对于没有清扫需求的模式，例如先扫后拖(主要是后拖的拖地模式)或者单拖地模式，清扫单元也无需执行清扫工作。For another example, when the cleaning robot encounters a long-haired carpet or moves on the long-haired carpet, the mopping unit is in a disassembled state; at this time, for the mode with cleaning needs, such as the sweeping and mopping mode or the sweeping mode, the cleaning unit also It is in the cleaning state so that the cleaning robot can clean the carpet; and for the mode without cleaning requirements, such as sweeping first and then mopping (mainly the mopping mode after mopping) or single mopping mode, the cleaning unit does not need to perform cleaning work.
换言之，在清洁机器人处于扫地模式，且地毯的厚度值大于第一预设值小于等于第二预设值的情况下，清洁机器人在清扫单元处于清扫状态，且拖地单元处于拆卸状态下在地毯上移动并清扫地毯；因此，在一个实施例中，控制单元被配置为：若清洁机器人处于扫地模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人将拖地单元从主体脱离，例如控制清洁机器人返回基站，在基站由基站的拆卸结构或者由清洁机器人的拆卸结构将拖地单元脱离主体，使得拖地单元处于拆卸状态；并控制清洁机器人在保持拖地单元拆卸的状态且清扫单元处于执行清扫工作的清扫状态下在地毯上移动，以对地毯进行清扫；进一步的，在清洁机器人保持拖地单元拆卸且清扫单元处于执行清扫工作的清扫状态下对地毯清扫完成时，清洁机器人仍然在保持拖地单元拆卸且清扫单元处于执行清扫工作的清扫状态下继续执行后续的清扫工作，例如控制单元被配置为响应于地毯识别传感器发送的地毯清扫完成信号，控制清洁机器人保持拖地单元拆卸且清扫单元处于执行清扫工作的清扫状态下继续清扫工作。也即，在清洁机器人处于扫地模式时，拖地单元是始终处于拆卸状态的，清扫单元是始终处于清扫状态的。在清洁机器人处于边扫边拖模式，且地毯的厚度值大于第一预设值小于等于第二预设值的情况下，清洁机器人在拖地单元处于拆卸状态，且清扫单元处于清扫状态下在地毯上移动，对地毯进行清扫；因此，在一个实施例中，控制单元被配置为：若清洁机器人处于边扫边拖模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人从主体上将拆拖地单元拆离，例如控制清洁机器人返回基站，由基站的拆卸结构或者由清洁机器人的拆卸结构将拖地单元脱离主体，使得拖地单元处于拆卸状态；并控制清洁机器人在保持拖地单元拆卸的状态且清扫单元处于清扫状态下在地毯上移动，以对地毯执行清扫工作；进一步的，清洁机器人在保持拖地单元拆卸的状态且清扫单元处于执行清扫工作的清扫状态下对地毯清扫完成时，为了实现继续执行后续的拖地工作，尤其是针对非地毯的拖地工作，此时，拖地单元应由拆卸状态切换为拖地状态；因此，控制单元被配置为响应于地毯识别传感器发送的地毯清扫完成信号，控制清洁机器人安装拖地单元，例如控制清洁机器人从当前位置(这里指地毯清扫完成的位置)返回到基站，将原来拆卸下来的拖地单元重新安装到主体上，或者将新的拖地单元安装到主体上，并返回到当前位置(即地毯清扫完成的位置)，切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态，且清扫单元处于清扫状态下继续执行边扫边拖工作。In other words, when the cleaning robot is in the sweeping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is in the cleaning state when the cleaning unit is in the cleaning state, and the mopping unit is in the disassembled state. Therefore, in one embodiment, the control unit is configured to: if the cleaning robot is in the sweeping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to The mopping unit is separated from the main body, such as controlling the cleaning robot to return to the base station, and the mopping unit is separated from the main body by the disassembly structure of the base station or the cleaning robot at the base station, so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to keep mopping The ground unit is disassembled and the cleaning unit is in the cleaning state of performing cleaning work to move on the carpet to clean the carpet; further, the cleaning robot keeps the mop unit disassembled and the cleaning unit is in the cleaning state of performing cleaning work. When the carpet cleaning is completed, the cleaning robot continues to perform subsequent cleaning work while keeping the mopping unit disassembled and the cleaning unit is in the cleaning state of performing cleaning work. For example, the control unit is configured to respond to the carpet cleaning completion signal sent by the carpet recognition sensor, The cleaning robot is controlled to keep the mopping unit disassembled and the cleaning unit is in the cleaning state of performing cleaning work to continue cleaning. That is, when the cleaning robot is in the sweeping mode, the mopping unit is always in a disassembled state, and the cleaning unit is always in a cleaning state. When the cleaning robot is in the sweeping and mopping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is in the disassembled state of the mopping unit and the cleaning unit is in the cleaning state. move on the carpet to clean the carpet; therefore, in one embodiment, the control unit is configured to: if the cleaning robot is in the sweeping and mopping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset Value, control the cleaning robot to detach the mopping unit from the main body, for example, control the cleaning robot to return to the base station, and the mopping unit will be separated from the main body by the disassembly structure of the base station or the cleaning robot, so that the mopping unit is in a disassembled state; And control the cleaning robot to move on the carpet while keeping the mopping unit disassembled and the cleaning unit is in the cleaning state to perform cleaning work on the carpet; further, the cleaning robot keeps the mopping unit disassembled and the cleaning unit is performing cleaning When the carpet cleaning is completed in the cleaning state of the work, in order to continue to perform the follow-up mopping work, especially for non-carpet mopping work, at this time, the mopping unit should be switched from the disassembled state to the mopping state; therefore, the control The unit is configured to respond to the carpet cleaning completion signal sent by the carpet recognition sensor, control the cleaning robot to install the mopping unit, for example, control the cleaning robot to return to the base station from the current position (here, the position where the carpet cleaning is completed), and remove the mopping unit that was originally disassembled. The ground unit is reinstalled on the main body, or a new mopping unit is installed on the main body, and returns to the current position (that is, the position where the carpet cleaning is completed), and switches to the mopping state, so that the cleaning robot is in the mopping state of the mopping unit. state, and the cleaning unit is in the cleaning state to continue to perform sweeping and dragging work.
可以理解的是，拖地单元由拆卸状态切换到拖地状态的时机应满足：在清洁机器人安装拖地单元的时刻到清洁机器人返回当前位置(地毯清扫完成的位置)的时刻之间的任意时刻，控制单元控制拖地单元下降；或者，在清洁机器人安装拖地单元的基站位置到清洁机器人返回当前位置(地毯清扫完成的位置)的规划路径上的任意位置，控制单元控制拖地单元下降，使得拖地单元处于拖地状态下，继续执行后续的拖地工作；其中，规划路径不经过任何地毯。当然，在其他实施例中，若规划路径上无法避开地毯时，即规 划路径上存在地毯时，在清洁机器人安装拖地单元的基站位置到清洁机器人返回当前位置(地毯清扫完成的位置)的规划路径上的任意非地毯的位置，控制单元控制拖地单元下降。It can be understood that the timing of switching the mopping unit from the disassembled state to the mopping state should meet: any moment between the moment when the cleaning robot installs the mopping unit and the moment when the cleaning robot returns to the current position (the position where the carpet cleaning is completed) , the control unit controls the mopping unit to descend; or, at any position on the planned path from the base station where the cleaning robot installs the mopping unit to the cleaning robot returns to the current position (the position where the carpet cleaning is completed), the control unit controls the mopping unit to descend, Make the mopping unit in the mopping state, and continue to perform the subsequent mopping work; wherein, the planned path does not pass through any carpet. Of course, in other embodiments, if the carpet cannot be avoided on the planned path, that is, when there is a carpet on the planned path, from the position of the base station where the cleaning robot installs the mopping unit to the cleaning robot returns to the current position (the position where the carpet cleaning is completed) At any non-carpet position on the planning path, the control unit controls the mopping unit to descend.
在清洁机器人处于先扫后拖模式(后拖中的拖地模式)，且地毯的厚度值大于第一预设值小于等于第二预设值的情况下，清洁机器人在拖地单元处于拆卸状态，且清扫单元不执行清扫工作的状态下跨越地毯；因此，在一个实施例中，控制器被配置为：若清洁机器人处于先扫后拖模式(后拖中的拖地模式)，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人将拖地单元脱离主体，例如控制清洁机器人返回基站，在基站由基站的拆卸结构或者由清洁机器人的拆卸结构将拖地单元从主体脱离，使得拖地单元处于拆卸状态；并控制清洁机器人在保持拖地单元拆卸且清扫单元不执行清扫工作的状态下跨越地毯；进一步的，清洁机器人在保持拖地单元拆卸且清扫单元不执行清扫工作的状态下跨越地毯后，拖地单元由拆卸状态切换为拖地状态，以便继续执行后续的拖地工作，尤其是针对非地毯的拖地工作；因此，控制单元被配置为响应于地毯识别传感器发送的地毯跨越完成信号，控制清洁机器人安装拖地单元，例如控制清洁机器人从当前位置(此处指：地毯跨越完成的位置)返回到基站，将原来拆卸下来的拖地单元重新安装到主体上，或者将新的拖地单元安装到主体上，并返回到当前位置(即地毯跨越完成的位置)，切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态，且清扫单元不执行清扫工作的状态下继续执行拖地工作。应当理解的是，拖地单元由拆卸状态切换到拖地状态的时机应满足：在清洁机器人安装拖地单元的时刻到清洁机器人返回当前位置(地毯跨越完成的位置)的时刻之间的任意时刻，控制单元控制拖地单元下降；或者，在清洁机器人安装拖地单元的基站位置到清洁机器人返回当前位置(地毯跨越完成的位置)的规划路径上的任意位置，控制单元控制拖地单元下降，使得拖地单元处于拖地状态下，继续执行后续的拖地工作；其中，规划路径不经过任何地毯。当然，在其他实施例中，若规划路径上无法避开地毯时，即规划路径上存在地毯位置点时，在清洁机器人安装拖地单元的基站位置到清洁机器人返回当前位置(地毯跨越完成的位置)的规划路径上的任意非地毯的位置，控制单元控制拖地单元下降。When the cleaning robot is in the mode of sweeping first and then mopping (the mopping mode in the latter mopping), and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is in the disassembled state of the mopping unit , and the cleaning unit does not perform cleaning work across the carpet; therefore, in one embodiment, the controller is configured as follows: If the thickness value is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is controlled to separate the mopping unit from the main body, for example, the cleaning robot is controlled to return to the base station, and the base station is mopped by the detachment structure of the base station or by the detachment structure of the cleaning robot. The unit is separated from the main body, so that the mopping unit is in a disassembled state; and the cleaning robot is controlled to cross the carpet while keeping the mopping unit disassembled and the cleaning unit does not perform cleaning work; further, the cleaning robot keeps the mopping unit disassembled and the cleaning unit After crossing the carpet without performing cleaning work, the mopping unit is switched from the disassembled state to the mopping state so as to continue to perform subsequent mopping work, especially for non-carpet mopping work; therefore, the control unit is configured to respond Based on the signal of the completion of the carpet crossing sent by the carpet recognition sensor, the cleaning robot is controlled to install the mopping unit. Installed on the main body, or install a new mopping unit on the main body, and return to the current position (that is, the position where the carpet spanning is completed), switch to the mopping state, so that the cleaning robot is in the mopping state of the mopping unit, and The cleaning unit continues to perform the mopping work in the state of not performing the cleaning work. It should be understood that the timing of switching the mopping unit from the disassembled state to the mopping state should meet: any moment between the moment when the cleaning robot installs the mopping unit and the moment when the cleaning robot returns to the current position (the position where the carpet is spanned) , the control unit controls the mopping unit to descend; or, at any position on the planned path from the base station where the cleaning robot installs the mopping unit to the cleaning robot returns to the current position (the position where the carpet spanning is completed), the control unit controls the mopping unit to descend, Make the mopping unit in the mopping state, and continue to perform the subsequent mopping work; wherein, the planned path does not pass through any carpet. Of course, in other embodiments, if the carpet cannot be avoided on the planned path, that is, when there is a carpet position point on the planned path, the cleaning robot returns to the current position from the base station position where the mopping unit is installed to the cleaning robot (the position where the carpet is spanned) ) at any non-carpet position on the planned path, the control unit controls the mopping unit to descend.
在清洁机器人处于单拖地模式，且地毯的厚度值大于第一预设值小于等于第二预设值的情况下，清洁机器人在拖地单元处于拆卸状态，且清扫单元不执行清扫工作的状态下跨越地毯；进一步的，清洁机器人在处于拆卸状态，且清扫单元不执行清扫工作状态下的跨越地毯后，拖地单元由拆卸状态切换为拖地状态，以便继续执行后续的拖地工作；因此，在一个实施例中，控制单元被配置为响应于地毯识别传感器发送的地毯跨越完成信号，控制清洁机器人安装拖地单元，例如控制清洁机器人从当前位置(这里指：地毯跨越完成的位置)返回到基站，将原来拆卸下来的拖地单元重新安装到主体上，或者将新的拖地单元安装到主体上，并返回到当前位置(即地毯跨越完成的位置)，切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态，且清扫单元不执行清扫工作的状态下继续执行拖地工作。When the cleaning robot is in the single mopping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is in a state where the mopping unit is disassembled, and the cleaning unit does not perform cleaning work Next, cross the carpet; further, after the cleaning robot is in the disassembled state and the cleaning unit does not perform the sweeping work, the mopping unit is switched from the disassembled state to the mopping state, so as to continue to perform subsequent mopping work; therefore , in one embodiment, the control unit is configured to respond to the carpet recognition sensor sends a carpet spanning completion signal, control the cleaning robot to install the mopping unit, for example, control the cleaning robot to return from the current position (here: the position where the carpet spanning is completed) Go to the base station, reinstall the mopping unit that was originally removed on the main body, or install a new mopping unit on the main body, and return to the current position (that is, the position where the carpet spanning is completed), switch to the mopping state, so that The cleaning robot continues to perform the mopping work when the mopping unit is in the mopping state and the cleaning unit is not performing cleaning work.
综上可知，鉴于无论先扫后拖模式中的“拖”模式，还是单拖地模式下，清扫单元均是不工作的，因此，先扫后拖模式中的“拖”模式对应的策略同样适用于仅执行拖地工作的单拖地模式。In summary, in view of the fact that the cleaning unit does not work regardless of the "drag" mode in the sweep-then-drag mode or the single-drag mode, the strategy corresponding to the "drag" mode in the sweep-then-drag mode is the same Single mopping mode for mopping only.
再如，在另一实施例中，清洁机器人遇到长毛地毯或者在长毛地毯上移动时，拖地单元还可处于换新状态；此时，处于换新状态的拖地单元是干净的，不会对地毯造成污染；为了提高清洁机器人在长毛地毯上的移动性能以及避免地毯对拖地单元造成污染，进一步的，换新的拖地单元应在处于抬升的状态下在长毛地毯上移动；同样的，对于有清扫需求的模式，例如边扫边拖模式或扫地模式时，清扫单元处于清扫状态，以便清洁机器人对地毯进行清扫；而对于没有清扫需求的模式，例如先扫后拖(主要是后拖的拖地模式)或者单拖地模式，清扫单元无需执行清扫工作。For another example, in another embodiment, when the cleaning robot encounters a long-haired carpet or moves on a long-haired carpet, the mopping unit can also be in a new state; at this time, the mopping unit in a new state is clean , will not cause pollution to the carpet; in order to improve the mobile performance of the cleaning robot on the long-haired carpet and avoid the carpet from polluting the mopping unit, further, the new mopping unit should be placed on the long-haired carpet in a raised state. Similarly, for modes with cleaning needs, such as sweeping and mopping mode or sweeping mode, the cleaning unit is in the cleaning state so that the cleaning robot can clean the carpet; while for modes without cleaning needs, such as sweeping first and then Mopping (mainly the mopping mode of rear mopping) or single mopping mode, the cleaning unit does not need to perform cleaning work.
也就是说，为了避免污染地毯，同时避免地毯对拖地单元的影响，提高清洁机器人的移动性能，在清 洁机器人处于扫地模式，且地毯的厚度值大于第一预设值小于等于第二预设值的情况下，清洁机器人在清扫单元处于清扫状态，且换新的拖地单元处于抬升状态下在地毯上移动并清扫地毯；因此，在一个实施例中，控制单元被配置为：若清洁机器人处于扫地模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人对拖地单元进行换新，使得拖地单元处于换新状态，例如控制清洁机器人由当前位置(这里指遇到地毯的位置)返回基站，在基站首先由基站的拆卸结构或者由清洁机器人的拆卸结构将拖地单元脱离主体，然后由基站的更换组件将新的拖地单元安装于清洁机器人的主体，使得拖地单元处于换新状态；或者控制清洁机器人由当前位置(这里指遇到地毯的位置)返回基站，在基站由基站的更换结构完成拖地单元的拆卸和安装，使得拖地单元处于换新状态；控制处于换新状态的拖地单元抬升，使得清洁机器人在保持新的拖地单元抬升的状态且清扫单元处于执行清扫工作的清扫状态下在地毯上移动，以对地毯进行清扫；进一步的，在清洁机器人保持新的拖地单元抬升且清扫单元处于执行清扫工作的清扫状态下对地毯清扫完成时，清洁机器人仍然保持拖地单元抬升且清扫单元处于执行清扫工作的清扫状态，继续执行后续的清扫工作，例如控制单元被配置为响应于地毯识别传感器发送的地毯清扫完成信号，控制清洁机器人保持拖地单元抬升且清扫单元处于执行清扫工作的清扫状态下继续执行清扫工作。That is to say, in order to avoid polluting the carpet, while avoiding the impact of the carpet on the mopping unit, and improving the mobile performance of the cleaning robot, when the cleaning robot is in the sweeping mode, and the thickness of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot moves on the carpet and cleans the carpet when the cleaning unit is in the cleaning state and the new mopping unit is in the lifting state; therefore, in one embodiment, the control unit is configured as follows: if the cleaning robot In the sweeping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to renew the mopping unit so that the mopping unit is in a new state, for example, control the cleaning robot from the current position (Here refers to the position where the carpet is encountered) Return to the base station. At the base station, the mopping unit is first separated from the main body by the disassembly structure of the base station or the disassembly structure of the cleaning robot, and then the new mopping unit is installed on the cleaning robot by the replacement component of the base station. the main body of the mopping unit, so that the mopping unit is in a new state; or control the cleaning robot to return to the base station from the current position (here refers to the position where the carpet is encountered), and the disassembly and installation of the mopping unit is completed at the base station by the replacement structure of the base station, so that the mopping The unit is in a new state; the mopping unit in the new state is controlled to lift, so that the cleaning robot moves on the carpet while keeping the new mopping unit lifted and the cleaning unit is in the cleaning state of performing cleaning work to clean the carpet. Cleaning; further, when the cleaning robot keeps the new mopping unit lifted and the cleaning unit is in the cleaning state of performing cleaning work, when the carpet is cleaned, the cleaning robot still keeps the mopping unit lifted and the cleaning unit is in the cleaning state of performing cleaning work , continue to perform subsequent cleaning work, for example, the control unit is configured to respond to the carpet cleaning completion signal sent by the carpet recognition sensor, control the cleaning robot to keep the mopping unit lifted and the cleaning unit to continue to perform cleaning work in the cleaning state of performing cleaning work.
在清洁机器人处于边扫边拖模式，且地毯的厚度值大于第一预设值小于等于第二预设值的情况下，清洁机器人在换新的拖地单元处于抬升状态，且清扫单元处于清扫状态下在地毯上移动，对地毯进行清扫；因此，在一个实施例中，控制单元被配置为：若清洁机器人处于边扫边拖模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人对拖地单元进行换新，使得拖地单元处于换新状态，例如控制清洁机器人由当前位置(这里指遇到地毯的位置)返回基站，在基站首先由基站的拆卸结构或者由清洁机器人的拆卸结构将拖地单元脱离主体，然后由基站的更换组件将新的拖地单元安装于清洁机器人的主体，使得拖地单元处于换新状态；或者控制清洁机器人由当前位置(这里指遇到地毯的位置)返回基站，在基站由基站的更换结构完成拖地单元的拆卸和安装，使得拖地单元处于换新状态；控制拖地单元由换新状态切换到抬升状态(例如控制处于换新状态的拖地单元抬升，使得新的拖地单元处于抬升状态)，使得清洁机器人在保持新的拖地单元抬升的状态且清扫单元处于执行清扫工作的清扫状态下在地毯上移动，以对地毯进行清扫；进一步的，清洁机器人在保持拖地单元抬升的状态且清扫单元处于执行清扫工作的清扫状态下对地毯清扫完成时，为了实现继续执行后续的拖地工作，尤其是针对非地毯的拖地工作，此时，拖地单元应由抬升状态切换为拖地状态；因此，控制单元被配置为响应于地毯识别传感器发送的地毯清扫完成信号，控制清洁机器人将拖地单元由抬升状态切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态，且清扫单元处于清扫状态下继续执行边扫边拖工作。When the cleaning robot is in the mode of mopping while sweeping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is in a lifting state when the new mopping unit is replaced, and the cleaning unit is cleaning state to move on the carpet to clean the carpet; therefore, in one embodiment, the control unit is configured to: if the cleaning robot is in the sweeping and mopping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the first Two preset values, control the cleaning robot to renew the mopping unit, so that the mopping unit is in a new state, for example, control the cleaning robot to return to the base station from the current position (referring to the position where the carpet is encountered here), and at the base station, at first by the base station Disassemble the structure or remove the mopping unit from the main body by the disassembly structure of the cleaning robot, and then install the new mopping unit on the main body of the cleaning robot by the replacement component of the base station, so that the mopping unit is in a new state; or control the cleaning robot by the current The position (here refers to the position where the carpet is encountered) returns to the base station, and the base station replaces the structure to complete the disassembly and installation of the mopping unit, so that the mopping unit is in a new state; control the mopping unit to switch from the new state to the lifting state (For example, control the lifting of the mopping unit in the new state, so that the new mopping unit is in the lifting state), so that the cleaning robot is in the state of keeping the new mopping unit lifted and the cleaning unit is in the cleaning state of performing the cleaning work. Move up to clean the carpet; further, when the cleaning robot keeps the mopping unit lifted and the cleaning unit is in the cleaning state of performing the cleaning work, when the carpet is cleaned, in order to continue to perform the follow-up mopping work, especially It is for non-carpet mopping work. At this time, the mopping unit should be switched from the lifting state to the mopping state; therefore, the control unit is configured to respond to the carpet cleaning completion signal sent by the carpet recognition sensor, and control the cleaning robot to mop the floor. The unit is switched from the lifting state to the mopping state, so that the cleaning robot continues to perform sweeping and mopping work when the mopping unit is in the mopping state and the cleaning unit is in the cleaning state.
可以理解的是，拖地单元由换新状态切换到抬升状态的时机应满足：在清洁机器人安装有拖地单元的时刻到清洁机器人返回当前位置(即遇到地毯的位置)的时刻之间的任意时刻，控制单元控制新的拖地单元抬升；或者，在清洁机器人安装拖地单元的基站位置到清洁机器人返回当前位置(即遇到地毯的位置)的规划路径上的任意位置，控制单元控制拖地单元抬升，使得拖地单元处于抬升状态下，继续执行后续的在遇到的地毯上移动；其中，规划路径不经过任何地毯。当然，在其他实施例中，若规划路径上无法避开地毯时，即规划路径上存在地毯时，在清洁机器人安装拖地单元的基站位置到清洁机器人返回当前位置的规划路径上的首次遇到地毯的位置，控制单元控制拖地单元抬升。It can be understood that the timing of the mopping unit switching from the new state to the lifting state should meet: the time between the moment when the cleaning robot is equipped with the mopping unit and the moment when the cleaning robot returns to the current position (that is, the position where the carpet is encountered) At any time, the control unit controls the lifting of the new mopping unit; or, at any position on the planned path from the base station where the cleaning robot installs the mopping unit to the cleaning robot returns to the current position (that is, the position where the carpet is encountered), the control unit controls The mopping unit is raised, so that the mopping unit is in the raised state, and continues to perform subsequent movement on the encountered carpet; wherein, the planned path does not pass through any carpet. Of course, in other embodiments, if the carpet cannot be avoided on the planned path, that is, when there is a carpet on the planned path, the first encounter on the planned path from where the cleaning robot installs the mopping unit to the planned path where the cleaning robot returns to the current position The position of the carpet, the control unit controls the lifting of the mopping unit.
在清洁机器人处于先扫后拖模式(后拖中的拖地模式)，且地毯的厚度值大于第一预设值小于等于第二预设值的情况下，清洁机器人在换新的拖地单元处于抬升状态，且清扫单元不执行清扫工作的状态下跨越地毯；因此，在一个实施例中，控制器被配置为：若清洁机器人处于先扫后拖模式(后拖中的拖地模式)，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人对拖地单元进行换新，使得拖地单元处于换新状态，例如控制清洁机器人由当前位置(这里指遇到地毯的位置)返回基站，在基站首先由基 站的拆卸结构或者由清洁机器人的拆卸结构将拖地单元脱离主体，然后由基站的更换组件将新的拖地单元安装于清洁机器人的主体，使得拖地单元处于换新状态；或者控制清洁机器人由当前位置(这里指遇到地毯的位置)返回基站，在基站由基站的更换结构完成拖地单元的拆卸和安装，使得拖地单元处于换新状态；并控制处于换新状态的拖地单元抬升，使得清洁机器人在保持新的拖地单元抬升的状态且清扫单元不执行清扫工作的状态下跨越地毯；进一步的，清洁机器人在保持拖地单元抬升且清扫单元不执行清扫工作的状态下跨越地毯后，拖地单元由抬升状态切换为拖地状态，以便继续执行后续的拖地工作，尤其是针对非地毯的拖地工作；因此，在一个实施例中，控制单元被配置为响应于地毯识别传感器发送的地毯跨越完成信号，控制清洁机器人由抬升状态切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态，且清扫单元处于清扫状态下继续执行拖地工作。需要说明的是，清洁机器人的工作模式可以在出厂时设定，也可以由用户通过清洁机器人的界面输入，也可以由用户通过应用程序进行设定，对此，本公开不做限定。When the cleaning robot is in the mode of sweeping first and then mopping (the mopping mode in the latter mopping), and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is changing a new mopping unit It is in a raised state, and the cleaning unit does not perform cleaning work across the carpet; therefore, in one embodiment, the controller is configured to: if the cleaning robot is in the mode of sweeping first and then mopping (the mopping mode in the latter mopping), And the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to renew the mopping unit, so that the mopping unit is in a new state, for example, control the cleaning robot from the current position (here refers to encounter to the position of the carpet) and return to the base station, at the base station, the mopping unit is first separated from the main body by the detachment structure of the base station or the detachment structure of the cleaning robot, and then the new mopping unit is installed on the main body of the cleaning robot by the replacement component of the base station, so that The mopping unit is in a new state; or the cleaning robot is controlled to return to the base station from the current position (here refers to the position where the carpet is encountered), and the disassembly and installation of the mopping unit is completed at the base station by the replacement structure of the base station, so that the mopping unit is in a new state. state; and control the lifting of the mopping unit in the new state, so that the cleaning robot crosses the carpet while keeping the new mopping unit lifted and the cleaning unit does not perform cleaning work; further, the cleaning robot keeps the mopping unit After the carpet is lifted and the cleaning unit is not performing cleaning work, the mopping unit is switched from the lifting state to the mopping state, so as to continue to perform subsequent mopping work, especially for non-carpet mopping work; therefore, in a In an embodiment, the control unit is configured to control the cleaning robot to switch from the lifting state to the mopping state in response to the carpet spanning completion signal sent by the carpet recognition sensor, so that the cleaning robot is in the mopping state of the mopping unit, and the cleaning unit is in the cleaning state. Continue to perform the mopping work under the state. It should be noted that, the working mode of the cleaning robot can be set at the factory, can also be input by the user through the interface of the cleaning robot, or can be set by the user through the application program, which is not limited in this disclosure.
鉴于地毯具有多种厚度，清洁机器人具有多种模式，针对是工作模式和地毯厚度确定的先后顺序，在一个实施例中，首先确定清洁机器人的工作模式，例如接收用户选取的工作模式或者在无用户输入的情况下，可以根据出厂的模式确定；然后清洁机器人在该工作模式下进行清洁工作，当遇到地毯时，对地毯的厚度进行识别，最后，根据清洁机器人的工作模式和地毯厚度执行对应的策略。In view of the fact that the carpet has multiple thicknesses, the cleaning robot has multiple modes. For the sequence of determining the working mode and the thickness of the carpet, in one embodiment, first determine the working mode of the cleaning robot, such as receiving the working mode selected by the user or in the absence of In the case of user input, it can be determined according to the factory mode; then the cleaning robot performs cleaning work in this working mode, and when it encounters a carpet, it recognizes the thickness of the carpet, and finally, executes according to the working mode of the cleaning robot and the thickness of the carpet corresponding strategy.
当然，在其他实施例中，在遇到地毯时，可以先识别地毯的厚度，然后再判定清洁机器人的工作模式，最后根据清洁机器人的工作模式和地毯厚度执行对应的策略。对此本公开不做限定。Of course, in other embodiments, when a carpet is encountered, the thickness of the carpet can be identified first, and then the working mode of the cleaning robot can be determined, and finally a corresponding strategy can be executed according to the working mode of the cleaning robot and the thickness of the carpet. This disclosure does not limit it.
下面参照表1，针对地毯具有多种厚度，清洁机器人具有多种模式的情况下，对清洁机器人的应对策略进行简要说明：Referring to Table 1 below, in the case that the carpet has various thicknesses and the cleaning robot has multiple modes, the coping strategies of the cleaning robot are briefly described:
1、若清洁机器人处于扫地模式，且地毯的厚度值小于等于第一预设值，控制拖地单元抬升，使得拖地单元处于抬升状态；进一步的，控制清洁机器人在拖地单元处于抬升状态，且清扫单元处于清扫状态下在地毯上移动，对地毯进行清扫；1. If the cleaning robot is in the sweeping mode, and the thickness of the carpet is less than or equal to the first preset value, the mopping unit is controlled to be raised so that the mopping unit is in a raised state; further, the cleaning robot is controlled to be in a raised state in the mopping unit, And the cleaning unit moves on the carpet in the cleaning state to clean the carpet;
另外，若地毯清扫完成，控制清洁机器人在拖地单元处于抬升状态，且清扫单元处于清扫状态下继续清扫工作。In addition, if the carpet cleaning is completed, the cleaning robot is controlled to continue cleaning when the mopping unit is in a raised state and the cleaning unit is in a cleaning state.
2、若清洁机器人处于扫地模式，且地毯的厚度值大于第一预设值小于等于第二预设值，2. If the cleaning robot is in the sweeping mode, and the thickness of the carpet is greater than the first preset value and less than or equal to the second preset value,
策略1：控制清洁机器人返回基站，将拖地单元脱离主体，使得拖地单元处于拆卸状态；进一步的，控制清洁机器人在拖地单元处于拆卸状态，清扫单元处于清扫状态下在地毯上移动，对地毯进行清扫；Strategy 1: Control the cleaning robot to return to the base station, separate the mopping unit from the main body, so that the mopping unit is in a disassembled state; further, control the cleaning robot to move on the carpet when the mopping unit is in a disassembled state, and the cleaning unit is in a cleaning state. carpet cleaning;
此外，若地毯清扫完成，控制清洁机器人保持拖地单元处于拆卸状态，清扫单元处于清扫状态下继续清扫工作。In addition, if the carpet cleaning is completed, the cleaning robot is controlled to keep the mopping unit in a disassembled state, and the cleaning unit continues to clean while it is in a cleaning state.
策略2：控制清洁机器人返回基站，将拖地单元更换，使得拖地单元处于换新状态；进一步的，控制新的拖地单元抬升，使得清洁机器人在拖地单元处于抬升状态，清扫单元处于清扫状态下在地毯上移动，对地毯进行清扫。Strategy 2: Control the cleaning robot to return to the base station, replace the mopping unit, so that the mopping unit is in a new state; further, control the lifting of the new mopping unit, so that the cleaning robot is in a lifting state in the mopping unit, and the cleaning unit is in the cleaning state Move on the carpet in the state to clean the carpet.
需要指出的是，若地毯清扫完成，控制清洁机器人保持拖地单元处于抬升状态，清扫单元处于清扫状态下继续清扫工作。It should be pointed out that if the carpet cleaning is completed, the cleaning robot is controlled to keep the mopping unit in a raised state, and the cleaning unit continues to clean while it is in a cleaning state.
3、若清洁机器人处于边扫边拖模式，且地毯的厚度值小于等于第一预设值，控制清洁机器人抬升拖地单元，使得拖地单元处于抬升状态；进一步的，控制清洁机器人在拖地单元处于抬升状态，清扫单元处于清扫状态下在地毯上移动，以便对地毯进行清扫；3. If the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is less than or equal to the first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; further, control the cleaning robot to mop the floor The unit is in the lifting state, and the cleaning unit is in the cleaning state and moves on the carpet to clean the carpet;
进一步的，若地毯清扫完成，控制拖地单元由抬升状态切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态，清扫单元处于清扫状态下继续边扫边拖Further, if the carpet cleaning is completed, control the mopping unit to switch from the lifting state to the mopping state, so that the cleaning robot is in the mopping state in the mopping unit, and the cleaning unit continues to sweep while mopping in the cleaning state.
4、若清洁机器人处于边扫边拖模式，且地毯的厚度值大于第一预设值小于等于第二预设值，4. If the cleaning robot is in the sweeping and dragging mode, and the thickness of the carpet is greater than the first preset value and less than or equal to the second preset value,
策略1：控制清洁机器人由当前位置返回基站拆卸拖地单元，使得拖地单元处于拆卸状态；进一步的， 控制清洁机器人返回当前位置，并在拖地单元处于拆卸状态，清扫单元处于清扫状态下在地毯上移动，以便清扫单元对地毯进行清扫；Strategy 1: Control the cleaning robot to return to the base station from the current position to disassemble the mopping unit, so that the mopping unit is in the disassembled state; Move on the carpet so that the cleaning unit can clean the carpet;
考虑到清洁机器人可具有抬升拖地单元的抬升机构，其中抬升机构包括连接拖地单元的拖布板安装架，为了提高清洁机器人在地毯上的移动性能，避免安装架可能造成的影响；在一个实施例中，拖地单元拆卸下来后，控制拖布板安装架抬升，使得清洁机器人在拖地单元处于拆卸状态，拖布板安装架处于抬升状态，清扫单元清扫状态下在地毯上移动；Considering that the cleaning robot can have a lifting mechanism that lifts the mopping unit, wherein the lifting mechanism includes a mopping board installation frame connected to the mopping unit, in order to improve the mobile performance of the cleaning robot on the carpet, avoid the possible impact of the mounting frame; in an implementation In the example, after the mopping unit is disassembled, the mopping board mounting frame is controlled to be raised, so that the cleaning robot is in the disassembled state of the mopping unit, the mopping board mounting frame is in the lifting state, and the cleaning unit moves on the carpet in the cleaning state;
应当指出的是，地毯清扫完成后，控制清洁机器人返回基站安装拖地单元，并控制拖地单元切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态，清扫单元处于清扫状态下继续边扫边拖工作。It should be pointed out that after the carpet cleaning is completed, control the cleaning robot to return to the base station to install the mopping unit, and control the mopping unit to switch to the mopping state, so that the cleaning robot continues to mop the floor while the mopping unit is in the mopping state and the cleaning unit is in the cleaning state. Swipe and drag to work.
策略2：控制清洁机器人由当前位置返回基站更新拖地单元，使得所述拖地单元处于换新状态；进一步的，控制新的拖地单元抬升，使得清洁机器人在新的拖地单元处于抬升状态，清扫单元处于清扫状态下在地毯上移动，以对地毯进行清扫。Strategy 2: Control the cleaning robot to return to the base station from the current position to update the mopping unit, so that the mopping unit is in a new state; further, control the new mopping unit to lift, so that the cleaning robot is in a raised state in the new mopping unit , the cleaning unit moves on the carpet in a cleaning state to clean the carpet.
可以理解的是，地毯清扫完成后，控制拖地单元由抬升状态切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态，清扫单元处于清扫状态下继续边扫边拖工作。It can be understood that after the carpet cleaning is completed, the mopping unit is controlled to switch from the raised state to the mopping state, so that the cleaning robot continues to sweep and mop while the mopping unit is in the mopping state and the cleaning unit is in the cleaning state.
5、若清洁机器人处于先扫后拖模式(其中拖地单元处于拖地状态)，且地毯的厚度值小于等于第一预设值，控制清洁机器人抬升拖地单元(即由拖地状态切换为抬升状态)，使得拖地单元处于抬升状态；进一步的，控制清洁机器人在拖地单元处于抬升且清扫单元不执行清扫工作的状态下跨越地毯；5. If the cleaning robot is in the mode of sweeping first and then mopping (the mopping unit is in the mopping state), and the thickness of the carpet is less than or equal to the first preset value, control the cleaning robot to lift the mopping unit (that is, switch from the mopping state to Lifting state), so that the mopping unit is in the lifting state; further, the cleaning robot is controlled to cross the carpet when the mopping unit is raised and the cleaning unit does not perform cleaning work;
应当指出的是，若地毯跨越完成，控制拖地单元由抬升状态切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态，清扫单元不执行清扫工作的状态下继续拖地工作。It should be noted that if the carpet spanning is completed, the mopping unit is controlled to switch from the raised state to the mopping state, so that the cleaning robot continues to mop the floor when the mopping unit is in the mopping state and the cleaning unit does not perform cleaning work.
6、若清洁机器人处于先扫后拖模式，且地毯的厚度值大于第一预设值小于等于第二预设值，6. If the cleaning robot is in the mode of sweeping first and mopping later, and the thickness of the carpet is greater than the first preset value and less than or equal to the second preset value,
策略1：控制清洁机器人由当前位置返回基站拆卸拖地单元，使得拖地单元处于拆卸状态；进一步的，控制清洁机器人返回当前位置，并在拖地单元处于拆卸状态，清扫单元清扫单元不执行清扫工作的状态下跨越地毯；Strategy 1: Control the cleaning robot to return to the base station from the current position to disassemble the mopping unit, so that the mopping unit is in the disassembled state; further, control the cleaning robot to return to the current position, and the mopping unit is in the disassembled state, and the cleaning unit does not perform cleaning across the carpet while working;
需要说明的是，若地毯跨越完成，控制清洁机器人返回基站安装拖地单元，控制拖地单元由抬升状态切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态，清扫单元不执行清扫工作的状态下继续拖地工作。It should be noted that if the carpet spanning is completed, control the cleaning robot to return to the base station to install the mopping unit, and control the mopping unit to switch from the lifting state to the mopping state, so that the cleaning robot is in the mopping state in the mopping unit, and the cleaning unit does not perform cleaning Continue to mop the floor while working.
策略2：控制清洁机器人由当前位置返回基站更新拖地单元，使得拖地单元处于换新状态；进一步的，控制新的拖地单元抬升，使得清洁机器人在拖地单元处于抬升且清扫单元不执行清扫工作的状态下跨越地毯。Strategy 2: Control the cleaning robot to return to the base station from the current position to update the mopping unit, so that the mopping unit is in a new state; further, control the lifting of the new mopping unit, so that the cleaning robot is lifted in the mopping unit and the cleaning unit is not executed Sweeping works across the carpet.
可以理解的是，若地毯跨越完成，控制拖地单元由抬升状态切换为拖地状态，使得清洁机器人在拖地单元处于拖地状态，清扫单元不执行清扫工作的状态下继续拖地工作。It can be understood that if the carpet spanning is completed, the mopping unit is controlled to switch from the lifting state to the mopping state, so that the cleaning robot continues to mop the floor when the mopping unit is in the mopping state and the cleaning unit does not perform cleaning work.
表1不同模式、不同地毯厚度下，清洁机器人的策略表Table 1 The strategy table of the cleaning robot under different modes and different carpet thicknesses
Figure PCTCN2022137743-appb-000001
Figure PCTCN2022137743-appb-000001
Figure PCTCN2022137743-appb-000002
Figure PCTCN2022137743-appb-000002
需要指出的是，拖地单元抬升的场景不限于上述的清洁机器人遇到地毯的场景，还可以包括越障、回归(返回基站)、转场等；为了适应不同的场景需求，故，清洁机器人在遇到地毯、越障、转场或回归基站的情况下，拖地单元处于抬升状态；其中转场是指清洁机器人从一个区域(A区域)移动到另一个区域(例如B区域)进行区域切换(例如开始对另一个区域的清洁)的过程，其中，A区域和B区域为两个不同的区域，区域的划分可以由清洁机器人划分，例如清洁机器人根据实际墙面自动划分或者清洁机器人根据区域的功能划分(例如厨房、卫生间、客厅、卧室等)；也可以由用户进行划分，例如用户通过App在生成的地图上进行手绘来手动划分；其中拖地单元抬升的起点为清洁机器人结束上一个区域(A区域)清洁的位置。为了便于理解转场的概念，在一个实施例中，当清机器人清洁完A区域，在移动到B区域的清洁起点进行清洁的过程，便称为转场，其中，定义A区域清洁结束的位置为转场的起点；B区域清洁开始的位置为转场的终点；拖地单元在转场的起点抬升，清洁机器人在拖地单元处于抬升的状态下由转场的起点移动到转场的终点，然后在转场的终点拖地单元可由抬升状态切换为拖地状态，以对B区域进行拖地工作。It should be pointed out that the scene where the mopping unit is lifted is not limited to the scene where the cleaning robot encounters the carpet mentioned above, and may also include obstacle surmounting, return (returning to the base station), transition, etc.; in order to adapt to different scene requirements, the cleaning robot In the case of encountering carpets, overcoming obstacles, transitioning or returning to the base station, the mopping unit is in a raised state; the transition refers to the movement of the cleaning robot from one area (A area) to another area (such as B area). The process of switching (such as starting to clean another area), wherein, area A and area B are two different areas, and the division of areas can be divided by cleaning robots, for example, the cleaning robot automatically divides according to the actual wall surface or the cleaning robot according to The functional division of the area (such as kitchen, bathroom, living room, bedroom, etc.); it can also be divided by the user, for example, the user manually divides it by drawing on the generated map through the App; the starting point for the mopping unit to be lifted is when the cleaning robot ends. A location where an area (A area) is cleaned. In order to facilitate the understanding of the concept of transition, in one embodiment, when the cleaning robot finishes cleaning area A, the process of moving to the cleaning starting point of area B is called transition, where the position where the cleaning of area A ends is defined is the starting point of the transition; the starting position of cleaning in area B is the end of the transition; the mopping unit is raised at the starting point of the transition, and the cleaning robot moves from the starting point of the transition to the end of the transition when the mopping unit is in a raised state , and then at the end of the transition, the mopping unit can be switched from the lifting state to the mopping state, so as to mop the area B.
在一个实施例中，清洁机器人可以具有多种清洁模式，考虑到不同模式下对拖地单元的需求问题，在一个实施例中，清洁机器人可以根据所处的模式确定拖地单元的状态。In one embodiment, the cleaning robot can have multiple cleaning modes. Considering the demand for the mopping unit in different modes, in one embodiment, the cleaning robot can determine the state of the mopping unit according to the mode it is in.
即，控制单元被配置为：基于清洁机器人所处的模式，控制拖地单元的状态；That is, the control unit is configured to: control the state of the mopping unit based on the mode of the cleaning robot;
考虑到有些模式与拖地单元无关，例如扫地模式，在扫地模式下拖地单元是不工作的，因此，在一个实施例中，在清洁机器人处于扫地模式下，控制单元控制拖地单元从主体脱离，使得拖地单元处于拆卸状态。Considering that some modes have nothing to do with the mopping unit, such as the sweeping mode, the mopping unit does not work in the sweeping mode. Therefore, in one embodiment, when the cleaning robot is in the sweeping mode, the control unit controls the mopping unit from the main body disengage, so that the mopping unit is in a disassembled state.
而有些模式与拖地单元关联，例如边扫边拖模式、先扫后拖模式、单拖地模式等，这些模式下，拖地单元是工作的，因此清洁机器人在与拖地单元关联的工作模式下，主机上安装有拖地单元，当清洁机器人遇到需要拖地单元抬升的场景下，控制单元控制拖地单元抬升，使得拖地单元处于抬升状态；而当需要拖地单元抬升的场景消失时，控制单元控制拖地单元下降，使得拖地单元处于拖地状态，继续执行拖地工作；And some modes are associated with the mopping unit, such as sweeping while mopping mode, sweeping first and then mopping mode, single mopping mode, etc. In these modes, the mopping unit is working, so the cleaning robot is working in association with the mopping unit In mode, the main unit is equipped with a mopping unit. When the cleaning robot encounters a scene where the mopping unit needs to be lifted, the control unit controls the mopping unit to be lifted, so that the mopping unit is in a raised state; and when the scene where the mopping unit needs to be lifted When it disappears, the control unit controls the mopping unit to descend, so that the mopping unit is in the mopping state and continues to perform the mopping work;
例如，以清洁机器人遇到地毯的场景为例进行简要说明：For example, take the scene where the cleaning robot encounters a carpet as an example for a brief description:
为了避免污染地毯，在一个实施例中，在清洁机器人处于与拖地单元关联的工作模式，且清洁机器人 遇到地毯的情况下，控制单元控制拖地单元抬升，使得清洁机器人在拖地单元处于抬升的状态下跨越地毯；In order to avoid polluting the carpet, in one embodiment, when the cleaning robot is in the working mode associated with the mopping unit and the cleaning robot encounters the carpet, the control unit controls the mopping unit to lift, so that the cleaning robot is in the mopping unit. Elevate across the carpet;
进一步的，若跨越地毯完成，即触发拖地单元抬升的条件/场景消失，拖地单元需要进行拖地工作，此时，控制单元控制拖地单元由抬升状态切换到拖地状态，使得清洁机器人在拖地单元处于拖地状态下，执行后续的拖地工作。Further, if the crossing of the carpet is completed, that is, the condition/scene that triggers the mopping unit to lift disappears, and the mopping unit needs to perform mopping work. At this time, the control unit controls the mopping unit to switch from the lifting state to the mopping state, so that the cleaning robot When the mopping unit is in the mopping state, perform subsequent mopping work.
可以理解的是，在跨越地毯的过程中，如果上述处于与拖地单元关联的工作模式，与清扫单元也是关联的，例如边扫边拖模式，此时清扫单元是处于清扫状态的，以便在跨越地毯的过程中对地毯进行清扫工作；而在跨越地毯的过程中，如果处于与拖地单元关联的工作模式，与清扫单元也是无关的，例如先扫后拖模式(后拖的拖地模式)、单拖地模式，此时清扫单元是处于非清扫状态的，即清洁机器人在跨越地毯的过程中既不拖地也不扫地。It can be understood that, in the process of crossing the carpet, if the above-mentioned working mode is associated with the mopping unit, it is also associated with the cleaning unit, such as the sweeping and mopping mode. At this time, the cleaning unit is in the cleaning state, so that The carpet is cleaned during the process of crossing the carpet; and in the process of crossing the carpet, if it is in the working mode associated with the mopping unit, it has nothing to do with the cleaning unit, such as sweeping first and then mopping mode (mopping mode after mopping) ), single mopping mode, at this time the cleaning unit is in a non-cleaning state, that is, the cleaning robot neither mops nor sweeps the floor when it crosses the carpet.
又如，以清洁机器人转场的场景进行举例说明：为了避免不同区域之间的交叉污染，在一个实施例中，在清洁机器人处于与拖地单元关联的工作模式，且清洁机器人处于转场(例如，当前区域清洁结束，待前往下一个区域进行清洁)的情况下，控制单元控制拖地单元抬升(例如，控制拖地单元在转场的起点处由拖地状态切换到抬升状态)，使得清洁机器人在拖地单元处于抬升的状态下从转场的起点移动到转场的终点；As another example, take the scene where the cleaning robot transitions as an example: in order to avoid cross-contamination between different areas, in one embodiment, when the cleaning robot is in the working mode associated with the mopping unit, and the cleaning robot is in the transition ( For example, when the cleaning of the current area is finished and the next area is to be cleaned), the control unit controls the mopping unit to lift (for example, the mopping unit is switched from the mopping state to the lifting state at the starting point of the transition), so that The cleaning robot moves from the starting point of the transition to the end of the transition when the mopping unit is raised;
进一步的，若清洁机器人到达转场的终点，此时触发拖地单元抬升的条件/场景消失，拖地单元需要进行拖地工作，因此，控制单元可控制拖地单元由抬升状态切换到拖地状态，使得清洁机器人在拖地单元处于拖地状态下，执行后续的拖地工作。Further, if the cleaning robot reaches the end of the transition, the condition/scene that triggers the lifting of the mopping unit disappears at this time, and the mopping unit needs to perform mopping work. Therefore, the control unit can control the mopping unit to switch from the lifting state to the mopping state state, so that the cleaning robot performs subsequent mopping work when the mopping unit is in the mopping state.
可以理解的是，在转场的过程(转场的起点移动到转场的终点)中，如果上述处于与拖地单元关联的工作模式，与清扫单元也是关联的，例如边扫边拖模式，此时清扫单元是处于清扫状态的，以便在转场的过程中由清扫单元执行清扫工作；而在转场的过程中，如果处于与拖地单元关联的工作模式，与清扫单元也是无关的，例如先扫后拖模式(后拖的拖地模式)、单拖地模式，此时清扫单元是处于非清扫状态的，即清洁机器人在转场的过程中既不拖地也不扫地。It can be understood that, during the transition process (the starting point of the transition moves to the end point of the transition), if the above-mentioned working mode is associated with the mopping unit, it is also associated with the cleaning unit, such as the sweeping and mopping mode, At this time, the cleaning unit is in the cleaning state, so that the cleaning unit performs the cleaning work during the transition process; and during the transition process, if it is in the working mode associated with the mopping unit, it has nothing to do with the cleaning unit. For example, in the mode of sweeping first and then mopping (the mopping mode of mopping afterward), and the single mopping mode, the cleaning unit is in a non-cleaning state at this time, that is, the cleaning robot neither mops nor sweeps the floor during the transition.
再如，以清洁机器人回归的场景进行举例说明，For another example, take the scene where the cleaning robot returns as an example.
为了避免回归过程中对拖过的区域造成二次污染，在一个实施例中，在清洁机器人处于与拖地单元关联的工作模式，且清洁机器人处于满足维护条件的情况下，控制单元控制拖地单元抬升(例如，控制拖地单元在当前位置处由拖地状态切换到抬升状态)，使得清洁机器人在拖地单元处于抬升的状态下从当前位置移动到基站所在的位置；其中，维护条件包括但不限于充电(为清洁机器人充电)、补液(为清洁机器人的水箱补充液体)、集尘(回收清洁机器人尘盒内的垃圾)、更换拖地清洁件。In order to avoid secondary pollution to the mopped area during the return process, in one embodiment, when the cleaning robot is in the working mode associated with the mopping unit, and the cleaning robot is in the condition of meeting the maintenance conditions, the control unit controls the mopping The unit is lifted (for example, controlling the mopping unit to switch from the mopping state to the lifting state at the current position), so that the cleaning robot moves from the current position to the position where the base station is in the state where the mopping unit is raised; wherein, the maintenance conditions include But not limited to charging (charging the cleaning robot), rehydration (replenishing liquid for the water tank of the cleaning robot), dust collection (recycling the garbage in the dust box of the cleaning robot), and replacing the mopping cleaning parts.
进一步的，若清洁机器人到达基站完成维护操作并返回断点位置(即从基站返回当前位置)，导致触发拖地单元抬升的条件/场景消失，拖地单元可继续进行拖地工作，因此，控制单元可控制拖地单元由抬升状态切换到拖地状态，使得清洁机器人在拖地单元处于拖地状态下，执行后续的拖地工作。Further, if the cleaning robot arrives at the base station to complete the maintenance operation and returns to the breakpoint position (i.e. returns to the current position from the base station), the condition/scene that triggers the lifting of the mopping unit disappears, and the mopping unit can continue to mop the floor. Therefore, the control The unit can control the mopping unit to switch from the lifting state to the mopping state, so that the cleaning robot performs subsequent mopping work when the mopping unit is in the mopping state.
在一个实施例中，当然，在回归的过程中，如果上述处于与拖地单元关联的工作模式，与清扫单元也是关联的，例如边扫边拖模式，此时清扫单元是处于清扫状态的，以便在回归的过程中由清扫单元执行清扫工作；而如果处于与拖地单元关联的工作模式，与清扫单元也是无关的，例如先扫后拖模式(后拖的拖地模式)、单拖地模式，此时清扫单元是处于非清扫状态的，即清洁机器人在回归的过程中既不拖地也不扫地。In one embodiment, of course, during the regression process, if the above-mentioned working mode associated with the mopping unit is also associated with the cleaning unit, such as the sweeping and mopping mode, the cleaning unit is in the cleaning state at this time, In order to perform the cleaning work by the cleaning unit during the return process; and if it is in the working mode associated with the mopping unit, it has nothing to do with the cleaning unit, such as sweeping first and then mopping mode (mopping mode after mopping), single mopping the floor mode, the cleaning unit is in a non-cleaning state at this time, that is, the cleaning robot neither mops nor sweeps the floor during the return process.
当然，在其他实施例中，在回归的过程中，无论处于与拖地单元关联的工作模式，与清扫单元是否关联，为了防止回归过程中的二次污染问题，清洁机器人在回归的过程中，清扫单元是处于非清扫状态，即 清洁机器人既不拖地也不扫地。Of course, in other embodiments, during the return process, no matter whether it is in the working mode associated with the mopping unit or whether it is associated with the cleaning unit, in order to prevent secondary pollution during the return process, the cleaning robot, during the return process, The cleaning unit is in a non-cleaning state, that is, the cleaning robot neither mops nor sweeps the floor.
如图1和图2所示，示意了本发明实施例的清洁机器人***的示意图。清洁机器人***包括清洁机器人100、基站200。其中，清洁机器人100可沿预定程序行走，并在需要时返回基站200。清洁机器人100返回基站200时，可以进行充电、拆卸下拖地清洁件320、更新拖地清洁件320。更新拖地清洁件320包括更换干净的拖地清洁件320，或者清洁拖地清洁件320，其中，清洁拖地清洁件320包括烘干拖地清洁件320，也可以同时对拖地清洁件320进行清洁以去除污渍。清洁拖地清洁件320可以是拖地清洁件320安装于清洁机器人100时清洗，也可以是拆卸下来进行清洁完毕再重新安装至清洁机器人100。干净的拖地清洁件320包括更换干净的未使用的拖地清洁件320，或者是至少经过清洁或烘干之一的旧的拖地清洁件320。拖地清洁件320具体类型不限制，如可以是拖布、拖布纸、海绵等；拖地清洁件320可以是一次性的，也可以是重复使用的。As shown in FIG. 1 and FIG. 2 , a schematic diagram of a cleaning robot system according to an embodiment of the present invention is shown. The cleaning robot system includes a cleaning robot 100 and a base station 200 . Wherein, the cleaning robot 100 can walk along a predetermined program, and return to the base station 200 when needed. When the cleaning robot 100 returns to the base station 200 , it can be charged, the floor mopping cleaning part 320 can be disassembled, and the floor mopping cleaning part 320 can be updated. Renewing the mopping and cleaning piece 320 includes replacing a clean mopping and cleaning piece 320, or cleaning the mopping and cleaning piece 320, wherein cleaning the mopping and cleaning piece 320 includes drying the mopping and cleaning piece 320, and the mopping and cleaning piece 320 can also be cleaned at the same time. Clean to remove stains. Cleaning the mopping cleaner 320 may be done when the mopping cleaner 320 is installed on the cleaning robot 100 , or it may be disassembled for cleaning and then reinstalled on the cleaning robot 100 . Cleaning the mopping cleaning piece 320 includes replacing a clean unused mopping cleaning piece 320 , or an old mopping cleaning piece 320 that has at least been cleaned or dried. The specific type of the mopping cleaning part 320 is not limited, such as mopping cloth, mopping paper, sponge, etc.; the mopping cleaning part 320 can be disposable or reusable.
如图2和图3所示，清洁机器人100包括主体10、设于主体10的清扫单元20、拖地单元30、抬升机构40、地毯识别传感器50和控制单元60，拖地单元30安装于抬升机构40。其中，清扫单元20被配置为执行清扫工作，拖地单元30被配置为执行拖地工作，抬升机构40被配置为升降及拆卸拖地单元30，地毯识别传感器50被配置为识别地毯300(如图7和图8所示)，控制单元60可根据识别结果控制清洁机器人100执行不同的工作模式。控制单元60的类型具体不限制，可以是包括嵌入式数字信号处理器(Digital Signal Processor，DSP)、微处理器(Micro Processor Unit，MPU)、特定集成电路(Application Specific Integrated Circuit，ASIC)等。下面结合附图详细说明。As shown in Figures 2 and 3, the cleaning robot 100 includes a main body 10, a cleaning unit 20 located on the main body 10, a mopping unit 30, a lifting mechanism 40, a carpet recognition sensor 50 and a control unit 60, and the mopping unit 30 is installed on the lifting platform. agency40. Wherein, the cleaning unit 20 is configured to perform cleaning work, the mopping unit 30 is configured to perform mopping work, the lifting mechanism 40 is configured to lift and disassemble the mopping unit 30, and the carpet identification sensor 50 is configured to identify the carpet 300 (such as 7 and 8 ), the control unit 60 can control the cleaning robot 100 to execute different working modes according to the identification result. The type of the control unit 60 is not specifically limited, and may include an embedded digital signal processor (Digital Signal Processor, DSP), a microprocessor (Micro Processor Unit, MPU), a specific integrated circuit (Application Specific Integrated Circuit, ASIC), etc. Describe in detail below in conjunction with accompanying drawing.
主体10具体有容纳其他部件的壳体110、带动清洁机器人100自动行走的行走机构120。主体10内设置有可充电电池(未图示)。行走机构120具体为行走轮，也可以为履带。可充电电池的类型可以是镍镉、镍氢、锂离子等类型的电池。The main body 10 specifically includes a housing 110 for accommodating other components, and a traveling mechanism 120 for driving the cleaning robot 100 to move automatically. A rechargeable battery (not shown) is provided in the main body 10 . The traveling mechanism 120 is specifically a traveling wheel, and may also be a crawler belt. The type of rechargeable battery may be a nickel cadmium, nickel metal hydride, lithium ion, etc. type battery.
清扫单元20被配置为在清洁机器人100行走过程中执行清扫工作。示意性的，清扫单元20包括设置在主体10的底部的滚刷210和边刷220。滚刷210和边刷220可由电机驱动旋转。清扫单元20还包括设置在主体10底部的尘盒230。滚刷210和边刷220为清扫单元20的清洁工作头。滚刷210和边刷220还可以择一地设置。在其他的实施例中，清洁工作头还可以是真空吸尘口。The cleaning unit 20 is configured to perform cleaning work while the cleaning robot 100 is walking. Schematically, the cleaning unit 20 includes a roller brush 210 and a side brush 220 disposed at the bottom of the main body 10 . The roller brush 210 and the side brush 220 may be driven to rotate by a motor. The cleaning unit 20 also includes a dust box 230 disposed at the bottom of the main body 10 . The roller brush 210 and the side brush 220 are cleaning heads of the cleaning unit 20 . The rolling brush 210 and the side brush 220 can also be arranged alternatively. In other embodiments, the cleaning head can also be a vacuum suction port.
拖地单元30被配置为在清洁机器人100行走过程中执行拖地任务，其具有拖地清洁件。示意性的，拖地单元30包括拖布板310、安装在拖布板310上的拖地清洁件320。如图3所示，清洁机器人100还可以包括可为拖地单元30自动供水的加水模块70。加水模块70可被控制以根据需要向拖地清洁件320上喷水，使拖地单元30保持湿润状态。The mopping unit 30 is configured to perform a mopping task while the cleaning robot 100 is walking, and has a mopping cleaning element. Schematically, the mopping unit 30 includes a mopping board 310 and a mopping cleaning member 320 installed on the mopping board 310 . As shown in FIG. 3 , the cleaning robot 100 may further include a water adding module 70 capable of automatically supplying water to the mopping unit 30 . The water adding module 70 can be controlled to spray water on the mopping cleaning member 320 as needed, so as to keep the mopping unit 30 in a wet state.
抬升机构40被配置为安装拖地单元30，其可抬升或降下拖地单元30，且可将拖地单元30自抬升机构40顶出。抬升机构40在抬升拖地单元30时，加水模块70不工作，加水模块70不向拖地清洁件320上喷水，拖地单元30不工作。The lifting mechanism 40 is configured to install the mopping unit 30 , it can lift or lower the mopping unit 30 , and push the mopping unit 30 out from the lifting mechanism 40 . When the lifting mechanism 40 lifts the mopping unit 30, the water adding module 70 does not work, the water adding module 70 does not spray water on the mopping cleaning part 320, and the mopping unit 30 does not work.
示意性的，抬升机构40包括电机410、由电机410驱动旋转的驱动轴420、安装于驱动轴420的第一凸轮430和第二凸轮440，及拖布板安装架450。拖布板安装架450能够与第一凸轮430接触。拖地单元30的拖布板310安装于拖布板安装架450，其能够与第二凸轮440相接触。Schematically, the lifting mechanism 40 includes a motor 410 , a drive shaft 420 driven to rotate by the motor 410 , a first cam 430 and a second cam 440 mounted on the drive shaft 420 , and a mopping plate mounting frame 450 . The mop board installation frame 450 can be in contact with the first cam 430 . The mopping board 310 of the mopping unit 30 is installed on the mopping board installation frame 450 , which can be in contact with the second cam 440 .
具体而言，拖地单元30的拖布板310可通过磁铁吸附于拖布板安装架450。驱动轴420旋转时，通过第一凸轮430驱动拖布板安装架450带动拖地单元30升降，且当第一凸轮430抬升拖布板310至最高点时，第二凸轮440使拖地单元30摆脱磁铁的吸附力而与拖布板安装架450拆卸。第一凸轮430反方向旋转时，拖布板安装架450下降。从而实现拖地单元30升降和取下拖地单元30。当抬升机构40将拖地单元30抬升时，拖地单元30不能够执行拖地工作。抬升机构40降下拖地单元30时，拖地单元30可以执行拖地工作。Specifically, the mopping board 310 of the mopping unit 30 can be attracted to the mopping board installation frame 450 through magnets. When the drive shaft 420 rotates, the first cam 430 drives the mopping board installation frame 450 to drive the mopping unit 30 up and down, and when the first cam 430 lifts the mopping board 310 to the highest point, the second cam 440 makes the mopping unit 30 free from the magnet The suction force and the mop board installation frame 450 are disassembled. When the first cam 430 rotates in the opposite direction, the mopping board installation frame 450 descends. Thereby, the mopping unit 30 is lifted and removed and the mopping unit 30 is removed. When the lifting mechanism 40 lifts the mopping unit 30, the mopping unit 30 cannot perform mopping work. When the lifting mechanism 40 lowers the mopping unit 30, the mopping unit 30 can perform mopping work.
如图3所示，拖布板安装架450通过方框460与第一凸轮430接触，其中方框460罩设在第一凸轮430外。第一凸轮430旋转时，第一凸轮430的凸轮面与方框460的内壁接触。上述第一凸轮430是用于实现拖地单元30的升降单元，第二凸轮440是用于顶出拖地单元30的顶出单元。可理解地，抬升机构40中的升降单元不限于上述的第一凸轮430，如可以为由电机驱动的直线运动模组。抬升机构40中的顶出单元不限于上述的第二凸轮440，如可以为由电机驱动的直线运动模组。As shown in FIG. 3 , the mopping plate installation frame 450 is in contact with the first cam 430 through a square frame 460 , wherein the square frame 460 is set outside the first cam 430 . When the first cam 430 rotates, the cam surface of the first cam 430 contacts the inner wall of the frame 460 . The above-mentioned first cam 430 is a lifting unit for realizing the mopping unit 30 , and the second cam 440 is a ejecting unit for pushing out the mopping unit 30 . Understandably, the lifting unit in the lifting mechanism 40 is not limited to the above-mentioned first cam 430 , for example, it may be a linear motion module driven by a motor. The ejecting unit in the lifting mechanism 40 is not limited to the above-mentioned second cam 440 , for example, it may be a linear motion module driven by a motor.
另外，上述示意性的方案中，抬升机构40抬升拖地单元30时，可同时将拖地单元30顶起以从抬升机构40上拆卸下来。抬升机构40通过将拖地单元30顶起以从抬升机构40上拆卸下来，实现拖地单元30与清洁机器人的脱离。之后由基站200进行其他的动作，如临时存储拆卸的拖地单元、更换干净的拖地单元30。在其他的方案中，也可以是先抬升拖地单元30，但不顶起拖地单元30，在需要时顶起拖地单元。本实施例中，通过将整个拖地单元30一起脱离或更换，从而实现脱离更换拖地清洁件320。然而，在其他的实施例中，也可以是仅更换拖地清洁件320，即不更换拖地单元30中的拖布板310，此时也可理解为拖地单元30仅包括拖地清洁件320，抬升机构40仅抬升或降下拖地清洁件320。需要指出的是，拖地清洁件的拆卸(或抬升)可以通过拖布板的拆卸(或抬升)实现。In addition, in the above schematic solution, when the lifting mechanism 40 lifts the mopping unit 30 , the mopping unit 30 can be simultaneously lifted up to be detached from the lifting mechanism 40 . The lifting mechanism 40 lifts the mopping unit 30 to disassemble it from the lifting mechanism 40 , so that the mopping unit 30 is separated from the cleaning robot. Then the base station 200 performs other actions, such as temporarily storing the disassembled mopping unit and replacing the clean mopping unit 30 . In other solutions, the mopping unit 30 can also be raised first, but the mopping unit 30 is not jacked up, and the mopping unit is jacked up when needed. In this embodiment, the whole mopping unit 30 is detached or replaced together, so as to achieve detachment and replacement of the mopping cleaning member 320 . However, in other embodiments, it is also possible to replace only the mopping cleaning part 320, that is, not to replace the mopping board 310 in the mopping unit 30. At this time, it can also be understood that the mopping unit 30 only includes the mopping cleaning part 320. , the lifting mechanism 40 only lifts or lowers the mopping cleaning member 320 . It should be pointed out that the disassembly (or lifting) of the mopping cleaning part can be realized by disassembling (or lifting) the mopping board.
另外，本实施例中，拖地单元30的拖布板310与抬升机构40可以是一体，二者一起升降；也可以是独立的两个部件，拖布板310在抬升机构40的驱动下升降。In addition, in this embodiment, the mopping board 310 and the lifting mechanism 40 of the mopping unit 30 can be integrated, and they can be raised and lowered together;
如图4所示，基站200具有可使清洁机器人100驶入的空间201。基站200内设有更换组件202，更换组件202被配置为根据更换指令在清洁机器人100驶入基站200时接收顶出的拖地单元30且更换干净的拖地单元30。更换组件202也可以仅接收第二凸轮440顶出的拖地单元30，即仅将拖地单元30放入拖地单元存储位，但不更换干净的拖地单元30。如图2所示，清洁机器人100还包括检测组件80，检测组件80被配置为检测拖地单元30是否处于拖地状态及清扫单元20是否处于清扫状态。示意性的，检测组件80包括位置传感器，通过检测抬升机构40的位置变化来判断拖地单元30是否处于拖地状态。示意性的，检测组件80包括角度传感器，其可以通过检测清扫单元20的电机的运转来判断是否处于清扫状态。As shown in FIG. 4 , the base station 200 has a space 201 into which the cleaning robot 100 can drive. The base station 200 is provided with a replacement assembly 202, and the replacement assembly 202 is configured to receive the ejected mopping unit 30 and replace the clean mopping unit 30 when the cleaning robot 100 drives into the base station 200 according to the replacement instruction. The replacement assembly 202 can also only receive the mopping unit 30 pushed out by the second cam 440 , that is, only put the mopping unit 30 into the mopping unit storage position, but not replace the clean mopping unit 30 . As shown in FIG. 2 , the cleaning robot 100 further includes a detection component 80 configured to detect whether the mopping unit 30 is in a mopping state and whether the cleaning unit 20 is in a cleaning state. Schematically, the detection component 80 includes a position sensor, and judges whether the mopping unit 30 is in the mopping state by detecting the position change of the lifting mechanism 40 . Schematically, the detection component 80 includes an angle sensor, which can detect whether the cleaning unit 20 is in a cleaning state by detecting the operation of the motor of the cleaning unit 20 .
上述实施例中，更换组件202可与抬升机构40配合实现更换干净的拖地单元30。在其他的实施例中，也可以是更换组件202独自完成更换拖地单元30的动作。另外，更换组件202还可以仅被配置为拆卸拖地单元30，使拖地单元30与清洁机器人100脱离。In the above embodiments, the replacement assembly 202 can cooperate with the lifting mechanism 40 to replace the clean mopping unit 30 . In other embodiments, the replacement assembly 202 can also complete the replacement of the mopping unit 30 alone. In addition, the replacement assembly 202 can also be configured only to disassemble the mopping unit 30 to separate the mopping unit 30 from the cleaning robot 100 .
一些实施例中，基站200包括为所述清洁机器人100清洁拖地清洁件320的清洁组件。清洁组件为清洁机器人100的拖地清洁件320进行清洁，使其处于干净状态。In some embodiments, the base station 200 includes a cleaning component for the cleaning robot 100 to clean the mopping cleaner 320 . The cleaning component cleans the mopping cleaning part 320 of the cleaning robot 100 to keep it in a clean state.
一些实施例中，基站200包括拖地单元存储位，可以临时存储拆卸下来的拖地单元30。存储期间，例如可以对拖地单元30进行清洗，使其处于干净状态；或，在所述拖地单元存储位对拖地单元30进行更换；需要指出的是，在对拖地单元30进行清洗或更换时，可以仅清洗或更换拖地清洁件320，也可以连同安装拖地清洁件320的拖布板310一起清洗或更换；当然还可以连同拖地单元30的其他组件一起清洗或更换，对此本实施例不做具体限定。In some embodiments, the base station 200 includes a mopping unit storage place, which can temporarily store the removed mopping unit 30 . During storage, for example, the mopping unit 30 can be cleaned to make it in a clean state; or, the mopping unit 30 is replaced at the mopping unit storage position; Or when changing, you can only clean or replace the mopping cleaning part 320, or you can clean or replace it together with the mopping plate 310 that installs the mopping cleaning part 320; There is no specific limitation in this embodiment.
一些实施例中，基站200具有为所述清洁机器人拆卸拖地清洁件320的拆卸组件，拆卸组件被配置为拆卸拖地清洁件320，但不被配置为更换拖地清洁件320。In some embodiments, the base station 200 has a detachment assembly for the cleaning robot to detach the mopping and cleaning part 320 , the detachment assembly is configured to disassemble the mopping and cleaning part 320 , but not configured to replace the mopping and cleaning part 320 .
一些实施例中，基站200具有为所述清洁机器人100的清洁拖地清洁件320的清洁组件。当清洁机器人100驶入基站200时，清洁组件可以在为清洁机器人100上的拖地清洁件320进行清洗。In some embodiments, the base station 200 has a cleaning component for cleaning the mopping member 320 of the cleaning robot 100 . When the cleaning robot 100 drives into the base station 200 , the cleaning component may be cleaning the mopping cleaning member 320 on the cleaning robot 100 .
为提高使用便利性，满足不同场景的工作需求，清洁机器人100作业时可具有第一工作模式、第二工作模式和第三工作模式，使得用户可根据需要选择其中一种使用。第一工作模式定义为边扫边拖模式，即清洁机器人100行走时，清扫单元20执行清扫任务，同时拖地单元30执行拖地工作。第二工作模式定义为先扫后拖模式，即清洁机器人100先以扫地模式清理一次待清洁区域，再以拖地模式工作；其中，扫地 模式中，拖地单元30不工作，而拖地模式中，清扫单元20不工作。第三工作模式是单纯的扫地模式。In order to improve the convenience of use and meet the working needs of different scenarios, the cleaning robot 100 can have a first working mode, a second working mode and a third working mode during operation, so that users can choose one of them to use according to their needs. The first working mode is defined as the sweeping and mopping mode, that is, when the cleaning robot 100 is walking, the cleaning unit 20 performs cleaning tasks, and the mopping unit 30 performs mopping work at the same time. The second mode of operation is defined as the mode of mopping after sweeping first, that is, the cleaning robot 100 first cleans the area to be cleaned once in the sweeping mode, and then works in the mopping mode; wherein, in the sweeping mode, the mopping unit 30 does not work, and the mopping mode , the cleaning unit 20 does not work. The third working mode is a simple sweeping mode.
发明人研究发现，当拖地单元30处于拖地状态时，可能是处于上述的第一工作模式或第二工作模式，由于拖地单元30处于湿润、脏污状态，当清洁机器人100目标区域为地毯300时，现有的清扫策略无法应对不同厚度的地毯300，导致遇到较厚地毯时不能够清理地毯300或者弄脏地毯300。The inventor found that when the mopping unit 30 is in the mopping state, it may be in the above-mentioned first working mode or the second working mode. Since the mopping unit 30 is in a wet and dirty state, when the cleaning robot 100 target area is When the carpet 300 is used, the existing cleaning strategy cannot deal with the carpet 300 of different thicknesses, resulting in that the carpet 300 cannot be cleaned or the carpet 300 is dirty when a thicker carpet is encountered.
另外，发明人研究发现，即使清洁机器人处于扫地模式时(可以是先扫后拖模式中的扫地模式，也可以是上述的第三工作模式)，当遇到较厚地毯时，携带的拖地清洁件320可能处于脏污状态，此时若继续扫地，则拖地清洁件320仍可能弄脏地毯300。In addition, the inventors have found that even when the cleaning robot is in the sweeping mode (it can be the sweeping mode in the first sweeping and then mopping mode, or the third working mode mentioned above), when encountering a thicker carpet, the mop carried The cleaning part 320 may be in a dirty state, and if sweeping continues at this time, the mopping cleaning part 320 may still dirty the carpet 300 .
针对上述问题，本发明的实施例提出如下改进方案。In view of the above problems, embodiments of the present invention propose the following improvement solutions.
地毯识别传感器50被配置为识别地毯300并将检测到地毯300的厚度值发送给控制单元60，控制单元60可根据地毯300的厚度值的不同控制清洁机器人100执行不同的工作模式。示意性的，地毯识别传感器50可利用超声波检测方式识别地毯300的厚度，可据物体反射的能量变化和时间来检测，对应于电子信号就是数值的变化，可以通过测试划分数值区间，通过这个数值区间的划分来区别地毯300的厚度。如图2所示，地毯识别传感器50可以设置于机器人侧边前部或机器人地面前部。示意性的，地毯识别传感器50可以为视觉传感器，可以通过图像检测地毯300的侧边厚度，可以设置于机器人侧边前部中间位置。The carpet identification sensor 50 is configured to identify the carpet 300 and send the detected thickness value of the carpet 300 to the control unit 60 , and the control unit 60 can control the cleaning robot 100 to perform different working modes according to the thickness value of the carpet 300 . Schematically, the carpet identification sensor 50 can identify the thickness of the carpet 300 by means of ultrasonic detection, which can be detected according to the energy change and time reflected by the object. The thickness of the carpet 300 is distinguished by the division of intervals. As shown in FIG. 2 , the carpet recognition sensor 50 can be arranged at the front of the side of the robot or the front of the ground of the robot. Schematically, the carpet recognition sensor 50 can be a visual sensor, which can detect the side thickness of the carpet 300 through an image, and can be arranged in the middle of the front side of the robot.
控制单元60被配置为被配置为在：地毯识别传感器50检测到的所述地毯300厚度值满足0<d≤H1，也即地毯300厚度值小于等于第一预设值时控制抬升机构40将拖地单元30抬升且清洁机器人100驶上地毯300。The control unit 60 is configured to be configured to control the lifting mechanism 40 when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 satisfies 0<d≤H1, that is, when the thickness value of the carpet 300 is less than or equal to the first preset value. The mopping unit 30 is lifted and the cleaning robot 100 drives onto the carpet 300 .
控制单元60还被配置为：所述地毯识别传感器检测到的所述地毯厚度值大于第一预设值(H1)小于等于第二预设值(H2)时，即地毯300厚度d满足H1<d≤H2时，控制所述清洁机器人100脱离或者控制所述清洁机器人100更新所述拖地清洁件320,使得所述拖地清洁件处于干净状态；且控制所述清扫单元20由非清扫状态切换到扫地状态清洁机器人100驶上地毯300。The control unit 60 is further configured to: when the carpet thickness value detected by the carpet recognition sensor is greater than the first preset value (H1) and less than or equal to the second preset value (H2), that is, the thickness d of the carpet 300 satisfies H1< When d≤H2, control the cleaning robot 100 to disengage or control the cleaning robot 100 to update the mopping cleaning part 320, so that the mopping cleaning part is in a clean state; and control the cleaning unit 20 from a non-cleaning state Switch to the sweeping state and the cleaning robot 100 drives onto the carpet 300 .
其中，清洁机器人100脱离拖地清洁件320，指将拖地清洁件320拆卸，在下一次安装拖地清洁件320之前，清洁机器人100运行时处于未携带拖地清洁件320的状态。可以是清洁机器人100自己拆卸，也可以是由基站200进行拆卸。更新所述拖地清洁件320可以是更换新的拖地清洁件320，或者清洁正在使用的拖地清洁件320。Wherein, the cleaning robot 100 disengages from the mopping and cleaning part 320 , which refers to disassembling the mopping and cleaning part 320 , and before the next installation of the mopping and cleaning part 320 , the cleaning robot 100 is in a state of not carrying the mopping and cleaning part 320 during operation. The cleaning robot 100 may be disassembled by itself, or the base station 200 may disassemble. Updating the mopping and cleaning piece 320 may be replacing the mopping and cleaning piece 320 with a new one, or cleaning the mopping and cleaning piece 320 being used.
控制单元60还被配置为：地毯识别传感器50检测到的所述地毯300厚度值大于第二预设值时，即地毯厚度d满足H2<d时，控制所述清洁机器人100沿所述地毯300的边缘行走或与所述地毯有间距地行走；The control unit 60 is further configured to: when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than a second preset value, that is, when the carpet thickness d satisfies H2<d, control the cleaning robot 100 to move along the carpet 300 walks along the edge of or spaced from said carpet;
当然，在其他实施例中，也可以清洁机器人100也可以配置包括避让模式，使得清洁机器人在避让模式下，沿地毯300边缘行走或者与地毯300有间距的行走。Of course, in other embodiments, the cleaning robot 100 can also be configured to include an avoidance mode, so that the cleaning robot walks along the edge of the carpet 300 or walks with a distance from the carpet 300 in the avoidance mode.
控制单元60还被配置为：地毯识别传感器50检测到的所述地毯300厚度值大于第二预设值时，控制拖地清洁件320从清洁机器人100脱离或者控制清洁机器人100更新述拖地清洁件320，使得拖地清洁件320处于干净状态,控制清扫单元由非清扫状态切换到扫地状态且驶上地毯。The control unit 60 is further configured to: when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than a second preset value, control the mopping cleaning part 320 to separate from the cleaning robot 100 or control the cleaning robot 100 to update the mopping cleaning function. Part 320, so that the mopping cleaning part 320 is in a clean state, and the control cleaning unit is switched from a non-sweeping state to a sweeping state and drives onto the carpet.
参考图5，示意了本发明实施例的清洁机器人100的控制原理，下面简要介绍。Referring to FIG. 5 , the control principle of the cleaning robot 100 according to the embodiment of the present invention is schematically illustrated, which will be briefly introduced below.
以拖地单元30处于拖地状态为例，地毯传感器实时检测清洁机器人100前方目标区域是否为地毯300并将获取的地毯300的厚度值发送给控制单元60。Taking the mopping unit 30 as an example, the carpet sensor detects in real time whether the target area in front of the cleaning robot 100 is a carpet 300 and sends the acquired thickness value of the carpet 300 to the control unit 60 .
地毯传感器未检测到地毯300时(即地毯300厚度值为0),拖地单元30不抬起，清洁机器人100继续原来的清扫策略。When the carpet sensor does not detect the carpet 300 (that is, the thickness of the carpet 300 is 0), the mopping unit 30 does not lift up, and the cleaning robot 100 continues the original cleaning strategy.
地毯传感器检测到地毯300厚度值小于等于第一预设值时，定义为短毛地毯，抬升机构40将拖地单元30抬升。若清洁机器人100处于第一工作模式(边扫边拖模式)，则控制清洁机器人100驶上地毯300， 且清洁机器人100的清扫单元20执行清扫工作，以清扫地毯300。地毯传感器检测到地毯300厚度值大于第一预设值小于等于第二预设值时，若清洁机器人100处于第二工作模式(先扫后拖模式)，则清洁机器人100将在清扫单元20不执行清扫工作的状态下跨越地毯300。本发明的实施例中，跨越地毯300，指清洁机器人100从地毯300的一侧驶过地毯300并到达地毯300的另一侧。When the carpet sensor detects that the thickness of the carpet 300 is less than or equal to the first preset value, it is defined as a short-pile carpet, and the lifting mechanism 40 lifts the mopping unit 30 . If the cleaning robot 100 is in the first working mode (sweeping and dragging mode), the cleaning robot 100 is controlled to drive onto the carpet 300 , and the cleaning unit 20 of the cleaning robot 100 performs cleaning work to clean the carpet 300 . When the carpet sensor detects that the thickness value of the carpet 300 is greater than the first preset value and less than or equal to the second preset value, if the cleaning robot 100 is in the second working mode (sweeping first and then mopping mode), the cleaning robot 100 will be in the cleaning unit 20. The carpet 300 is straddled while the cleaning work is being performed. In the embodiment of the present invention, crossing the carpet 300 means that the cleaning robot 100 drives from one side of the carpet 300 across the carpet 300 and reaches the other side of the carpet 300 .
也就是说，地毯识别传感器50检测到的地毯300的厚度值小于等于第一预设值时，控制清洁机器人100抬升拖地清洁件320。无论后续清洁机器人如何经过地毯300均不会弄脏地毯300。That is to say, when the thickness value of the carpet 300 detected by the carpet identification sensor 50 is less than or equal to the first preset value, the cleaning robot 100 is controlled to lift the mopping cleaning member 320 . No matter how the subsequent cleaning robot passes over the carpet 300, the carpet 300 will not be soiled.
地毯传感器检测到地毯300厚度值大于第一预设值小于等于第二预设值时，定义为长毛地毯。长毛地毯，清洁机器人100仍可以轻松通过；控制单元60控制拖地清洁件320从清洁机器人100脱离或者控制所述清洁机器人100更新拖地清洁件320，使得所述拖地清洁件320处于干净状态，从而当清洁机器人100驶上地毯时不会弄脏地毯300。清洁机器人100可返回基站200拆卸拖地单元30，或者利用基站200内的更换组件202更换干净的拖地单元30，或者在基站200内(或其他位置)对拖布单元30进行清洁，从而后续清洁机器人100驶上地毯300后无论是否清扫地毯300均不会弄脏地毯300。When the carpet sensor detects that the thickness of the carpet 300 is greater than the first preset value and less than or equal to the second preset value, it is defined as a long-pile carpet. Long hair carpet, cleaning robot 100 can still pass through easily; state so that the carpet 300 will not be soiled when the cleaning robot 100 drives onto the carpet. The cleaning robot 100 can return to the base station 200 to disassemble the mopping unit 30, or use the replacement assembly 202 in the base station 200 to replace the clean mopping unit 30, or clean the mopping unit 30 in the base station 200 (or other positions), so that subsequent cleaning After the robot 100 drives onto the carpet 300, no matter whether the carpet 300 is cleaned or not, the carpet 300 will not be soiled.
具体而言，地毯传感器检测到地毯300厚度值大于第一预设值小于等于第二预设值(H1<d≤H2)时，若清洁机器人100处于第一工作模式，则清洁机器人100将在保持抬升拖地单元30的状态下继续清扫地毯300，此时拖地清洁件320被更新故不会污染地毯300。地毯传感器检测到地毯300厚度d满足H1<d≤H2时，若清洁机器人100处于第二工作模式，则清洁机器人100将沿地毯300的边缘行走，此时拖地清洁件320被更新故不会弄脏地毯的边缘；或者，清洁机器人100保持抬升拖地单元30且清扫单元20不执行清扫工作的状态下跨越地毯300，此时拖地清洁件320被更新，不会弄脏地毯。Specifically, when the carpet sensor detects that the thickness value of the carpet 300 is greater than the first preset value and less than or equal to the second preset value (H1<d≤H2), if the cleaning robot 100 is in the first working mode, the cleaning robot 100 will Continue to clean the carpet 300 while maintaining the state of lifting the mopping unit 30 . At this time, the mopping cleaning piece 320 is updated so that the carpet 300 will not be polluted. When the carpet sensor detects that the thickness d of the carpet 300 satisfies H1<d≤H2, if the cleaning robot 100 is in the second working mode, the cleaning robot 100 will walk along the edge of the carpet 300. The edge of the carpet is dirty; or, the cleaning robot 100 keeps lifting the mopping unit 30 and the sweeping unit 20 does not perform cleaning work and crosses the carpet 300. At this time, the mopping cleaning part 320 is updated so as not to make the carpet dirty.
另外，地毯传感器检测到地毯300厚度值大于第一预设值小于等于第二预设值时，清洁机器人100可以不考虑何种工作模式，一律驶上地毯300，控制单元60控制清扫单元20由非清扫状态切换到扫地状态，以地毯20进行清扫，此时不会弄脏地毯300。In addition, when the carpet sensor detects that the thickness value of the carpet 300 is greater than the first preset value and less than or equal to the second preset value, the cleaning robot 100 may drive on the carpet 300 regardless of the working mode, and the control unit 60 controls the cleaning unit 20 by The non-cleaning state is switched to the sweeping state, and the carpet 20 is used for cleaning without making the carpet 300 dirty.
地毯300厚度大于第二预设值时，定义为超长毛地毯，控制清洁机器人100沿地毯300的边缘行走或与地毯有间距地行走。当然，在其他的实施例中，地毯300厚度大于第二预设值时，控制单元60也可以控制拖地清洁件320从清洁机器人100脱离或者控制清洁机器人100更新拖地清洁件320，使得拖地清洁件320处于干净状态,控制清洁机器人100驶上地毯300且清扫单元20执行清扫工作。When the thickness of the carpet 300 is greater than the second preset value, it is defined as an extra-long-pile carpet, and the cleaning robot 100 is controlled to walk along the edge of the carpet 300 or at a distance from the carpet. Of course, in other embodiments, when the thickness of the carpet 300 is greater than the second preset value, the control unit 60 can also control the mopping cleaning part 320 to separate from the cleaning robot 100 or control the cleaning robot 100 to update the mopping cleaning part 320, so that the mopping The floor cleaning part 320 is in a clean state, the cleaning robot 100 is controlled to drive onto the carpet 300 and the cleaning unit 20 performs cleaning work.
在其他的实施例中，地毯300厚度大于第二预设值时，控制清洁机器人100进入避让模式，使得清洁机器人100在避让模式下，沿地毯300边缘行走或者与地毯300有间距的行走。In other embodiments, when the thickness of the carpet 300 is greater than the second preset value, the cleaning robot 100 is controlled to enter the avoidance mode, so that the cleaning robot 100 walks along the edge of the carpet 300 or walks with a distance from the carpet 300 in the avoidance mode.
示意性，第一预设值H1为10-15mm，第二预设值H2为15-25mm。较佳地，第一预设值H1为12mm，第二预设值H2为20mm。12mm及以下厚度的地毯300定义为短毛地毯，清洁机器人100只需要抬升拖地单元30即可，清洁机器人100驶上地毯300后无论是否清扫地毯300均不会弄脏地毯300。12mm以上、20mm以下厚度的地毯300定义为长毛地毯。需要说明，上述H1和H2的数值均为举例，具体实施时，可以参考抬升机构40可抬升拖地单元30的高度的能力来重新定义上述的H1和H2。如，抬升机构40的抬升能力只有8mm，则H1可确定为8mm。Schematically, the first preset value H1 is 10-15mm, and the second preset value H2 is 15-25mm. Preferably, the first preset value H1 is 12mm, and the second preset value H2 is 20mm. The carpet 300 with a thickness of 12 mm or less is defined as a short-pile carpet. The cleaning robot 100 only needs to lift the mopping unit 30. After the cleaning robot 100 drives on the carpet 300, it will not stain the carpet 300 whether or not it cleans the carpet 300. Above 12 mm, The carpet 300 with a thickness of less than 20 mm is defined as a long-pile carpet. It should be noted that the above-mentioned values of H1 and H2 are examples, and during specific implementation, the above-mentioned H1 and H2 can be redefined with reference to the ability of the lifting mechanism 40 to raise the height of the mopping unit 30 . For example, the lifting capacity of the lifting mechanism 40 is only 8mm, then H1 can be determined as 8mm.
示意性的，控制单元60被配置为:在清洁机器人100的第一工作模式下：地毯识别传感器50检测到的地毯300厚值小于等于第一预设值时，控制清洁机器人100将拖地单元30抬升，且控制清洁机器人100驶上所述地毯300并对地毯300进行清扫。Schematically, the control unit 60 is configured to: in the first working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet identification sensor 50 is less than or equal to the first preset value, the cleaning robot 100 is controlled to mop the floor unit 30 is raised, and the cleaning robot 100 is controlled to drive onto the carpet 300 and clean the carpet 300.
示意性的，控制单元60被配置为:在清洁机器人100的第一工作模式下：在地毯识别传感器50检测到的地毯300厚度值大于第一预设值小于等于第二预设值时，控制清洁机器人100由当前位置驶入基站200且在基站200内脱离拖地清洁件，且在拖地清洁件320脱离后，控制清洁机器人100返回当前位置后并对地毯300执行所述清扫工作。Schematically, the control unit 60 is configured to: in the first working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet identification sensor 50 is greater than the first preset value and less than or equal to the second preset value, control The cleaning robot 100 drives into the base station 200 from the current position and disengages from the mopping and cleaning part in the base station 200, and after the mopping and cleaning part 320 is disengaged, the cleaning robot 100 is controlled to return to the current position and perform the cleaning work on the carpet 300.
示意性的，控制单元60被配置为:在清洁机器人100的第一工作模式下：在地毯识别传感器50检测到的地毯300厚度值大于第一预设值小于等于第二预设值，清扫工作结束后，控制所述清洁机器人100返回基站200安装拖布单元30，并返回以继续同时执行清扫工作和拖地工作。Schematically, the control unit 60 is configured to: in the first working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than the first preset value and less than or equal to the second preset value, the cleaning work After the end, the cleaning robot 100 is controlled to return to the base station 200 to install the mop unit 30 , and return to continue cleaning and mopping at the same time.
示意性的，控制单元60被配置为:在清洁机器人100的第一工作模式下：在地毯识别传感器50检测到的地毯300厚度值大于第一预设值小于等于第二预设值时，控制清洁机器人100由当前位置驶入基站200，且在基站200内更新拖地清洁件320，使得拖地清洁件320处于干净状态，且控制所述清洁机器人100返回当前位置并对地毯300执行清扫工作。示意性地，如图9所示，在基站200内采用更换拖布单元30的方式更新拖地清洁件320，更换组件202下降将顶起的拖地单元30转移走并重新放置新的拖地单元30。Schematically, the control unit 60 is configured to: in the first working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet identification sensor 50 is greater than the first preset value and less than or equal to the second preset value, control The cleaning robot 100 drives into the base station 200 from the current position, and updates the mopping and cleaning part 320 in the base station 200, so that the mopping and cleaning part 320 is in a clean state, and controls the cleaning robot 100 to return to the current position and perform cleaning work on the carpet 300 . Schematically, as shown in FIG. 9 , the mopping cleaning part 320 is updated in the base station 200 by replacing the mop unit 30 , and the replacement assembly 202 descends to transfer the raised mopping unit 30 away and place a new mopping unit again. 30.
示意性的，控制单元60被配置为:在清洁机器人100的第二工作模式下：控制所述清洁机器人100在保持抬升所述拖地清洁件320且所述清扫单元20不执行清扫工作的状态下跨越所述地毯300，且所述清洁机器人100跨越所述地毯300后，控制所述拖地清洁件320执行所述拖地工作。第二工作模式下，地毯300已经提前被清扫单元20打扫完毕，故清洁机器人100跨越地毯300后再继续执行拖地工作即可。Schematically, the control unit 60 is configured to: in the second working mode of the cleaning robot 100: control the cleaning robot 100 to keep lifting the mopping cleaner 320 and the cleaning unit 20 does not perform cleaning work After crossing the carpet 300, and the cleaning robot 100 crosses the carpet 300, the mopping cleaner 320 is controlled to perform the mopping work. In the second working mode, the carpet 300 has been cleaned by the cleaning unit 20 in advance, so the cleaning robot 100 can continue to perform the mopping work after crossing the carpet 300 .
示意性的，控制单元60被配置为:在清洁机器人100的第二工作模式下：地毯识别传感器50检测到的地毯300厚度值大于第一预设值小于等于第二预设值时，控制所述清洁机器人100由当前位置驶入基站200且在所述基站内更换新的拖地清洁件320，且控制所述清洁机器人100返回所述当前位置、并在保持抬升所述拖地清洁件320且所述清扫单元20不执行清扫工作的状态下跨越所述地毯300，且所述清洁机器人100跨越所述地毯300后，控制所述拖地清洁件320执行所述拖地工作；或者所述地毯识别传感器检测到的所述地毯厚度d满足H1<d≤H2时，控制所述清洁机器100沿所述地毯300的边缘行走且所述拖地清洁件320执行所述拖地工作。无论跨越地毯300后再拖地，还是沿地毯300的边缘行走且进行拖地，由于拖地清洁件320被更新，不会污染地毯300。Schematically, the control unit 60 is configured to: in the second working mode of the cleaning robot 100: when the thickness value of the carpet 300 detected by the carpet identification sensor 50 is greater than the first preset value and less than or equal to the second preset value, the control unit The cleaning robot 100 drives into the base station 200 from the current position and replaces a new mopping cleaning part 320 in the base station, and controls the cleaning robot 100 to return to the current position, and keeps lifting the mopping cleaning part 320 And the cleaning unit 20 crosses the carpet 300 without performing cleaning work, and after the cleaning robot 100 crosses the carpet 300, controls the mopping cleaner 320 to perform the mopping work; or the When the thickness d of the carpet detected by the carpet identification sensor satisfies H1<d≤H2, the cleaning machine 100 is controlled to walk along the edge of the carpet 300 and the mopping cleaner 320 performs the mopping work. Regardless of mopping the floor after crossing the carpet 300 , or walking along the edge of the carpet 300 and mopping the floor, the carpet 300 will not be polluted because the mopping cleaning part 320 is updated.
需要说明的是，若此时清洁机器人100处于扫地模式，则按以下方式处理：It should be noted that if the cleaning robot 100 is in the sweeping mode at this time, it will be processed in the following manner:
地毯传感器检测到地毯300厚度值小于等于第一预设值时，定义为短毛地毯，抬升机构40将拖地单元30抬升。若清洁机器人100处于第一工作模式，则控制清洁机器人100驶上地毯300，且清洁机器人100的清扫单元20执行清扫工作。When the carpet sensor detects that the thickness of the carpet 300 is less than or equal to the first preset value, it is defined as a short-pile carpet, and the lifting mechanism 40 lifts the mopping unit 30 . If the cleaning robot 100 is in the first working mode, the cleaning robot 100 is controlled to drive onto the carpet 300 , and the cleaning unit 20 of the cleaning robot 100 performs cleaning work.
地毯识别传感器50检测到的地毯300厚度值大于第一预设值小于等于第二预设值时，清洁机器人100可返回基站200拆卸拖地单元30，或者利用基站200内的更换组件202更换新的拖地单元30，或者在基站200内(或其他位置)对拖布单元30进行清洁，从而后续清洁机器人100驶上地毯300后无论是否清扫地毯300均不会弄脏地毯300。When the thickness value of the carpet 300 detected by the carpet recognition sensor 50 is greater than the first preset value and less than or equal to the second preset value, the cleaning robot 100 can return to the base station 200 to disassemble the mopping unit 30, or use the replacement component 202 in the base station 200 to replace it with a new one. The mopping unit 30, or clean the mopping unit 30 in the base station 200 (or other locations), so that the subsequent cleaning robot 100 will not dirty the carpet 300 no matter whether it cleans the carpet 300 or not.
地毯300厚度值大于第二预设值时，定义为超长毛地毯，控制清洁机器人100进入避让模式，避让模式包括清洁机器人100沿地毯300的边缘行走，绕开地毯300。When the thickness value of the carpet 300 is greater than the second preset value, it is defined as an ultra-long-pile carpet, and the cleaning robot 100 is controlled to enter the avoidance mode. The avoidance mode includes the cleaning robot 100 walking along the edge of the carpet 300 and avoiding the carpet 300 .
呈上述，下面再结合具体应用场景进行描述。Based on the above, the following description will be combined with specific application scenarios.
如图6，清洁机器人100的拖地单元30处于拖地状态。如图7所示，当遇到厚度d在不超过10mm的地毯300时，清洁机器人100的抬升机构40抬升拖地单元30，清洁机器人100将驶上地毯300。此时，若清洁机器是在第一工作模式下工作，则抬升机构40将拖地单元30抬升，且控制清洁机器人100驶上地毯300，且控制单元60控制清洁机器人100对地毯300进行清扫。如若清洁机器人100在第二工作模式下工作，则清洁机器人100将在抬升拖地单元30且清扫单元20不执行清扫工作的情况下跨越地毯300，且清洁机器人100跨越地毯300后，抬升机构40下降拖地单元30并继续拖地。As shown in FIG. 6 , the mopping unit 30 of the cleaning robot 100 is in a mopping state. As shown in FIG. 7 , when encountering a carpet 300 with a thickness d not exceeding 10 mm, the lifting mechanism 40 of the cleaning robot 100 lifts the mopping unit 30 , and the cleaning robot 100 will drive onto the carpet 300 . At this time, if the cleaning machine is working in the first working mode, the lifting mechanism 40 lifts the mopping unit 30 , and controls the cleaning robot 100 to drive onto the carpet 300 , and the control unit 60 controls the cleaning robot 100 to clean the carpet 300 . If the cleaning robot 100 works in the second working mode, the cleaning robot 100 will lift the mopping unit 30 and the cleaning unit 20 does not perform cleaning work across the carpet 300, and after the cleaning robot 100 strides over the carpet 300, the lifting mechanism 40 Lower the mopping unit 30 and continue mopping.
如图8所示，当遇到厚度d在10mm-20mm之间的地毯300时：As shown in Figure 8, when encountering a carpet 300 whose thickness d is between 10mm-20mm:
若清洁机器人100是在第一工作模式下工作，则清洁机器人100返回基站200更换新的拖地单元30。 然后返回，在拖地单元30处于抬升的状态下，控制清扫单元20继续对地毯300进行清扫。If the cleaning robot 100 is working in the first working mode, the cleaning robot 100 returns to the base station 200 to replace a new mopping unit 30 . Then return, when the mopping unit 30 is in the raised state, the cleaning unit 20 is controlled to continue cleaning the carpet 300 .
若清洁机器人100是在第二工作模式下工作，如图9所示，则清洁机器人100返回基站200由更换组件202更换新的拖地单元30，然后返回，在拖地单元30处于抬升的状态下跨越地毯300，且清洁机器人100跨越地毯300后，抬升机构40下降拖地单元30并继续拖地。或者，由于不需要对地毯300进行清扫，清洁机器人100直接不驶上地毯300，沿地毯300的边缘行走且拖地。If the cleaning robot 100 works in the second mode of operation, as shown in Figure 9, the cleaning robot 100 returns to the base station 200 to replace the new mopping unit 30 by the replacement assembly 202, then returns, and the mopping unit 30 is in a raised state After the cleaning robot 100 crosses the carpet 300, the lifting mechanism 40 lowers the mopping unit 30 and continues to mop the floor. Alternatively, since the carpet 300 does not need to be cleaned, the cleaning robot 100 does not directly drive onto the carpet 300 , but walks along the edge of the carpet 300 and mops the floor.
本发明实施例的清洁机器人100，针对不同厚度的地毯300，执行不同的清扫策略，可以保证当拖地单元30处于拖地状态，无论清洁机器人100处于何种工作模式，清洁机器人100执行后续动作指令时，拖地单元30均不会污染地毯300，从而也利于地毯300的清洁。此外，本发明实施例的清洁机器人100，还可以不设置清扫单元20，仅设置拖地单元30，当其遇到不同厚度地毯时，清洁机器人100执行后续动作指令时，同样地拖地单元30均不会污染地毯300。The cleaning robot 100 in the embodiment of the present invention implements different cleaning strategies for carpets 300 of different thicknesses, which can ensure that when the mopping unit 30 is in the mopping state, no matter what working mode the cleaning robot 100 is in, the cleaning robot 100 performs subsequent actions. When commanded, the mopping units 30 will not pollute the carpet 300 , thus facilitating the cleaning of the carpet 300 . In addition, the cleaning robot 100 of the embodiment of the present invention may not be provided with the cleaning unit 20, but only the mopping unit 30 is provided. All will not pollute the carpet 300.
本发明的一实施例还提出了一种清洁机器人的控制方法，可应用于上述实施例的清洁机器人100。请参考图5，清洁机器人100的控制方法应用于控制单元60，包括以下的步骤。An embodiment of the present invention also proposes a cleaning robot control method, which can be applied to the cleaning robot 100 of the above-mentioned embodiment. Referring to FIG. 5 , the control method of the cleaning robot 100 is applied to the control unit 60 and includes the following steps.
S100、通过所述地毯识别传感器50实时检测清洁机器人100前方目标区域是否为地毯300并获取的所述地毯300的厚度值。S100 , using the carpet recognition sensor 50 to detect in real time whether the target area in front of the cleaning robot 100 is a carpet 300 and obtain a thickness value of the carpet 300 .
S200、当所述地毯识别传感器50检测到的所述地毯厚度值大于第一预设值小于等于第二预设值时，控制所述清洁机器人100脱离或者控制所述清洁机器人100更新所述拖地清洁件320，使得所述拖地清洁件320处于干净状态，且清洁机器人100驶上地毯300。S200. When the carpet thickness value detected by the carpet recognition sensor 50 is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot 100 to disengage or control the cleaning robot 100 to update the drag The floor cleaning part 320 is kept in a clean state, and the cleaning robot 100 drives onto the carpet 300 .
上述的控制方法，地毯识别传感器50检测到地毯300厚度值大于第一预设值小于等于第二预设值时，清洁机器人100脱离拖地清洁件320或更新拖地清洁件320，从而后续清洁机器人驶上地毯后清扫地毯300时不会弄脏地毯300。In the above-mentioned control method, when the carpet identification sensor 50 detects that the thickness value of the carpet 300 is greater than the first preset value and less than or equal to the second preset value, the cleaning robot 100 breaks away from the mopping cleaning part 320 or updates the mopping cleaning part 320, so that subsequent cleaning The carpet 300 will not be soiled when the robot cleans the carpet 300 after driving onto the carpet.
一些实施例中，S200包括步骤：In some embodiments, S200 includes the steps of:
S210、控制所述清洁机器人100由当前位置驶入基站200且在所述基站200内脱离或者控制所述清洁机器人100更新所述拖地清洁件320，使得所述拖地清洁件320处于干净状态。S210. Control the cleaning robot 100 to drive into the base station 200 from the current position and disengage in the base station 200 or control the cleaning robot 100 to update the mopping cleaning part 320, so that the mopping cleaning part 320 is in a clean state .
S220、控制所述清洁机器人100返回所述当前位置。S220. Control the cleaning robot 100 to return to the current position.
S230、控制所述清扫机器人的所述清扫单元执行清扫工作，清洁所述地毯；或在所述清扫单元20不执行清扫工作的状态下跨越所述地毯300。S230. Control the cleaning unit of the cleaning robot to perform cleaning work to clean the carpet; or to cross the carpet 300 when the cleaning unit 20 is not performing cleaning work.
进一步地，清洁机器人100还包括检测组件80，上述的S230包括步骤：Further, the cleaning robot 100 also includes a detection component 80, and the above S230 includes steps:
S231、控制所述检测组件80检测所述拖地单元30和所述清扫单元20的工作状态。S231. Control the detection component 80 to detect the working states of the mopping unit 30 and the cleaning unit 20 .
S232、所述清扫单元20处于所述扫地状态且所述拖地单元30处于所述拖地状态时，控制所述清洁机器人100执行扫地动作，清洁所述地毯300。S232. When the cleaning unit 20 is in the sweeping state and the mopping unit 30 is in the mopping state, control the cleaning robot 100 to perform a sweeping action to clean the carpet 300 .
S233、所述清扫单元20未处于所述扫地状态且所述拖地单元30处于所述拖地状态时，控制所述清洁机器人100沿所述地毯300的边缘行走拖地或在所述清扫单元20不执行清扫工作的状态下跨越所述地毯300。S233. When the cleaning unit 20 is not in the sweeping state and the mopping unit 30 is in the mopping state, control the cleaning robot 100 to walk and mop the floor along the edge of the carpet 300 or in the cleaning unit 20 across the carpet 300 without cleaning.
清扫单元20处于扫地状态且拖地单元30处于拖地状态时，表明清洁机器人100处于边扫边拖的第一工作模式，遇到厚度较大的地毯300(长毛地毯)时，控制清洁机器人100在抬升拖地单元30的状态下执行清扫动作，清洁所述地毯300。When the cleaning unit 20 is in the sweeping state and the mopping unit 30 is in the mopping state, it indicates that the cleaning robot 100 is in the first working mode of sweeping and mopping. When encountering a thicker carpet 300 (long-haired carpet), the cleaning robot is controlled. 100 performs a cleaning action in the state of lifting the mopping unit 30 to clean the carpet 300 .
清扫单元20未处于扫地状态且拖地单元30处于拖地状态时，表明清洁机器人100处于先扫后拖的第二工作模式，遇到厚度较大的地毯300(长毛地毯)时，由于地毯300之前已经被清扫单元20打扫过一次，此时清洁机器人100不需要上地毯300，直接沿所述地毯300的边缘行走拖地。清扫单元20未处于扫地状态且拖地单元30处于拖地状态时，表明清洁机器人100处于先扫后拖的第二工作模式，此时也可以在所 述清扫单元20不执行清扫工作的状态下跨越所述地毯300，跨越地毯300后再执行拖地工作。清扫单元20未处于扫地状态且拖地单元30处于拖地状态时，表明清洁机器人100处于先扫后拖的第二工作模式，此时，还可以上地毯300，清扫单元20执行清扫工作，即再扫一次亦可。When the cleaning unit 20 is not in the sweeping state and the mopping unit 30 is in the mopping state, it indicates that the cleaning robot 100 is in the second working mode of sweeping first and then mopping. When encountering a thicker carpet 300 (long hair carpet), due to the carpet 300 has been cleaned by the cleaning unit 20 once before, and at this time, the cleaning robot 100 does not need to go on the carpet 300 , and directly walks along the edge of the carpet 300 to mop the floor. When the cleaning unit 20 is not in the sweeping state and the mopping unit 30 is in the mopping state, it indicates that the cleaning robot 100 is in the second working mode of sweeping first and then mopping. At this time, the cleaning unit 20 may not perform cleaning work. Cross over the carpet 300, and then perform the mopping work after crossing the carpet 300. When the cleaning unit 20 is not in the sweeping state and the mopping unit 30 is in the mopping state, it indicates that the cleaning robot 100 is in the second working mode of sweeping first and then mopping. At this time, the carpet 300 can also be put on, and the cleaning unit 20 performs cleaning work, that is, You can scan again.
进一步地，S230中、控制所述清扫机器人100的所述清扫单元20执行清扫工作，清洁所述地毯300，包括：在保持抬升所述拖地清洁件320的状态下对所述地毯300执行所述清扫工作。虽然拖地清洁件320不会弄脏地毯，但将其抬升，可以减小清洁机器人100前进时的阻力。Further, in S230, controlling the cleaning unit 20 of the cleaning robot 100 to perform cleaning work to clean the carpet 300 includes: performing the cleaning work on the carpet 300 while keeping the mopping cleaning member 320 lifted. Describe cleaning work. Although the mopping and cleaning part 320 will not stain the carpet, lifting it can reduce the resistance when the cleaning robot 100 moves forward.
一些实施例中，清洁机器人的控制方法还包括步骤：In some embodiments, the control method of the cleaning robot also includes the steps of:
S300、所述地毯识别传感器50检测到的所述地毯厚度值小于等于第一预设值时，控制所述清洁机器人100抬升所述拖地清洁件320且驶上所述地毯。S300. When the carpet thickness value detected by the carpet identification sensor 50 is less than or equal to a first preset value, control the cleaning robot 100 to lift the mopping cleaning member 320 and drive onto the carpet.
地毯厚度值小于等于第一预设值时，表面遇到厚度较小的地毯300(短毛地毯)，清洁机器人100抬升所述拖地清洁件320且驶上所述地毯300，拖地清洁件320不会弄脏地毯。When the carpet thickness value is less than or equal to the first preset value, the surface encounters a carpet 300 (short-pile carpet) with a smaller thickness, and the cleaning robot 100 lifts the mopping cleaning part 320 and drives onto the carpet 300, and the mopping cleaning part 320 will not stain carpet.
进一步地，S300包括步骤：S310、控制所述清扫机器人的所述清扫单元执行清扫工作，清洁所述地毯。若清洁机器人100处于边扫边拖的第一工作模式，遇到厚度较小的地毯300(短毛地毯)时，控制清洁机器人100在抬升拖地单元30的状态下执行清扫动作，清洁所述地毯300。Further, S300 includes the step of: S310, controlling the cleaning unit of the cleaning robot to perform cleaning work to clean the carpet. If the cleaning robot 100 is in the first working mode of sweeping and mopping, when encountering a carpet 300 (short-pile carpet) with a smaller thickness, the cleaning robot 100 is controlled to perform a cleaning action while lifting the mopping unit 30 to clean the carpet. Carpet 300.
一些实施例中，清洁机器人的控制方法还包括步骤：In some embodiments, the control method of the cleaning robot also includes the steps of:
S400、所述地毯识别传感器50检测到的所述地毯厚度值大于第二预设值时，控制所述清洁机器人100沿所述地毯300的边缘行走或与所述地毯有间距地行走；或，所述地毯识别传感器50检测到的所述地毯厚度值大于第二预设值时，控制所述拖地清洁件320从所述清洁机器人100脱离或者控制所述清洁机器人更新所述拖地清洁件320，使得所述拖地清洁件处于干净状态,控制所述清洁机器人100驶上地毯。S400. When the thickness value of the carpet detected by the carpet recognition sensor 50 is greater than a second preset value, control the cleaning robot 100 to walk along the edge of the carpet 300 or to walk with a distance from the carpet; or, When the carpet thickness value detected by the carpet identification sensor 50 is greater than a second preset value, control the mopping cleaning part 320 to separate from the cleaning robot 100 or control the cleaning robot to update the mopping cleaning part 320, make the mopping and cleaning parts in a clean state, and control the cleaning robot 100 to drive onto the carpet.
地毯厚度值大于第二预设值时，表明清洁机器人100遇到了超长毛地毯，此时定义为超长毛地毯，清洁机器人100无法跨越或跨越较为困难。因此，无论清洁机器人100处于第一工作模式还是第二工作模式，清洁机器人100均可沿所述地毯300的边缘行走，清扫单元20执行清扫工作且拖地单元30执行拖地工作，或，所述拖地单元30执行拖地工作。When the carpet thickness value is greater than the second preset value, it indicates that the cleaning robot 100 has encountered an ultra-long-haired carpet, which is defined as an ultra-long-haired carpet at this time, and the cleaning robot 100 cannot cross or it is relatively difficult to cross. Therefore, no matter the cleaning robot 100 is in the first working mode or the second working mode, the cleaning robot 100 can walk along the edge of the carpet 300, the cleaning unit 20 performs cleaning work and the mopping unit 30 performs mopping work, or, The mopping unit 30 performs the mopping work.
具体地，如果此时清洁机器人100处于第一工作模式，则沿清洁机器人100沿所述地毯300的边缘行走时边扫边拖。如果此时清洁机器人100处于第二工作模式，则沿清洁机器人100沿所述地毯300的边缘行走时仅拖地。Specifically, if the cleaning robot 100 is in the first working mode at this time, the cleaning robot 100 will sweep and drag while walking along the edge of the carpet 300 . If the cleaning robot 100 is in the second working mode at this time, the cleaning robot 100 only mops the floor when walking along the edge of the carpet 300 .
另外，地毯厚度值大于第二预设值时，清洁机器人100可以强行驶上地毯300。若清洁机器人100处于第一工作模式，则控制清扫单元20由非清扫状态切换到清扫状态并对地毯进行清扫。若清洁机器人100处于第二工作模式，则可保持抬升拖地清洁件320的状态下跨越地毯。In addition, when the thickness of the carpet is greater than the second preset value, the cleaning robot 100 can forcibly drive on the carpet 300 . If the cleaning robot 100 is in the first working mode, control the cleaning unit 20 to switch from the non-cleaning state to the cleaning state and clean the carpet. If the cleaning robot 100 is in the second working mode, it can cross the carpet while maintaining the state of lifting the mopping cleaning member 320 .
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise specified limit. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。In the present invention, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者 也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。It should be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. As used herein, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions are for the purpose of illustration only and are not intended to represent the only embodiments.
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.
以上实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。The above examples only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the scope of the patent for the invention. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (35)

  1. 一种清洁机器人，其特征在于，所述清洁机器人包括：A cleaning robot, characterized in that the cleaning robot comprises:
    主体，main body,
    行走机构，设于所述主体，带动清洁机器人移动；The walking mechanism is arranged on the main body to drive the cleaning robot to move;
    控制单元，控制所述行走机构带动所述清洁机器人在待清洁区域表面自主移动；a control unit, controlling the walking mechanism to drive the cleaning robot to move autonomously on the surface of the area to be cleaned;
    拖地单元，设于所述主体，所述拖地单元具有拖地状态，在所述拖地状态下，所述拖地单元用于执行拖地工作；所述拖地单元还具有抬升状态和拆卸状态；The mopping unit is arranged on the main body, the mopping unit has a mopping state, and in the mopping state, the mopping unit is used to perform the mopping work; the mopping unit also has a lifting state and Disassembled state;
    所述清洁机器人在地毯上移动时,所述拖地单元处于抬升状态或拆卸状态。When the cleaning robot moves on the carpet, the mopping unit is in a raised state or a disassembled state.
  2. 根据权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括:Cleaning robot according to claim 1, is characterized in that, described cleaning robot also comprises:
    地毯识别传感器，设于主体，对地毯进行识别，并将地毯识别结果发送给控制器；The carpet identification sensor is installed on the main body to identify the carpet and send the carpet identification result to the controller;
    所述控制器被配置为：响应于所述地毯识别传感器的地毯识别结果，控制所述拖地单元从所述主体脱离，使得所述拖地单元处于拆卸状态；或者，控制所述拖地单元抬升，使得所述拖地单元处于抬升状态。The controller is configured to: respond to the carpet recognition result of the carpet recognition sensor, control the mopping unit to disengage from the main body, so that the mopping unit is in a disassembled state; or, control the mopping unit Lifting, so that the mopping unit is in a raised state.
  3. 根据权利要求2所述的清洁机器人，其特征在于，所述地毯识别传感器，用于识别地毯并检测地毯的厚度值，将所述地毯的厚度值发送给控制器，The cleaning robot according to claim 2, wherein the carpet identification sensor is used to identify the carpet and detect the thickness value of the carpet, and send the thickness value of the carpet to the controller,
    所述控制器被配置为：The controller is configured as:
    基于所述地毯的厚度值，控制所述拖地单元的状态；其中，Based on the thickness value of the carpet, the state of the mopping unit is controlled; wherein,
    若所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；If the thickness value of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state;
    若所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述拖地单元从所述清洁机器人脱离，使得所述拖地单元处于拆卸状态。If the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the mopping unit is controlled to disengage from the cleaning robot, so that the mopping unit is in a disassembled state.
  4. 根据权利要求3所述的清洁机器人，其特征在于，所述控制器还被配置为：若所述地毯识别传感器检测到的所述地毯厚度值大于第二预设值，控制所述清洁机器人沿所述地毯的边缘行走或与所述地毯有间距地行走。The cleaning robot according to claim 3, wherein the controller is further configured to: if the carpet thickness value detected by the carpet recognition sensor is greater than a second preset value, control the cleaning robot to move along the The edge of the carpet runs or runs at a distance from the carpet.
  5. 根据权利要求2所述的清洁机器人，其特征在于，所述清洁机器人还包括：The cleaning robot according to claim 2, wherein the cleaning robot further comprises:
    清扫单元，设于所述主体，所述清扫单元具有清扫状态，在所述清扫状态下，所述清扫单元用于执行清扫工作；A cleaning unit is provided on the main body, the cleaning unit has a cleaning state, and in the cleaning state, the cleaning unit is used to perform cleaning work;
    所述清洁机器人扫地模式，以及与所述拖地单元关联的工作模式；其中在所述扫地模式下，所述拖地单元不工作。The sweeping mode of the cleaning robot, and the working mode associated with the mopping unit; wherein in the sweeping mode, the mopping unit does not work.
  6. 根据权利要求5所述的清洁机器人，其特征在于，所述控制器被配置为：基于所述清洁机器人所处的模式，控制所述拖地单元的状态；在所述清洁机器人处于所述与所述拖地单元关联的工作模式下，控制所述拖地单元抬升，使得所述拖地单元处于抬升状态。The cleaning robot according to claim 5, wherein the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot; In the working mode associated with the mopping unit, the mopping unit is controlled to be lifted, so that the mopping unit is in a raised state.
  7. 根据权利要求6所述的清洁机器人，其特征在于，所述与所述拖地单元关联的工作模式包括先扫后拖模式；所述控制器被配置为：在所述清洁机器人处于先扫后拖模式下，控制所述清洁机器人在保持所述拖地单元抬升，且所述清扫单元不执行清扫工作的状态下跨越所述地毯；The cleaning robot according to claim 6, wherein the working mode associated with the mopping unit includes a mode of sweeping first and then mopping; the controller is configured to: when the cleaning robot is in sweeping first and then mopping In mopping mode, control the cleaning robot to cross the carpet while keeping the mopping unit lifted and the cleaning unit not performing cleaning work;
    所述与所述拖地单元关联的工作模式包括边扫边拖模式；所述控制器被配置为：在所述清洁机器人处于边扫边拖模式下，控制所述清洁机器人在保持所述拖地单元抬升的状态下驶上地毯，且控制所述清扫单元对所述地毯执行清扫工作。The working mode associated with the mopping unit includes a sweeping and mopping mode; the controller is configured to: when the cleaning robot is in the sweeping and mopping mode, control the cleaning robot to keep the mopping The floor unit drives onto the carpet when the floor unit is raised, and controls the cleaning unit to perform cleaning work on the carpet.
  8. 根据权利要求2所述的清洁机器人，其特征在于，所述控制器被配置为：基于所述清洁机器人所处的模式，控制所述拖地单元的状态；所述控制器被配置为：在所述清洁机器人处于所述扫地模式下，控制所述拖地单元从所述主体脱离，使得所述拖地单元处于拆卸状态。The cleaning robot according to claim 2, wherein the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot; the controller is configured to: The cleaning robot is in the sweeping mode, and the mopping unit is controlled to disengage from the main body, so that the mopping unit is in a disassembled state.
  9. 根据权利要求5所述的清洁机器人，其特征在于，所述控制器被配置为：基于所述清洁机器人所处的模式和所述地毯识别传感器的地毯识别结果，控制所述拖地单元的状态；其中所述地毯识别结果包括所述地毯的厚度值；The cleaning robot according to claim 5, wherein the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor ; Wherein the carpet identification result includes the thickness value of the carpet;
    若所述清洁机器人处于扫地模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；If the cleaning robot is in the sweeping mode, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state;
    若所述清洁机器人处于扫地模式，且所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述清洁机器人返回基站，将所述拖地单元从主体脱离，使得所述拖地单元处于拆卸状态；If the cleaning robot is in the sweeping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is controlled to return to the base station, and the mopping unit is separated from the main body, so that the The above-mentioned mopping unit is in a disassembled state;
    若所述清洁机器人处于与所述拖地单元关联的工作模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；If the cleaning robot is in the working mode associated with the mopping unit, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit in a raised state;
    若所述清洁机器人处于与所述拖地单元关联的工作模式，且所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述清洁机器人在保持所述拖地单元抬升的状态下驶上地毯。If the cleaning robot is in the working mode associated with the mopping unit, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to keep the mopping unit Drive onto the carpet in a raised state.
  10. 根据权利要求9所述的清洁机器人，其特征在于，所述与所述拖地单元关联的工作模式包括边扫边拖模式；所述控制器被配置为：The cleaning robot according to claim 9, wherein the working mode associated with the mopping unit includes a sweeping and mopping mode; the controller is configured to:
    若所述清洁机器人处于边扫边拖模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；并在所述拖地单元处于抬升的状态下驶上地毯，以便所述清洁组件对所述地毯进行清扫；If the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; and Drive onto the carpet when the mopping unit is in a raised state, so that the cleaning component can clean the carpet;
    若所述清洁机器人处于边扫边拖模式，且所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述清洁机器人由当前位置返回基站更新所述拖地单元，使得所述拖地单元处于干净状态；并控制所述清洁机器人在保持所述拖地单元抬升的状态下驶上地毯，以便所述清洁组件对所述地毯进行清扫。If the cleaning robot is in the mode of sweeping and mopping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station from the current position to update the mopping unit, Keeping the mopping unit in a clean state; and controlling the cleaning robot to drive onto the carpet while keeping the mopping unit elevated, so that the cleaning component can clean the carpet.
  11. 根据权利要求10所述的清洁机器人，其特征在于，所述与所述拖地单元关联的工作模式包括先扫后拖模式；所述控制器被配置为：The cleaning robot according to claim 10, wherein the working mode associated with the mopping unit includes a mode of sweeping first and then mopping; the controller is configured to:
    若所述清洁机器人处于先扫后拖模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；并控制所述清洁机器人在保持所述拖地单元抬升且清扫单元不执行清扫工作的状态下跨越地毯；If the cleaning robot is in the mode of sweeping first and then mopping, and the thickness value of the carpet is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; and controlling the cleaning robot to cross the carpet while keeping the mopping unit lifted and the cleaning unit not performing cleaning work;
    若所述清洁机器人处于先扫后拖模式，且所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述清洁机器人由当前位置返回基站更新所述拖地单元，使得所述拖地单元处于干净状态；并控制所述清洁机器人在保持所述拖地单元抬升且清扫单元不执行清扫工作的状态下跨越地毯。If the cleaning robot is in the mode of sweeping first and then mopping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station from the current position to update the mopping unit, Keeping the mopping unit in a clean state; and controlling the cleaning robot to cross the carpet while keeping the mopping unit lifted and the cleaning unit not performing cleaning work.
  12. 根据权利要求5所述的清洁机器人，其特征在于，所述控制器被配置为：基于所述清洁机器人所处的模式和所述地毯识别传感器的地毯识别结果，控制所述拖地单元的状态；其中所述地毯识别结果包括所述地毯的厚度值；The cleaning robot according to claim 5, wherein the controller is configured to: control the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor ; Wherein the carpet identification result includes the thickness value of the carpet;
    若清洁机器人处于扫地模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人返回基站将拖地单元更换，使得拖地单元处于换新状态；控制新的拖地单元抬升，使得清洁机器人在拖地单元处于抬升状态，清扫单元处于清扫状态下在地毯上移动，对地毯进行清扫；If the cleaning robot is in the sweeping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to replace the mopping unit so that the mopping unit is in a new state; The floor unit is raised, so that the cleaning robot moves on the carpet when the mopping unit is in a raised state, and the cleaning unit is in a cleaning state to clean the carpet;
    若清洁机器人处于边扫边拖模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人返回基站拆卸拖地单元，使得拖地单元处于拆卸状态；并控制清洁机器人在拖地单元处于拆卸状态，清扫单元处于清扫状态下在地毯上移动，以便清扫单元对地毯进行清扫；If the cleaning robot is in the mode of mopping while sweeping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; and control the cleaning The robot moves on the carpet when the mopping unit is in the disassembled state and the cleaning unit is in the cleaning state, so that the cleaning unit can clean the carpet;
    若清洁机器人处于先扫后拖的拖地模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人返回基站拆卸拖地单元，使得拖地单元处于拆卸状态；并控制清洁机器人在拖地单元处于拆卸状态，清扫单元清扫单元不执行清扫工作的状态下跨越地毯。If the cleaning robot is in the mopping mode of sweeping first and then mopping, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; And control the cleaning robot to cross the carpet when the mopping unit is in a disassembled state and the cleaning unit is not performing cleaning work.
  13. 根据权利要求1所述的清洁机器人，其特征在于，所述清洁机器人包括升降单元，设置于主体， 带动所述拖地单元抬升，使得所述拖地单元处于抬升状态；The cleaning robot according to claim 1, wherein the cleaning robot includes a lifting unit, which is arranged on the main body, and drives the mopping unit to lift, so that the mopping unit is in a raised state;
    所述升降单元还用于带动所述拖地单元下降，使得所述拖地单元处于拖地状态。The lifting unit is also used to drive the mopping unit down so that the mopping unit is in a mopping state.
  14. 根据权利要求1所述的清洁机器人，其特征在于，所述清洁机器人包括顶出单元，被配置为将所述拖地单元顶出，使得所述拖地单元处于拆卸状态。The cleaning robot according to claim 1, characterized in that the cleaning robot comprises an ejecting unit configured to eject the mopping unit so that the mopping unit is in a disassembled state.
  15. 根据权利要求9所述的清洁机器人，其特征在于，所述基站包括拆卸组件，被配置为拆卸拖地单元，使拖地单元与清洁机器人脱离。The cleaning robot according to claim 9, wherein the base station includes a disassembly assembly configured to disassemble the mopping unit to separate the mopping unit from the cleaning robot.
  16. 根据权利要求9所述的清洁机器人，其特征在于，所述基站具有临时存储位，用于接收与所述清洁机器人脱离的拖地单元；或者，所述基站包括更换组件，被配置为接收与所述清洁机器人脱离的拖地组件。The cleaning robot according to claim 9, wherein the base station has a temporary storage position for receiving the mopping unit detached from the cleaning robot; or, the base station includes a replacement component configured to receive The mopping component from which the cleaning robot is separated.
  17. 根据权利要求9所述的清洁机器人，其特征在于，所述基站包括更换组件，被配置为在所述拖地单元脱离后，为所述清洁机器人更换拖地单元，使得所述拖地单元处于干净状态。The cleaning robot according to claim 9, wherein the base station includes a replacement component configured to replace the mopping unit for the cleaning robot after the mopping unit is detached, so that the mopping unit is in the clean condition.
  18. 根据权利要求9所述的清洁机器人，其特征在于，所述基站包括清洁组件，被配置为在所述清洁机器人返回基站后或所述拖地组件脱离主体后，对所述拖地单元进行清洗，使得所述拖地单元出于干净状态。The cleaning robot according to claim 9, wherein the base station includes a cleaning component configured to clean the mopping unit after the cleaning robot returns to the base station or after the mopping component is separated from the main body , so that the mopping unit is in a clean state.
  19. 根据权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括:清扫单元，设于所述主体，所述清扫单元具有清扫状态，所述清扫单元被配置为在所述清扫状态下，执行清扫工作；The cleaning robot according to claim 1, wherein the cleaning robot further comprises: a cleaning unit disposed on the main body, the cleaning unit has a cleaning state, and the cleaning unit is configured to be in the cleaning state Next, carry out the cleaning work;
    所述控制器被配置为：在所述拖地清洁件抬升或者脱离主体的状态下，控制所述清洁机器人切换为清扫状态，使得清扫单元对所述地毯执行所述清扫工作。The controller is configured to: control the cleaning robot to switch to a cleaning state when the mopping cleaning element is lifted or detached from the main body, so that the cleaning unit performs the cleaning work on the carpet.
  20. 根据权利要求1所述的清洁机器人，其特征在于，所述控制器被配置为：控制所述清洁机器人在所述拖地清洁件处于抬升或者脱离主体的状态下，沿所述地毯的边缘行走或与所述地毯有间距地行走。The cleaning robot according to claim 1, wherein the controller is configured to: control the cleaning robot to walk along the edge of the carpet when the mopping cleaning part is lifted or detached from the main body Or walk with a distance from the carpet.
  21. 根据权利要求1所述的清洁机器人，其特征在于，所述拖地单元包括拖地清洁件和拖地板，其中所述拖地板被配置为可移除地安装有所述拖地清洁件；The cleaning robot according to claim 1, wherein the mopping unit includes a mopping cleaning piece and a mopping floor, wherein the mopping floor is configured to be removably mounted with the mopping cleaning piece;
    所述清洁机器人在地毯上移动时,至少所述拖地清洁件处于抬升状态或拆卸状态。When the cleaning robot moves on the carpet, at least the mopping cleaning part is in a raised state or a disassembled state.
  22. 一种清洁机器人***，其特征在于，包括基站和如权利要求1-21任一项所述的清洁机器人，其中A cleaning robot system, characterized by comprising a base station and the cleaning robot according to any one of claims 1-21, wherein
    所述基站包括以下组件的至少一个；The base station includes at least one of the following components;
    拆卸组件，为所述清洁机器人拆卸拖地单元；Disassemble the assembly and disassemble the mopping unit for the cleaning robot;
    更换组件，为所述清洁机器人更换干净的拖地单元；Replace the assembly, and replace the cleaning robot with a clean mopping unit;
    清洁组件，为所述清洁机器人清洁拖地单元。The cleaning component cleans the mopping unit for the cleaning robot.
  23. 一种清洁机器人的控制方法，其特征在于，所述清洁机器人包括主体，设于所述主体的具有拖地清洁件的拖地单元、地毯识别传感器和控制器，所述拖地单元被配置为执行拖地工作，所述地毯识别传感器被配置为识别地毯；A control method for a cleaning robot, characterized in that the cleaning robot includes a main body, a mopping unit provided on the main body with mopping cleaning parts, a carpet recognition sensor and a controller, and the mopping unit is configured as performing a mopping operation, the carpet identification sensor being configured to identify a carpet;
    所述方法应用于所述控制器，包括步骤：The method is applied to the controller, comprising the steps of:
    通过所述地毯识别传感器检测清洁机器人前方目标区域是否为地毯；Whether the target area in front of the cleaning robot is detected by the carpet recognition sensor is a carpet;
    若所述地毯识别传感器检测到地毯，控制所述拖地单元从所述主体脱离，或者，控制所述拖地单元抬升。If the carpet recognition sensor detects a carpet, control the mopping unit to separate from the main body, or control the mopping unit to lift.
  24. 根据权利要求23所述的控制方法，其特征在于，所述地毯识别传感器被配置为识别地毯并将检测到的地毯的厚度值发送给所述控制器；The control method according to claim 23, wherein the carpet identification sensor is configured to identify the carpet and send the detected thickness value of the carpet to the controller;
    所述方法包括：The methods include:
    若所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述拖地单元从所述清洁机器人脱离；If the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the mopping unit to separate from the cleaning robot;
    若所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元。If the thickness of the carpet is less than or equal to a first preset value, the cleaning robot is controlled to lift the mopping unit.
  25. 根据权利要求23所述的控制方法，其特征在于，所述方法还包括：The control method according to claim 23, further comprising:
    若所述地毯识别传感器检测到的所述地毯厚度值大于第二预设值，控制所述清洁机器人沿所述地毯的边缘行走或与所述地毯有间距地行走。If the carpet thickness value detected by the carpet recognition sensor is greater than a second preset value, the cleaning robot is controlled to walk along the edge of the carpet or to walk with a distance from the carpet.
  26. 根据权利要求23所述的控制方法，其特征在于，所述清洁机器人还包括：清扫单元，设于所述主体，所述清扫单元具有清扫状态，在所述清扫状态下，所述清扫单元用于执行清扫工作；The control method according to claim 23, characterized in that, the cleaning robot further comprises: a cleaning unit disposed on the main body, the cleaning unit has a cleaning state, and in the cleaning state, the cleaning unit uses for cleaning work;
    所述清洁机器人具有扫地模式，以及与所述拖地单元关联的工作模式；其中在所述扫地模式下，所述拖地单元不工作。The cleaning robot has a sweeping mode and a working mode associated with the mopping unit; wherein in the sweeping mode, the mopping unit does not work.
  27. 根据权利要求26所述的控制方法，其特征在于，所述方法包括：The control method according to claim 26, characterized in that the method comprises:
    当所述清洁机器人处于扫地模式下，若所述地毯识别传感器检测到所述地毯，控制所述拖地单元从所述清洁机器人脱离或者控制所述拖地单元抬升。When the cleaning robot is in the sweeping mode, if the carpet recognition sensor detects the carpet, control the mopping unit to separate from the cleaning robot or control the mopping unit to lift.
  28. 根据权利要求26所述的控制方法，其特征在于，所述方法包括：The control method according to claim 26, characterized in that the method comprises:
    在所述清洁机器人处于所述扫地模式下，控制所述拖地单元从所述主体脱离，使得所述拖地单元处于拆卸状态。When the cleaning robot is in the sweeping mode, the mopping unit is controlled to disengage from the main body, so that the mopping unit is in a disassembled state.
  29. 根据权利要求28所述的控制方法，其特征在于，所述方法包括：The control method according to claim 28, characterized in that the method comprises:
    基于所述清洁机器人所处的模式和所述地毯识别传感器的地毯识别结果，控制所述拖地单元的状态；其中所述地毯识别结果包括所述地毯的厚度值；Controlling the state of the mopping unit based on the mode of the cleaning robot and the carpet recognition result of the carpet recognition sensor; wherein the carpet recognition result includes a thickness value of the carpet;
    若所述清洁机器人处于扫地模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；If the cleaning robot is in the sweeping mode, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state;
    若所述清洁机器人处于扫地模式，且所述地毯的厚度值大于第一预设值小于等于第二预设值，控制所述清洁机器人返回基站，将所述拖地单元从主体脱离，使得所述拖地单元处于拆卸状态。If the cleaning robot is in the sweeping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, the cleaning robot is controlled to return to the base station, and the mopping unit is separated from the main body, so that the The above-mentioned mopping unit is in disassembled state.
  30. 根据权利要求28所述的控制方法，其特征在于，所述与所述拖地单元关联的工作模式包括边扫边拖模式；The control method according to claim 28, wherein the working mode associated with the mopping unit includes a sweeping and mopping mode;
    所述方法包括：The methods include:
    若所述清洁机器人处于边扫边拖模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；并在所述拖地单元处于抬升的状态下驶上地毯，以便所述清洁组件对所述地毯进行清扫；If the cleaning robot is in the sweeping and mopping mode, and the thickness of the carpet is less than or equal to a first preset value, control the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; and Drive onto the carpet when the mopping unit is in a raised state, so that the cleaning component can clean the carpet;
    若清洁机器人处于边扫边拖模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人返回基站拆卸拖地单元，使得拖地单元处于拆卸状态；并控制清洁机器人在拖地单元处于拆卸状态，清扫单元处于清扫状态下在地毯上移动，以便清扫单元对地毯进行清扫。If the cleaning robot is in the sweeping and mopping mode, and the thickness value of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; and control the cleaning The robot moves on the carpet when the mopping unit is in a disassembled state and the cleaning unit is in a cleaning state, so that the cleaning unit can clean the carpet.
  31. 根据权利要求28所述的控制方法，其特征在于，所述与所述拖地单元关联的工作模式包括先扫后拖模式；其中，先扫后拖模式中，拖地单元处于拖地状态；The control method according to claim 28, wherein the working mode associated with the mopping unit includes a mode of sweeping first and then mopping; wherein, in the mode of sweeping first and then mopping, the mopping unit is in a mopping state;
    所述方法包括：The methods include:
    若所述清洁机器人处于先扫后拖模式，且所述地毯的厚度值小于等于第一预设值，控制所述清洁机器人抬升所述拖地单元，使得所述拖地单元处于抬升状态；并控制所述清洁机器人在保持所述拖地单元抬升且清扫单元不执行清扫工作的状态下跨越地毯；If the cleaning robot is in the mode of sweeping first and then mopping, and the thickness value of the carpet is less than or equal to a first preset value, controlling the cleaning robot to lift the mopping unit so that the mopping unit is in a raised state; and controlling the cleaning robot to cross the carpet while keeping the mopping unit lifted and the cleaning unit not performing cleaning work;
    若清洁机器人处于先扫后拖的拖地模式，且地毯的厚度值大于第一预设值小于等于第二预设值，控制清洁机器人返回基站拆卸拖地单元，使得拖地单元处于拆卸状态；并控制清洁机器人在拖地单元处于拆卸状态，清扫单元清扫单元不执行清扫工作的状态下跨越地毯。If the cleaning robot is in the mopping mode of sweeping first and then mopping, and the thickness of the carpet is greater than the first preset value and less than or equal to the second preset value, control the cleaning robot to return to the base station to disassemble the mopping unit, so that the mopping unit is in a disassembled state; And control the cleaning robot to cross the carpet when the mopping unit is in a disassembled state and the cleaning unit is not performing cleaning work.
  32. 一种清洁机器人，其特征在于，所述清洁机器人包括主体，设于所述主体的具有清洁工作头的清 扫单元、具有拖地清洁件的拖地单元、地毯识别传感器和控制单元，所述清扫单元被配置为执行清扫工作；所述拖地单元被配置为执行拖地工作；A cleaning robot, characterized in that the cleaning robot comprises a main body, a cleaning unit with a cleaning head, a mopping unit with mopping cleaning parts, a carpet recognition sensor and a control unit arranged on the main body, the cleaning The unit is configured to perform cleaning work; the mopping unit is configured to perform mopping work;
    所述地毯识别传感器被配置为识别地毯并将检测到地毯的厚度值发送给所述控制单元；The carpet identification sensor is configured to identify the carpet and send the thickness value of the detected carpet to the control unit;
    所述控制单元被配置为：所述地毯识别传感器检测到的所述地毯厚度值大于第一预设值小于等于第二预设值时，控制所述拖地清洁件从所述清洁机器人脱离或者控制所述清洁机器人更新所述拖地清洁件，使得所述拖地清洁件处于干净状态,及控制所述清洁机器人驶上地毯。The control unit is configured to: when the carpet thickness value detected by the carpet recognition sensor is greater than a first preset value and less than or equal to a second preset value, control the mopping cleaning element to detach from the cleaning robot or Controlling the cleaning robot to update the mopping and cleaning parts, so that the mopping and cleaning parts are in a clean state, and controlling the cleaning robot to drive onto the carpet.
  33. 根据权利要求31所述的清洁机器人，其特征在于，更新所述拖地清洁件包括：更换干净的拖地清洁件，或清洁所述拖地清洁件。The cleaning robot according to claim 31, characterized in that updating the mopping cleaning part comprises: replacing a clean mopping cleaning part, or cleaning the mopping cleaning part.
  34. 一种清洁机器人的控制方法，其特征在于，所述清洁机器人包括主体，设于所述主体的具有清洁工作头的清扫单元、具有拖地清洁件的拖地单元、地毯识别传感器和控制单元，所述清扫单元被配置为执行清扫工作，所述拖地单元被配置为执行拖地工作，所述地毯识别传感器被配置为识别地毯并将检测到地毯的厚度值发送给所述控制单元；A control method for a cleaning robot, characterized in that the cleaning robot includes a main body, a cleaning unit with a cleaning working head, a mopping unit with mopping cleaning parts, a carpet recognition sensor and a control unit arranged on the main body, The cleaning unit is configured to perform cleaning work, the mopping unit is configured to perform mopping work, and the carpet identification sensor is configured to identify a carpet and send a thickness value of the detected carpet to the control unit;
    所述方法应用于所述控制单元，包括步骤：The method is applied to the control unit, comprising the steps of:
    通过所述地毯识别传感器实时检测清洁机器人前方目标区域是否为地毯并获取所述地毯的厚度值；Real-time detection of whether the target area in front of the cleaning robot is a carpet by the carpet recognition sensor and obtaining the thickness value of the carpet;
    所述地毯识别传感器检测到的所述地毯厚度值大于第一预设值小于等于第二预设值时，控制所述拖地清洁件从所述清洁机器人脱离或者控制所述清洁机器人更新所述拖地清洁件，使得所述拖地清洁件处于干净状态,及控制所述清洁机器人驶上地毯。When the carpet thickness value detected by the carpet recognition sensor is greater than a first preset value and less than or equal to a second preset value, control the mopping cleaning part to separate from the cleaning robot or control the cleaning robot to update the Mopping the floor cleaning part, making the mopping cleaning part in a clean state, and controlling the cleaning robot to drive onto the carpet.
  35. 根据权利要求33所述的方法，其特征在于，所述地毯识别传感器检测到的所述地毯厚度值大于第一预设值小于等于第二预设值时，控制所述拖地清洁件从所述清洁机器人脱离或者控制所述清洁机器人更新所述拖地清洁件，使得所述拖地清洁件处于干净状态,及控制所述清洁机器人驶上地毯，包括步骤：The method according to claim 33, characterized in that, when the carpet thickness value detected by the carpet recognition sensor is greater than a first preset value and less than or equal to a second preset value, control the mopping and cleaning member from the The cleaning robot separates or controls the cleaning robot to update the mopping cleaning part, so that the mopping cleaning part is in a clean state, and controls the cleaning robot to drive onto the carpet, including steps:
    控制所述清洁机器人由当前位置驶入基站且在所述基站内脱离或者控制所述清洁机器人更新所述拖地清洁件，使得所述拖地清洁件处于干净状态；Control the cleaning robot to drive into the base station from the current position and leave in the base station or control the cleaning robot to update the mopping cleaning piece, so that the mopping cleaning piece is in a clean state;
    控制所述清洁机器人返回所述当前位置；controlling the cleaning robot to return to the current position;
    控制所述清扫机器人的所述清扫单元执行清扫工作，清洁所述地毯。The cleaning unit controlling the cleaning robot performs cleaning work to clean the carpet.
PCT/CN2022/137743 2021-12-08 2022-12-08 Cleaning robot system, and cleaning robot and control method therefor WO2023104174A1 (en)

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