WO2019214669A1

WO2019214669A1 - Floor sweeping robot and ground sweeping method

Info

Publication number: WO2019214669A1
Application number: PCT/CN2019/086156
Authority: WO
Inventors: 郭斌; 张乐乐; 蒋海青
Original assignee: 杭州萤石软件有限公司
Priority date: 2018-05-10
Filing date: 2019-05-09
Publication date: 2019-11-14
Also published as: CN110464250A

Abstract

Embodiments of the present application provide a floor sweeping robot and a ground sweeping method. The floor sweeping robot is provided with a first air inlet and a second air inlet, the first air inlet being positioned on the front side of the second air inlet; the floor sweeping robot comprises: a controller, a fan component, a rolling brush component positioned in the second air inlet, and a first driving component used for driving the rolling brush component; the first air inlet and the second air inlet are separately communicated with a chamber of the fan component. The ground sweeping method comprises: the controller, used for controlling the fan component such that the fan component sucks air from the first air inlet and the second air inlet; and controlling the first driving component such that the first driving component drives the rolling brush component to rotate. Use of the solution of the embodiments of the present application can improve the sweeping effect while sweeping the ground having easily-winding hairs and dust adhered thereto.

Description

Sweeping robot and ground cleaning method

The present application claims priority to Chinese Patent Application No. 201810442252.8, entitled "A Sweeping Robot and Ground Cleaning Method," filed on May 10, 2018, the entire contents of which is incorporated herein by reference. .

Technical field

The present application relates to the field of intelligent robot technology, and in particular, to a cleaning robot and a ground cleaning method.

Background technique

Currently, sweeping robots include brush-sweeping robots and suction-type sweeping robots.

A roller brush is provided in the air inlet hole of the brush-type sweeping robot. During the cleaning, the brush-type sweeping robot sweeps the rubbish on the ground by rolling the roller. The brush-type sweeping robot can effectively clean dust or other dirt adhering to the ground, but the roller brush is easy to wrap around the hair and is not easy to clean after winding.

The suction sweeping robot sweeps the rubbish off the ground through the powerful suction of the air inlet. A suction sweeping robot is easy to clean the hair, but it is more difficult to clean dust or other dirt adhering to the ground.

In practical applications, the type of objects to be cleaned on the ground is complicated, and there may be both entangled hair and dust or other dirt adhered to the ground (hereinafter referred to as adhering dirt). In this case, when the ground is cleaned by any of the above-described cleaning robots, the cleaning effect is not good enough.

Summary of the invention

The purpose of the embodiment of the present application is to provide a cleaning robot and a floor cleaning method for improving the cleaning effect when cleaning the ground which has both the easy-wound hair and the dirt adhering.

In order to achieve the above objective, the embodiment of the present application provides a cleaning robot, the cleaning robot is provided with a first air inlet hole and a second air inlet hole, and the first air inlet hole is located before the second air inlet hole. The sweeping robot includes: a controller, a fan component, a roller brush component located in the second air inlet hole, and a first driving component for driving the roller brush component; the first air inlet hole and The second air inlet holes are respectively communicated with the cavity of the fan component; the first air inlet hole is located at the front side of the second air inlet hole, the first air inlet hole is opposite to the second air inlet hole The wind hole is away from the center position of the cleaning robot;

The controller, configured to control the fan component to draw air from the first air inlet hole; and/or control the fan component to suck air from the second air inlet hole, and control the first driving component The roller brush member is driven to rotate.

Optionally, the cleaning robot further includes: a first shielding member for shielding the first air inlet hole and a second shielding member for shielding the second air inlet hole, and for driving the first a blocking member opens or closes the second driving member of the first air inlet hole, and a third driving member for driving the second shielding member to open or close the second air inlet hole; Used for:

Obtaining a cleaning mode before controlling the fan component to allow the fan component to draw air from the first air inlet hole and the second air inlet hole; and when the cleaning mode is through the first air inlet hole And controlling, in the first cleaning mode of cleaning the second air inlet hole, the second driving component to drive the second driving component to drive the first shielding component in a state of opening the first air inlet hole; Controlling the third driving component such that the third driving component drives the second shielding component in a state of opening the second air inlet hole; controlling the fan component to cause the fan component to be The first air inlet hole and the second air inlet hole perform suction; the first driving member is controlled to cause the first driving member to drive the roller brush member to rotate.

Optionally, the controller is specifically configured to:

Controlling the second driving component to cause the second driving component to drive the first shielding component to be in a closed state when the cleaning mode is a second cleaning mode that is cleaned by the second air inlet hole a state of the first air inlet hole; controlling the third driving member to cause the third driving member to drive the second shielding member in a state of opening the second air inlet hole; controlling the fan member to The fan member is caused to draw air from the second air inlet hole; the first driving member is controlled such that the first driving member drives the roller brush member to rotate.

Optionally, the controller is specifically configured to:

Controlling the second driving component to cause the second driving component to drive the first shielding component to open when the cleaning mode is a third cleaning mode that is cleaned by the first air inlet hole a state of the first air inlet hole; controlling the third driving member to cause the third driving member to drive the second shielding member in a state of closing the second air inlet hole; controlling the fan member to The fan component is caused to draw air from the first air inlet hole.

Optionally, the controller is specifically configured to:

When the cleaning mode is the fourth cleaning mode that is first cleaned by the first air inlet hole and then cleaned by the second air inlet hole, the second driving component is controlled to make the second a driving member driving the first shielding member in a state of opening the first air inlet hole; controlling the third driving member to cause the third driving member to drive the second shielding member to close the second a state of the air inlet hole; controlling the fan component to cause the fan component to suck air from the first air inlet hole;

Controlling the second driving component to cause the second driving component to drive the first shielding component to be in a state of closing the first air inlet hole when detecting that the preset cleaning area cleaning is completed; controlling the a third driving member, wherein the third driving member drives the second shielding member in a state of opening the second air inlet hole; controlling the fan member to cause the fan member to move from the second The air hole performs suction; the first driving member is controlled such that the first driving member drives the roller member to rotate.

Optionally, the controller is specifically configured to:

When the cleaning mode is the fifth cleaning mode that is first cleaned by the second air inlet hole and then cleaned by the first air inlet hole, the third driving component is controlled to make the third a driving member driving the second shielding member in a state of opening the second air inlet hole; controlling the second driving member to cause the second driving member to drive the first shielding member to close the first a state of the air inlet hole; controlling the fan member to cause the fan member to suck air from the second air inlet hole; controlling the first driving member to cause the first driving member to drive the roller The brush member rotates;

Controlling the third driving component to cause the third driving component to drive the second shielding component to be in a state of closing the second air inlet hole when detecting that the preset cleaning area cleaning is completed; controlling the a second driving member to cause the second driving member to drive the first shielding member in a state of opening the first air inlet hole; controlling the fan member to cause the fan member to move from the first The wind hole is sucking.

Optionally, the cleaning robot further includes: a third shielding component and a fourth driving component; the third shielding component is configured to block the first air inlet hole or the second air inlet hole, and the fourth driving component is used for Driving the third shielding member to open or close the first air inlet hole, or for driving the third shielding member to open or close the second air inlet hole;

The controller is specifically configured to:

Obtaining a cleaning mode before controlling the fan component to allow the fan component to draw air from the first air inlet hole and the second air inlet hole; and when the cleaning mode is through the first air inlet hole And controlling, in the first cleaning mode of cleaning the second air inlet hole, the fourth driving component to drive the fourth driving component to drive the third shielding component to open the first air inlet hole and a state of the second air inlet hole; controlling the fan member to cause the fan member to suction from the first air inlet hole and the second air inlet hole; controlling the first driving member to cause the The first drive member drives the roller brush member to rotate.

Optionally, the controller is specifically configured to:

Identifying a type of to-be-cleaned material to be cleaned on the ground; determining a cleaning mode according to the type;

Optionally, the controller is specifically configured to:

Determining that the cleaning mode is the first cleaning mode or the fourth cleaning mode when the type includes the entangled type and the adhering type, the fourth cleaning mode is to first clean through the first air inlet hole, and then a cleaning mode for cleaning through the second air inlet hole;

When the type is an adherent type, determining that the cleaning mode is the second cleaning mode or the fifth cleaning mode, and the second cleaning mode is a cleaning mode for cleaning by the second air inlet hole, the fifth The cleaning mode is a cleaning mode in which cleaning is performed through the second air inlet hole and then cleaning through the first air inlet hole;

When the type is an easy-wound type, it is determined that the cleaning mode is a third cleaning mode, and the third cleaning mode is a cleaning mode that is cleaned by the first air inlet hole.

The embodiment of the present application further provides a ground cleaning method, which is applied to a controller in a cleaning robot, wherein the cleaning robot is provided with a first air inlet hole and a second air inlet hole, and the first air inlet hole is located at a front side of the second air inlet hole; the cleaning robot further includes: a fan component, a roller brush component located in the second air inlet hole, and a first driving component for driving the roller brush component; The first air inlet hole and the second air inlet hole are respectively communicated with the cavity of the fan component; the first air inlet hole is located at the front side of the second air inlet hole, and the first air inlet hole is Remote from the center position of the cleaning robot relative to the second air inlet hole; the method includes:

Controlling the fan component to cause the fan component to draw air from the first air inlet hole; and/or controlling the fan component to draw air from the second air inlet hole, and controlling the first driving component The roller brush member is driven to rotate.

Optionally, the cleaning robot further includes: a first shielding member for shielding the first air inlet hole and a second shielding member for shielding the second air inlet hole, and for driving the first a shielding member opens or closes the second driving member of the first air inlet hole, and a third driving member for driving the second shielding member to open or close the second air inlet hole;

Before controlling the fan component to suck from the first air inlet hole and/or the second air inlet hole, the method further includes: acquiring a cleaning mode;

Controlling the fan component to draw air from the first air inlet hole; and/or controlling the fan component to draw air from the second air inlet hole, and controlling the first driving component to drive the roller brush The steps of rotating the component include:

Controlling the second driving component to cause the second driving component to drive the first when the cleaning mode is a first cleaning mode that is cleaned by the first air inlet hole and the second air inlet hole a shielding member is in a state of opening the first air inlet hole; controlling the third driving member to cause the third driving member to drive the second shielding member to be in a state of opening the second air inlet hole; The fan component to cause the fan component to draw air from the first air inlet hole and the second air inlet hole, and control the first driving component to cause the first driving component to drive the roller The brush member rotates.

Optionally, the method further includes:

Optionally, the cleaning robot further includes: a third shielding component and a fourth driving component; the third shielding component is configured to block the first air inlet hole or the second air inlet hole, and the fourth driving component is used to drive the The third shielding member opens or closes the first air inlet hole, or drives the third shielding member to open or close the second air inlet hole;

Controlling the fourth driving component to cause the fourth driving component to drive the third when the cleaning mode is the first cleaning mode that is cleaned by the first air inlet hole and the second air inlet hole a shielding member is in a state of opening the first air inlet hole and the second air inlet hole; controlling the fan member to suck the fan member from the first air inlet hole and the second air inlet hole Winding and controlling the first driving component to cause the first driving component to drive the roller component to rotate.

Optionally, the step of acquiring the cleaning mode includes:

Identifying the type of material to be cleaned on the ground to be cleaned;

Determining the cleaning mode according to the type;

Optionally, the step of determining a cleaning mode according to the type includes:

The embodiment of the present application further provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by the processor, the ground cleaning method provided by the embodiment of the present application is implemented. The method includes:

Controlling the fan component to allow the fan component to draw air from the first air inlet hole and the second air inlet hole;

The first drive member is controlled such that the first drive member drives the roller brush member to rotate.

The embodiment of the present application further provides a computer program, which is implemented by the processor to implement the ground cleaning method provided by the embodiment of the present application. The method includes:

In the sweeping robot and the ground cleaning method provided by the embodiment of the present application, the sweeping robot is provided with a first air inlet hole and a second air inlet hole, and the first air inlet hole is located at the front side of the second air inlet hole, and the second inlet There are roller brushes in the air holes. During cleaning, the sweeping robot controls the fan components to draw the fan components from the first air inlet and the second air inlet, and controls the roller components to rotate. In the process of cleaning, the sweeping robot can use the first air inlet hole on the front side to clean the easily entangled hair and the like through the suction method, and the second air inlet hole and the roller brush member on the rear side are swept away by the roller brush method. The dust cleaning and the like are attached, so that the cleaning robot and the ground cleaning method provided by the embodiments of the present application can improve the cleaning effect when the ground is cleaned against the dust that is both entangled and dusty.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings to be used in the embodiments or the related art description will be briefly described below. Obviously, the drawings in the following description are only some of the embodiments of the present application, and those skilled in the art can obtain other drawings according to the drawings without any creative work.

FIG. 1 is a schematic structural diagram of a cleaning robot according to an embodiment of the present application;

FIG. 1b is another schematic structural diagram of a cleaning robot according to an embodiment of the present application;

1c is a schematic bottom view of a cleaning robot provided by an embodiment of the present application;

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

2b and 2c are schematic views of two embodiments of the first shielding member and the second shielding member;

3a and 3b are schematic diagrams showing two states of the cleaning robot provided in the embodiment of the present application;

4a and 4b are schematic views of two embodiments of a third shielding member according to an embodiment of the present application;

FIG. 5 is a schematic flow chart of a ground cleaning method according to an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the accompanying drawings in the embodiments. It is apparent that the described embodiments are only a part of the embodiments of the present application, and not all of them. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

For ease of understanding, the words appearing in the embodiments of the present application are explained below.

Suction mode cleaning: The garbage on the ground is cleaned by the powerful suction of the air inlet.

Rolling mode cleaning: The garbage on the ground is cleaned by rolling the roller.

The drive unit closes or opens the air inlet: the drive unit drives the shutter to close or open the air inlet.

In order to improve the cleaning effect when cleaning the ground with the existing entangled hair and the dirt adhering to the dirt, the embodiment of the present application provides a cleaning robot and a ground cleaning method. The cleaning robot provided in the embodiment of the present application will be described in detail below through specific embodiments.

FIG. 1 is a schematic structural diagram of a cleaning robot according to an embodiment of the present application. The sweeping robot is provided with a first air inlet hole 101 and a second air inlet hole 102, and the first air inlet hole 101 is located at a front side of the second air inlet hole 102. The cleaning robot includes a controller 103, a fan member 104, a roller brush member 105 located in the second air inlet hole 102, and a first driving member 106 for driving the roller brush member 105. The first air inlet hole 101 and the second air inlet hole 102 communicate with the cavity of the fan unit 104, respectively. The controller 103 is coupled to the fan assembly 104 and the first drive member 106, respectively. The fan component 104 of Figure 1a is referred to simply as a fan. The fans in the drawings of the embodiments of the present application all refer to the fan component 104. Figure 1a is a cross-sectional view of the sweeping robot.

The shapes of the first air inlet hole 101 and the second air inlet hole 102 are not limited to the linear shape shown in FIG. 1a. The shape of the first air inlet hole 101 and the second air inlet hole 102 may be determined according to the design requirements of the specific device, which is not specifically limited in this embodiment of the present application.

In the embodiment of the present application, the front side refers to a side away from the center position of the cleaning robot. The first air inlet hole 101 is located on the front side of the second air inlet hole 102. It can be understood that the first air inlet hole 101 is away from the center position of the cleaning robot with respect to the second air inlet hole 102.

In an embodiment, the front side may specifically refer to a front side in a traveling direction when the cleaning robot performs a cleaning task. The first air inlet hole 101 is located on the front side of the second air inlet hole 102. It can be understood that the first air inlet hole 101 is located on the front side of the second air inlet hole 102 in the traveling direction when the cleaning robot performs the cleaning task.

In one example, the direction of travel of the sweeping robot is fixed. At this time, the first air inlet hole 101 is away from the center position of the cleaning robot with respect to the second air inlet hole 102, and the direction of the second air inlet hole 102 to the first air inlet hole 101 is the traveling direction of the cleaning robot. For example, the first air inlet hole 101 is located in the north direction of the second air inlet hole 102, the first air inlet hole 101 is away from the center position of the cleaning robot with respect to the second air inlet hole 102, and the traveling direction of the cleaning robot is the north direction.

In another example, the direction of travel of the sweeping robot is variable. At this time, in order to reduce the hair wound by the brush member 105 of the second air inlet hole 102, the first air inlet hole 101 is kept away from the center position of the cleaning robot with respect to the second air inlet hole 102, and the second air inlet hole 102 to the second The direction of an air inlet hole 101 is the traveling direction of the sweeping robot. For example, the first air inlet hole 101 is located in the north direction of the second air inlet hole 102, and the traveling direction of the cleaning robot is the north direction. If the traveling direction of the cleaning robot is changed from the north direction to the south direction, the first air inlet hole 101 is located in the south direction of the second air inlet hole 102, and the first air inlet hole 101 is away from the cleaning robot with respect to the second air inlet hole 102. Central location.

The fan component 104 is a mechanical component that relies on input mechanical energy to increase gas pressure and deliver gas. It is a driven fluid machine. When the fan unit 104 rotates, the wind can be sucked in from the air inlet hole, and discharged from the air outlet, and a flowing wind is formed on the air passage composed of the air inlet hole, the cavity and the air outlet. When the flowing wind is formed, an object near the inlet of the air inlet hole can be sucked into the air inlet hole by the air pressure.

In another embodiment of the present application, the cleaning robot may also have a dust box that can be used to collect and filter dust. The dust box can be installed on the air duct of the sweeping robot. For example, the dust box may be located in the position shown in Figure 1b, i.e., the dust box is located between the cavity in which the fan unit 104 is located and the air inlet opening. The dust box can also be located between the cavity where the fan unit 104 is located and the air outlet. The first air inlet 101, the second air inlet 102, the dust box, the cavity where the fan unit 104 is located, and the air outlet together form a communicating (ie, penetrating) air duct. When the fan unit 104 rotates, a flowing wind can be formed in the air passage, and the wind enters from the first air inlet hole 101 and the second air inlet hole 102. After the dust box passes, dirt such as dust is precipitated, and then the wind passes through. The cavity exits from the air outlet.

The brush member 105 is a cleaning member including a rotating shaft and a brush connected to the rotating shaft. When the roller brush member 105 rotates, the brush can clean dirt such as dust on the ground.

In one embodiment, the first drive component 106 can be an electric motor and the first drive component 106 can drive the rotational axis of the roller brush component 105 to rotate. The first driving member 106 may be directly connected to the rotating shaft of the brush member 105, or may be connected to the rotating shaft of the brush member 105 by other connecting members.

FIG. 1c is a schematic bottom view of a cleaning robot according to an embodiment of the present application. The shape of the outer casing of the cleaning robot is circular, but the embodiment of the present application does not limit the outer shape of the cleaning robot. The first inlet aperture 101 and the second inlet aperture 102 are visible in Figure 1c, and the second inlet aperture 102 has a roller brush member 105 therein. Further, the cleaning robot shown in FIG. 1c further includes a driven wheel (also referred to as a follower wheel) and a driving wheel on the front side of the cleaning robot. The driving wheel provides driving force during the traveling of the sweeping robot, and drives the sweeping robot to advance. In order to better clean the ground, the sweeping robot may also include the side brush shown in Figure 1c. The number of side brushes can be one or more.

The controller 103 is configured to control the fan unit 104 to suck air from the first air inlet hole 101; and/or control the fan unit 104 to suck air from the second air inlet hole 101, and control the first driving unit 106 to drive the roller brush The member 105 rotates.

In one embodiment, the controller 103 can be specifically configured to control the fan component 104 to allow the fan component 104 to draw air from the first air inlet hole 101 and the second air inlet hole 102; and control the first driving component 106 so that The first drive member 106 drives the roller brush member 105 to rotate.

In this embodiment, the controller 103 can activate the fan component 104 when the cleaning command is received, so that the fan component 104 draws air from the first air inlet hole 101 and the second air inlet hole 102, and activates the first driving component 106. So that the first driving member 106 drives the roller brush member 105 to rotate.

Specifically, after receiving the cleaning command, the controller 103 activates the fan unit 104 to control the fan unit 104 to suck air from the first air inlet hole 101. And/or the controller 103, after receiving the cleaning command, activates the fan unit 104, controls the fan unit 104 to draw air from the second air inlet hole 101, and activates the first driving unit 106 to control the first driving unit 106 to drive the roller brush. The member 105 rotates.

The sweeping robot may also include a first drive circuit. In one embodiment, the controller 103, the first drive circuit, and the fan unit 104 are sequentially connected. When the controller 103 controls the fan unit 104, the controller 103 can control the rotation of the fan unit 104 by controlling the current delivered to the fan unit 104 by the first drive circuit. Controlling the fan component 104 includes controlling the start, stop, and rotational speed of the fan component 104, and the like.

The cleaning robot may also include a second drive circuit. The controller 103, the second driving circuit and the first driving component 106 are sequentially connected. When the controller 103 controls the first driving part 106, the controller 103 can control the first driving part 106 by controlling the current supplied to the first driving part 106 by the second driving circuit. Controlling the first drive component 106 includes controlling the start, stop, and rotational speed of the first drive component 106, and the like.

It can be seen from the above that in the embodiment, the sweeping robot is provided with a first air inlet hole 101 and a second air inlet hole 102, and the first air inlet hole 101 is located at the front side of the second air inlet hole 102, and the second air inlet hole There are roller brushes in 102. At the time of cleaning, the cleaning robot controls the fan unit 104 to suck the fan unit 104 from the first air inlet hole 101 and the second air inlet hole 102, and controls the roller member 105 to rotate. During the cleaning process, the cleaning robot can clean the easily entangled hair and the like by suction through the first air inlet hole 101 on the front side, and adopt the roller brushing method through the second air inlet hole 102 and the roller brush member 105 on the rear side. The dirt such as adhered dust is swept away, so that the cleaning robot provided in the present embodiment can improve the cleaning effect when the ground is cleaned against the existing entangled hair and the dirt adhering to the dirt.

In another embodiment of the present application, the cleaning robot may further include the following components as shown in FIG. 2a: a first shielding member 11 for shielding the first air inlet 101 and a second air inlet 102 for shielding the second air inlet 102. a second shielding member 12, and a second driving member 13 for driving the first shielding member 11 to open or close the first air inlet hole 101, for driving the second shielding member 12 to open or close the second air inlet hole 102 Three drive components 14.

At this time, the controller 103 may specifically be configured to control the fan unit 104 to obtain the cleaning mode before the fan unit 104 draws air from the first air inlet hole 101 and the second air inlet hole 102.

In an embodiment, when the cleaning mode is the first cleaning mode that is cleaned by the first air inlet hole 101 and the second air inlet hole 102, the controller 103 may specifically be configured to: control the second driving component 13 so that The second driving member 13 drives the first shielding member 11 in a state of opening the first air inlet hole 101; and controls the third driving member 14 to drive the third driving member 14 to drive the second shielding member 12 to open the second air inlet hole 102. The fan unit 104 is controlled to suck the fan unit 104 from the first air inlet 101 and the second air inlet 102, and the first driving unit 106 is controlled to drive the first driving unit 106 to drive the roller unit 105. Turn.

In one embodiment, the second drive component 13 can be a steering gear. In this embodiment, the second driving member 13 can control the first shielding member 11 to rotate about the axis, and the first air inlet hole 101 can be opened or closed when the first shielding member 11 is pivoted. In another embodiment, the second driving component 13 can also be a linear motor. In this embodiment, the second driving member 13 can control the parallel movement of the first shutter member 11, and can open or close the first air inlet hole 101 when the first shutter member 11 moves in parallel.

Among them, the steering gear is a position (or angle) controlled servo motor, suitable for scenes that require constant angle changes and can maintain a certain position. A linear motor is a transmission that converts electrical energy into linear motion mechanical energy.

In one embodiment, the third drive component 14 can be a steering gear. In this embodiment, the third driving member 14 can control the second blocking member 12 to pivot, and the second air inlet hole 102 can be opened or closed when the second shielding member 12 is pivoted. In another embodiment, the third driving component 14 can also be a linear motor. In this embodiment, the third driving member 14 can control the parallel movement of the second shutter member 12, and the second air inlet hole 102 can be opened or closed when the second shutter member 12 moves in parallel.

Referring to FIG. 2b, FIG. 2b is a schematic structural diagram of a first shielding member and a second shielding member according to an embodiment of the present application. Figure 2b shows a portion of Figure 2a. Wherein, the first shielding member 11 and the second shielding member 12 are all rotatable about the axis. When the first shielding member 11 and the second shielding member 12 are rotated, the first shielding member 11 can control the first air inlet opening 101 to open or close, and the second shielding member 12 can open or close the second air inlet opening 102.

Referring to FIG. 2c, FIG. 2c is another schematic structural diagram of the first shielding member and the second shielding member according to the embodiment of the present application. Figure 2c shows a portion of Figure 2a. Wherein, both the first shielding member 11 and the second shielding member 12 can be translated along a straight line of the corresponding shielding member. When the first shutter member 11 and the second shutter member 12 are translated, the first shutter member 11 can control the first air inlet hole 101 to open or close, and the second shutter member 12 can open or close the second air inlet hole 102.

The controller 103 obtains the cleaning mode, and may specifically obtain the cleaning mode set in advance, or may determine the cleaning mode according to the input information of the user, or may be the cleaning mode sent by the receiving terminal device. The terminal device can be a smartphone or a tablet.

The controller 103 may acquire the cleaning mode while the cleaning robot is performing the cleaning task, or may acquire the cleaning mode when receiving the cleaning command instructing to start cleaning.

In this embodiment, when the controller 103 acquires the first cleaning mode, if the first shielding member 11 is in the state of opening the first air inlet hole 101, the second driving component may not be processed, that is, the first one is not changed. The state of the shutter member 11; if the first shutter member 11 is in a state of closing the first air inlet hole 101, the second driving member 13 can be controlled such that the second driving member 13 opens the first air inlet hole 101.

If the second driving component 13 is a steering gear, the controller 103 controls the second driving component 13 to enable the second driving component 13 to open the first air inlet hole 101. Specifically, the second driving component 13 can be controlled according to the first The rotation direction is rotated to a first predetermined angle so that the second driving member 13 opens the first air inlet hole 101. The first predetermined direction of rotation may be clockwise or counterclockwise. If the second driving component 13 is a linear motor, the controller 103 controls the second driving component 13 to enable the second driving component 13 to open the first air inlet hole 101. Specifically, the second driving component 13 can be controlled according to the first The translation direction is shifted by a first predetermined distance so that the second driving member 13 opens the first air inlet hole 101. The first predetermined translation direction may be the front or back direction of the line where the first shielding member 11 is located.

When the controller acquires the first cleaning mode, if the second shielding member 12 is in the state of opening the second air inlet hole 102, the third driving component 14 may not be processed, that is, the state of the second shielding member 12 is not changed; If the second shielding member 14 is in a state in which the second air inlet 102 is closed, the third driving member 14 can be controlled such that the third driving member 14 opens the second air inlet 102.

If the third driving component 14 is a steering gear, the controller 103 controls the third driving component 14 to enable the third driving component 14 to open the second air inlet hole 102. Specifically, the third driving component 14 can be controlled according to the second pre-control. The rotation direction is rotated to a second predetermined angle so that the third driving member 14 opens the second air inlet hole. The second preset rotation direction may be clockwise or counterclockwise. The second preset rotation direction may be the same as or different from the first preset rotation direction. The second preset angle may be the same as or different from the first preset angle. If the third driving component 14 is a linear motor, the controller 103 controls the third driving component 14 to enable the third driving component 14 to open the second air inlet hole 102. Specifically, the third driving component 14 can be controlled according to the second pre-control. The translation direction is shifted by a second predetermined distance so that the third driving member 14 opens the second air inlet hole 102. The second predetermined translation direction may be the front or back direction of the straight line where the second shielding member 12 is located. The second preset translation direction may be the same as the first preset translation direction, or may be different. The second preset distance may be the same as the first preset distance or may be different.

In this embodiment, when both the first air inlet hole 101 and the second air inlet hole 102 are in an open state and the first driving component 106 drives the roller brush component 105 to rotate, the cleaning robot is in a working relationship between the suction cleaning and the roller cleaning. Cleaning mode. Since the first air inlet hole 101 is located at the front side of the second air inlet hole 102, it is possible to clean the easily entangled hair by suction on the front side, and then sweep the dust which is easy to adhere with the roller brush on the rear side.

In one embodiment, when the cleaning mode is the second cleaning mode that is cleaned by the second air inlet 102, the controller 103 may specifically be configured to: control the second driving component 13 to drive the second driving component 13 The first shielding member 11 is in a state of closing the first air inlet hole 101; the third driving member 14 is controlled such that the third driving member 14 drives the second shielding member 12 in a state of opening the second air inlet hole 102; controlling the fan unit 104, so that the fan member 104 draws air from the second air inlet 102; the first driving member 106 is controlled to cause the first driving member 106 to drive the roller member 105 to rotate.

In this embodiment, when the controller 103 acquires the second cleaning mode, if the first shielding member 11 is in the state of closing the first air inlet hole 101, the second driving component 13 may not be processed, that is, the first modification is not performed. The state of the shutter member 11; if the first shutter member 11 is in the state of opening the first air inlet hole 101, the second driving member 13 can be controlled such that the second driving member 13 closes the first air inlet hole.

If the second driving component 13 is a steering gear, the controller 103 controls the second driving component 13 to cause the second driving component 13 to close the first air inlet hole 101. Specifically, the second driving component 13 can be controlled according to the first The first predetermined angle is rotated in the opposite direction of the rotation direction to cause the second driving member 13 to close the first air inlet hole 101. If the second driving component 13 is a linear motor, the controller 103 controls the second driving component 13 to cause the second driving component 13 to close the first air inlet hole 101. Specifically, the second driving component 13 can be controlled according to the first The first predetermined distance is translated by the opposite direction of the translation direction so that the second driving member 13 closes the first air inlet hole.

When the controller 103 acquires the second cleaning mode, if the second shielding member 12 is in the state of opening the second air inlet hole 102, the third driving component 14 may not be processed, that is, the state of the second shielding member 12 is not changed. If the second shielding member 14 is in a state of closing the second air inlet hole 102, the third driving member 14 may be controlled such that the third driving member 14 opens the second air inlet hole 102.

In this embodiment, the first air inlet hole 101 is in a closed state, the second air inlet hole 102 is in an open state, and the fan unit 104 is in an operating state. When the first driving unit 106 drives the roller brush unit 105 to rotate, the cleaning robot is in use. Roller brush cleaning method for roller cleaning.

Before the controller 103 acquires the second cleaning mode, the cleaning robot may be in a state in which the suction cleaning and the roller cleaning are operated together, or may be in a suction only cleaning state or in a non-working state. Suction cleaning refers to the way of vacuum cleaning. When the second cleaning mode is acquired, the cleaning robot can switch the cleaning robot to a state in which the brush cleaning is performed by controlling the first shielding member 11 or the second shielding member 12.

In this embodiment, before the controller 103 obtains the second cleaning mode, if the fan component 104 of the cleaning robot is in the working state, when the second cleaning mode is acquired, the rotation speed of the fan component 104 can be controlled to make the fan The member 104 adjusts the wind speed at the time of suction from the second air inlet hole 102. Specifically, the rotation speed of the fan unit 104 may be reduced to reduce the wind speed when the fan unit is sucked from the second air inlet hole 102; or the rotation speed of the fan unit 104 may be increased to make the fan unit 104 from the second The wind hole 102 increases the wind speed when sucking air.

The embodiment can be applied to the situation that the object to be cleaned on the ground is mainly dusty garbage which is easy to adhere, and the type of garbage can be cleaned by the roller brush cleaning method.

In one embodiment, when the cleaning mode is the third cleaning mode that is cleaned by the first air inlet 101, the controller 103 may specifically be configured to: control the second driving component 13 to drive the second driving component 13 a shielding member 11 is in a state of opening the first air inlet hole 101; the third driving member 14 is controlled such that the third driving member 14 drives the second shielding member 12 in a state of closing the second air inlet hole 102; and the fan unit 104 is controlled. So that the fan unit 104 draws air from the first air inlet hole 101.

In this embodiment, when the controller 103 acquires the third cleaning mode, if the first shielding member 11 is in the state of opening the first air inlet hole 101, the second driving component 13 may not be processed, that is, the first The state of the shutter member 11; if the first shutter member 11 is in a state of closing the first air inlet hole 101, the second driving member 13 can be controlled such that the second driving member 13 opens the first air inlet hole 101.

When the controller 103 acquires the third cleaning mode, if the second shielding member 12 is in the state of closing the second air inlet hole 102, the third driving component 14 may not be processed, that is, the state of the second shielding member 12 is not changed. If the second shielding member 12 is in a state in which the second air inlet 102 is opened, the third driving member 14 may be controlled such that the third driving member 14 closes the second air inlet 102.

If the third driving component 14 is a steering gear, the controller 103 controls the third driving component 14 to cause the third driving component 14 to close the second air inlet hole 102. Specifically, the third driving component 14 can be controlled according to the second pre-control. The second predetermined angle is rotated in the opposite direction of the rotation direction to cause the third driving member 14 to close the second air inlet hole 102. If the third driving component 14 is a linear motor, the controller 103 controls the third driving component 14 to cause the third driving component 14 to close the second air inlet hole 102. Specifically, the third driving component 14 can be controlled according to the second pre-control. The second predetermined distance is shifted by the opposite direction of the translation direction so that the third driving member 14 closes the second air inlet hole 102.

In this embodiment, the first air inlet hole 101 is in an open state, the second air inlet hole 102 is in a closed state, and the fan unit 104 is in an operating state. When the first driving unit 106 does not drive the roller brush unit 105 to rotate, the cleaning robot is in the working state. Suction cleaning state.

Before the controller 103 acquires the third cleaning mode, the cleaning robot may be in a state in which the suction cleaning and the roller cleaning are operated together, or may be in a state of only the brush cleaning, or may be in an inoperative state. When the third cleaning mode is acquired, the cleaning robot can switch the cleaning robot to the state in which the suction cleaning is performed by controlling the first shielding member 11 or the second shielding member 12.

In this embodiment, before the controller 103 obtains the third cleaning mode, if the fan component 104 of the cleaning robot is in the working state, after the third cleaning mode is acquired, the rotation speed of the fan component 104 can be controlled to make the fan The member 104 adjusts the wind speed at the time of suction from the first air inlet hole 101. Specifically, the rotational speed of the fan component 104 may be increased to increase the wind speed when the fan component 104 is sucked from the first air inlet hole 101; or the rotational speed of the fan component 104 may be decreased to make the wind turbine component 104 from the first The wind hole 101 reduces the wind speed when suctioning.

In this embodiment, the object to be cleaned on the ground is mainly a case of easily entangled hair type garbage, and the suction type cleaning method can clean the garbage.

In one embodiment, when the cleaning mode is the fourth cleaning mode that is cleaned by the second air inlet 102 after the first air inlet 101 is cleaned, the controller 103 may be specifically configured to: control the second driving component. 13, the second driving member 13 is driven to drive the first shielding member 11 in a state of opening the first air inlet hole 101; and the third driving member 14 is controlled to drive the third driving member 14 to drive the second shielding member 12 to be in the second state. a state of the air inlet hole 102; the fan unit 104 is controlled to allow the fan unit 104 to draw air from the first air inlet hole 101; when it is detected that the preset cleaning area cleaning is completed, the second driving unit 13 is controlled to make the The second driving member 13 drives the first shielding member 11 in a state of closing the first air inlet hole 101; and controls the third driving member 14 to drive the third driving member 14 to drive the second shielding member 12 to open the second air inlet hole 102. The fan member 104 is controlled to draw the fan member 104 from the second air inlet 102; the first driving member 106 is controlled to cause the first driving member 106 to drive the roller member 105 to rotate.

In this embodiment, the controller 103 determines whether the cleaning of the preset cleaning area is completed, and may be determined according to the method in the related art, which is not described in detail in this embodiment.

The embodiment can be applied to the situation that there are both easy-to-wrap hair-type garbage on the ground and dusty garbage which is easy to adhere. The suction cleaning area can be used to clean the preset cleaning area first, and the ground is easy to be entangled. Hair-like garbage. After the suction cleaning is completed, the preset cleaning area is cleaned by the brush-type cleaning method to remove the dusty garbage which is easy to adhere to the ground, thereby improving the cleanliness of the ground cleaning.

In an embodiment, when the cleaning mode is the fifth cleaning mode that is cleaned by the first air inlet hole 101 after being cleaned by the second air inlet hole 102, the controller 103 may be specifically configured to: control the third driving component. 14 such that the third driving member 14 drives the second shielding member 12 in a state of opening the second air inlet 102; the second driving member 13 is controlled such that the second driving member 13 drives the first shielding member 11 to be closed first The state of the air inlet hole 101; the fan unit 104 is controlled to allow the fan unit 104 to draw air from the second air inlet hole 102; the first driving unit 106 is controlled to cause the first driving unit 106 to drive the roller brush unit 105 to rotate; When it is detected that the preset cleaning area cleaning is completed, the third driving part 14 is controlled such that the third driving part 14 drives the second shielding part 12 in a state of closing the second air inlet hole 102; and the second driving part 13 is controlled to The second driving member 13 is driven to drive the first shielding member 11 in a state in which the first air inlet 101 is opened; and the fan member 104 is controlled to allow the fan member 104 to suck from the first air inlet 101.

This embodiment can be applied to the situation that there is dusty garbage which is easy to adhere on the ground. The preset cleaning area can be cleaned first by using a brush-type cleaning method to remove dust-like garbage on the ground. After the brush-type cleaning is completed, the residual dust is cleaned again by the suction cleaning method, thereby improving the cleanliness when cleaning the floor.

In another embodiment of the present application, when determining the cleaning mode, the controller 103 may specifically identify the type of the object to be cleaned on the ground to be cleaned, and determine the cleaning mode according to the type of the object to be cleaned.

Wherein, when the type of the object to be cleaned on the ground is to be cleaned, the object to be cleaned on the ground may be specifically identified by a visual image method or a specific dust sensor method. The type of the object to be cleaned may include: an easy-wound type and an adhesive type.

The controller 103 determines the cleaning mode according to the type of the object to be cleaned, which can be specifically used for:

When the type of the object to be cleaned includes the type of the entangled object and the type of the adherent, the controller 103 may determine that the cleaning mode is the first cleaning mode or the fourth cleaning mode;

When the type of the object to be cleaned is the type of the adherend, the controller 103 may determine that the cleaning mode is the second cleaning mode or the fifth cleaning mode;

When the type of the object to be cleaned is a type of easy winding, the controller 103 may determine that the cleaning mode is the third cleaning mode.

In this embodiment, the controller 103 can automatically identify the type of the object to be cleaned on the ground, and adjust the cleaning mode of the cleaning robot according to the type of the object to be cleaned. For example, when it is recognized that there is obvious hair on the front ground, the suction cleaning mode is enabled; when it is recognized that there is no hair on the front ground, but there is a grain of rice adhered to the ground, the roller brush cleaning mode is enabled; When it is recognized that there are many types of garbage on the ground in front, the suction cleaning and the roller cleaning can be enabled to work together, and the cleaning method can be adopted according to the actual ground conditions to improve the cleaning effect.

The present application will be described below in conjunction with specific examples.

FIG. 3 is a schematic diagram of two working states of the cleaning robot provided by the embodiment of the present application. The controller 103, the first drive member 106, the second drive member 13, and the third drive member 14 are not shown in Fig. 3a. In FIG. 3a, the first shielding member 11 does not block the first air inlet hole 101, and the first air inlet hole 101 is in an open state. The sweeping robot can be moved forward by the drive wheel and with the aid of the driven wheel. During the movement, the ground is cleaned through the first air inlet 101. At this time, the sweeping robot is in the suction cleaning mode.

When the controller 103 detects that the ground has been cleaned up, the controller 103 can control the sweeping robot to return to the charging stand for charging. When detecting that charging is completed, the controller 103 may control the second driving part 13 such that the second driving part 13 drives the first blocking part 11 to close the first air inlet hole 101, and controls the third driving part 14 to make the third The driving member 14 drives the second shutter member 12 to open the second air inlet hole 102, activates the fan member 104, and activates the first driving member 106 to cause the first driving member 106 to drive the roller brush member 105 to rotate. See Figure 3b for the status of the first and second shutter members. At this time, the sweeping robot is in the brush cleaning mode.

It can be seen that, in this embodiment, the cleaning robot is provided with a first air inlet hole 101 and a second air inlet hole 102. The roller brush member 105 is located in the second air inlet hole 102, and the first air inlet hole 101 is located in the second air inlet hole. The front side of 102. The sweeping robot can control to open the first air inlet hole 101, close the second air inlet hole 102, and clean by suction type cleaning; also can control to close the first air inlet hole 101, open the second air inlet hole 102, and control the brushing member. 105 is rotated, and is cleaned by a brush-type cleaning method; the first air inlet hole 101 and the second air inlet hole 102 are also controlled to be opened, and the roller brush member 105 is controlled to rotate, and is cleaned by a suction type cleaning method and a roller brush type cleaning method. The embodiments of the present application provide various cleaning methods, so that the same cleaning robot can provide a variety of cleaning methods to meet different needs of the user for cleaning.

At the same time, the cleaning robot can realize the cleaning mode from a cleaning mode by controlling the opening or closing of the first air inlet hole 101 and the second air inlet hole 102, and controlling the roller brush member 105 and the fan unit 106 according to the set cleaning mode. Another type of cleaning mode switching, which does not require manual manual replacement of components, thus improving the degree of automation of the sweeping robot when switching the cleaning mode.

In another embodiment of the present application, the functions of the first shielding member 11 and the second shielding member 12 may also be implemented by a shielding member: a third shielding member. The third shielding member can be an inversion plate or a sliding plate. The shielding member can block and open the first air inlet hole 101 or block and open the second air inlet hole 102.

On the basis of the embodiment shown in Fig. 1a, the cleaning robot may further comprise a third shielding member 15 and a fourth driving member 16 as shown in Fig. 4a or 4b. The third shielding member 15 is configured to block the first air inlet hole 101 or the second air inlet hole 102, and the fourth driving member 16 is configured to drive the third shielding member 15 to open or close the first air inlet hole 101, or to drive the first The three shielding members 15 open or close the second air inlet holes 102.

The third shielding member 15 may be a sliding plate, and the third shielding member 15 may slide along a predetermined plane. Referring to Fig. 4a, the third blocking member 15 of the broken line is a position after the third blocking member 15 of the solid line slides. In such an embodiment, the fourth drive component 16 can be a linear motor.

The third shutter member 15 can also flip the plate, and the third shutter member 15 can be rotated about the axis within a preset range. Referring to Fig. 4b, the third blocking member 15 of the broken line is a position after the third blocking member 15 of the solid line is rotated. In such an embodiment, the fourth drive component can be a steering gear.

The above two implementations of the third shielding member 15 can realize the following states of the first air inlet hole 101 and the second air inlet hole 102: opening the first air inlet hole 101 and the second air inlet hole 102; opening the first inlet The air hole 101 closes the second air inlet hole 102; the first air inlet hole 101 is closed, and the second air inlet hole 102 is opened. When the third shielding member 15 is located at an intermediate position between the first air inlet hole 101 and the second air inlet hole 102, opening of the first air inlet hole 101 and the second air inlet hole 102 can be achieved. When the third shielding member 15 is located at a position blocking the second air inlet hole 102, opening of the first air inlet hole 101 and closing of the second air inlet hole 102 can be achieved. When the third shielding member 15 is located at a position blocking the first air inlet hole 101, it is possible to close the first air inlet hole 101 and open the second air inlet hole 102.

The controller 103 can also be used to control the fan unit 104 to obtain the cleaning mode before the fan unit 104 draws air from the first air inlet hole 101 and the second air inlet hole 102.

In an embodiment, when the cleaning mode is the first cleaning mode that is cleaned by the first air inlet 101 and the second air inlet 102, the controller 103 may be specifically configured to: control the fourth driving component 16 so that The fourth driving member 16 drives the third shielding member 15 in a state of opening the first air inlet hole 101 and the second air inlet hole 102; and controls the fan unit 104 to make the fan unit 104 from the first air inlet hole 101 and the second inlet The air hole 102 performs suction; the first driving member 106 is controlled to cause the first driving member 106 to drive the roller member 105 to rotate.

In this embodiment, when the controller 103 acquires the first cleaning mode, if the third shielding member 15 is in the state of opening the first air inlet hole 101 and the second air inlet hole 102, the fourth driving unit 16 may not be The processing is performed, that is, the state of the third shutter member 15 is not changed. If the third shielding member 15 is in a state of closing the first air inlet hole 101 or closing the second air inlet hole 102, the fourth driving member 16 may be controlled such that the fourth driving member 16 opens the first air inlet hole 101. And a second air inlet hole 102.

In this embodiment, a shielding member and a driving member are used, and the opening and closing control of the first air inlet hole 101 and the second air inlet hole 102 can be realized, and a new embodiment is provided, which can adopt a more compact result. The sweeping robot implements the sweep function. In this embodiment, it is possible to clean the easily entangled hair by suction on the front side, and to clean the easily adhered dust by using a roller brush on the rear side.

In one embodiment, when the cleaning mode is the second cleaning mode that is cleaned by the second air inlet 102, the controller 103 may specifically be configured to: control the fourth driving component 16 to drive the fourth driving component 16 The third shielding member 15 is in a state of closing the first air inlet hole 101 and opening the second air inlet hole 102; controlling the fan unit 104 to allow the fan unit 104 to suck from the second air inlet hole 102; and controlling the first driving unit 106, so that the first driving member 106 drives the roller brush member 105 to rotate.

In this embodiment, when the controller 103 acquires the second cleaning mode, if the third shielding member 15 is in the state of closing the first air inlet hole 101 and opening the second air inlet hole 102, the fourth driving unit may be omitted. 16 is processed, that is, the state of the third shielding member 15 is not changed; if the third shielding member 15 is in a state of opening the first air inlet hole 101, closing the second air inlet hole 102, or opening the first air inlet hole 101 and In the state of the second air inlet hole 102, the fourth driving member 16 can be controlled such that the fourth driving member 16 closes the first air inlet hole 101 and opens the second air inlet hole 102.

In one embodiment, when the cleaning mode is the third cleaning mode that is cleaned by the first air inlet 101, the controller 103 may specifically be configured to: control the fourth driving component 16 to drive the fourth driving component 16 The three shielding members 15 are in a state in which the first air inlet holes 101 are opened and the second air inlet holes 102 are closed. The fan unit 104 is controlled to suck the fan unit 104 from the first air inlet holes 101.

In this embodiment, when the controller 103 acquires the third cleaning mode, if the third shielding member 15 is in the state of opening the first air inlet hole 101 and closing the second air inlet hole 102, the fourth driving unit may be omitted. 16 is processed, that is, the state of the third shielding member 15 is not changed; if the third shielding member 15 is in a state of closing the first air inlet 101, opening the second air inlet 102, or opening the first air inlet 101 and In the state of the second air inlet 102, the fourth driving member 16 can be controlled such that the fourth driving member 16 opens the first air inlet hole 101 and closes the second air inlet hole 102.

In one embodiment, when the cleaning mode is the fourth cleaning mode that is cleaned by the first air inlet hole 102 after being cleaned by the first air inlet hole 101, the controller 103 may be specifically configured to: control the fourth driving component. 16 so that the fourth driving member 16 drives the third shielding member 15 in a state of opening the first air inlet hole 101 and closing the second air inlet hole 102; controlling the fan member 104 to make the fan member 104 from the first air inlet hole 101 performs suction; when it is detected that the preset cleaning area cleaning is completed, the fourth driving part 16 is controlled such that the fourth driving part 16 drives the third shielding part 15 to close the first air inlet hole 101 and open the second opening. The state of the air hole 102; the fan member 104 is controlled to draw the fan member 104 from the second air inlet 102; the first driving member 106 is controlled to cause the first driving member 106 to drive the roller member 105 to rotate.

In an embodiment, when the cleaning mode is the fifth cleaning mode that is cleaned by the first air inlet 101 after being cleaned by the second air inlet 102, the controller 103 may be specifically configured to: control the fourth driving component. 16 so that the fourth driving member 16 drives the third shielding member 15 in a state of closing the first air inlet hole 101 and opening the second air inlet hole 102; controlling the fan member 104 to make the fan member 104 from the second air inlet hole 102 performs suction; controls the first driving component 106 to cause the first driving component 106 to drive the roller component 105 to rotate; when detecting that the preset cleaning zone cleaning is completed, controls the fourth driving component 16 to make the fourth driving The member 16 drives the third shutter member 15 in a state in which the first air inlet hole 101 is opened and the second air inlet hole 102 is closed; and the fan member 104 is controlled to suck the fan unit 104 from the first air inlet hole 101.

Corresponding to the above embodiment of the cleaning robot, the embodiment of the present application further provides a ground cleaning method. FIG. 5 is a schematic flow chart of a ground cleaning method according to an embodiment of the present application. The method is applied to a controller in the sweeping robot. The sweeping robot is provided with a first air inlet hole and a second air inlet hole, and the first air inlet hole is located at a front side of the second air inlet hole. The sweeping robot further includes: a fan component, a roller brush component located in the second air inlet hole, and a first driving component for driving the roller brush component. The first air inlet hole and the second air inlet hole are respectively communicated with the cavity of the fan component. The first air inlet hole is located at the front side of the second air inlet hole, and the first air inlet hole is away from the center position of the cleaning robot with respect to the second air inlet hole. The method in this embodiment includes the following steps a1 and/or step a2

In step a1, the fan unit is controlled to suck air from the first air inlet hole.

Specifically, after receiving the cleaning command, the controller may activate the fan component to allow the fan component to draw air from the first air inlet hole.

In step a2, the fan component is controlled to suck air from the second air inlet hole, and the first driving component is controlled to drive the roller brush member to rotate.

Specifically, after receiving the cleaning instruction, the controller may activate the fan component to allow the fan component to draw air from the second air inlet hole, and activate the first driving component to control the first driving component to drive the roller component to rotate. .

In one embodiment, the above ground cleaning method may include the following steps S501 to S502.

Step S501: Control the fan component to allow the fan component to draw air from the first air inlet hole and the second air inlet hole.

Specifically, after receiving the cleaning instruction, the controller may activate the fan component to allow the fan component to draw air from the first air inlet hole and the second air inlet hole. Controls fan components, including controlling the start, stop, and rotational speed of fan components.

In an embodiment, the cleaning robot may further include a first driving circuit, and the controller, the first driving circuit, and the fan component may be sequentially connected. In this step S501, specifically, the rotation of the fan component can be controlled by controlling the current delivered to the fan component by the first drive circuit.

Step S502: Control the first driving component to cause the first driving component to drive the roller component to rotate.

In an embodiment, the cleaning robot may further include a second driving circuit, and the controller, the second driving circuit and the first driving component may be sequentially connected. In this step S502, specifically, the first driving component may be controlled by controlling a current that is transmitted to the first driving component by the second driving circuit. Controlling the first drive component includes controlling the start, stop, and rotational speed of the first drive component, and the like.

In this embodiment, the foregoing steps 501 and S502 are performed in no particular order.

It can be seen from the above that in the embodiment, the sweeping robot is provided with a first air inlet hole and a second air inlet hole, the first air inlet hole is located at the front side of the second air inlet hole, and the second air inlet hole has a roller brush. component. During cleaning, the sweeping robot controls the fan components to draw the fan components from the first air inlet and the second air inlet, and controls the roller components to rotate. In the process of cleaning, the sweeping robot can use the first air inlet hole on the front side to clean the easily entangled hair and the like through the suction method, and the second air inlet hole and the roller brush member on the rear side are swept away by the roller brush method. The dust cleaning and the like are attached, so that the floor cleaning method provided by the present embodiment can improve the cleaning effect when cleaning the ground with both the easily entangled hair and the dust adhering.

In another embodiment of the present application, based on the embodiment shown in FIG. 5, the cleaning robot may further include: a first shielding member for shielding the first air inlet hole and a second shielding portion for shielding the second air inlet hole; a component, and a second driving component for driving the first shielding member to open or close the first air inlet hole, and a third driving member for driving the second shielding member to open or close the second air inlet hole.

In this case, before the controller controls the fan component to allow the fan component to draw air from the first air inlet hole and/or the second air inlet hole, the controller may further include: acquiring a cleaning mode.

At this time, the controller controls the fan component to suck air from the first air inlet hole; and/or controls the fan component to suck air from the second air inlet hole, and controls the first driving component to drive the roller component to rotate, which may include :

When the cleaning mode is the first cleaning mode for cleaning through the first air inlet hole and the second air inlet hole, the controller controls the second driving component to cause the second driving component to drive the first shielding component to open the first air inlet a state of the hole; the controller controls the third driving part such that the third driving part drives the second shielding part in a state of opening the second air inlet hole; the controller controls the fan part to make the fan part from the first air inlet hole and The second air inlet hole is used for suction.

The controller obtains the cleaning mode, which may be a preset cleaning mode, or a cleaning mode according to the input information of the user, or a cleaning mode sent by the receiving terminal device. The terminal device can be a smartphone or a tablet.

The controller may acquire the cleaning mode during the cleaning task performed by the cleaning robot, or may acquire the cleaning mode when receiving the cleaning command indicating the start of cleaning.

In this embodiment, when the controller acquires the first cleaning mode, if the first shielding component is in a state of opening the first air inlet hole, the second driving component may not be processed, that is, the first shielding component is not changed. a state; if the first shielding member is in a state of closing the first air inlet hole, the second driving member may be controlled to open the first air inlet hole.

If the second driving component is a steering gear, the controller controls the second driving component to enable the second driving component to open the first air inlet hole, and specifically, the second driving component is controlled to rotate according to the first preset rotation direction. The angle is preset so that the second driving member opens the first air inlet hole. The first predetermined direction of rotation may be clockwise or counterclockwise. If the second driving component is a linear motor, the controller controls the second driving component to enable the second driving component to open the first air inlet hole, and specifically: controlling the second driving component to translate according to the first preset translation direction. The distance is preset so that the second driving member opens the first air inlet hole. The first predetermined translation direction may be the front or back direction of the line where the first shielding member is located.

When the controller acquires the first cleaning mode, if the second shielding component is in the state of opening the second air inlet hole, the third driving component may not be processed, that is, the state of the second shielding component is not changed; if the second shielding component is When the component is in a state in which the second air inlet hole is closed, the third driving component may be controlled such that the third driving component opens the second air inlet hole.

If the third driving component is a steering gear, the controller controls the third driving component to enable the third driving component to open the second air inlet hole, specifically: controlling the third driving component to rotate according to the second preset rotation direction. The angle is preset such that the second drive member opens the second air inlet. The second preset rotation direction may be clockwise or counterclockwise. The second preset rotation direction may be the same as or different from the first preset rotation direction. The second preset angle may be the same as or different from the first preset angle. If the third driving component is a linear motor, the controller controls the third driving component to enable the third driving component to open the second air inlet hole, specifically: controlling the third driving component to translate the second driving direction according to the second predetermined translation direction. The distance is preset so that the third driving member opens the second air inlet hole. The second predetermined translation direction may be the front or back direction of the line where the second shielding member is located. The second preset translation direction may be the same as the first preset translation direction, or may be different. The second preset distance may be the same as the first preset distance or may be different.

In this embodiment, when both the first air inlet hole and the second air inlet hole are in an open state and the first driving member drives the roller brush member to rotate, the cleaning robot is in a cleaning mode in which the suction type cleaning and the roller brush type cleaning work together. Since the first air inlet hole is located at the front side of the second air inlet hole, it is possible to clean the easily entangled hair by suction on the front side, and then sweep the dust which is easy to adhere with the roller brush on the rear side.

In another embodiment of the present application, based on the embodiment shown in FIG. 5, the above ground cleaning method may further include:

When the cleaning mode is the second cleaning mode that is cleaned by the second air inlet hole, the second driving component is controlled such that the second driving component drives the first shielding component to be in a state of closing the first air inlet hole; controlling the third driving a component such that the third driving component drives the second shielding component in a state of opening the second air inlet hole; controlling the fan component to cause the fan component to suck from the second air inlet hole; and controlling the first driving component to enable A drive member drives the roller brush member to rotate.

In this embodiment, when the controller acquires the second cleaning mode, if the first shielding component is in a state of closing the first air inlet hole, the second driving component may not be processed, that is, the first shielding component is not changed. a state; if the first shielding member is in a state of opening the first air inlet hole, the second driving member may be controlled such that the second driving member closes the first air inlet hole.

If the second driving component is a steering gear, the controller controls the second driving component to cause the second driving component to close the first air inlet hole, and specifically, the second driving component is controlled to be in the opposite direction of the first preset rotation direction. The first predetermined angle is rotated to cause the second driving member to close the first air inlet hole. If the second driving component is a linear motor, the controller controls the second driving component to cause the second driving component to close the first air inlet hole. Specifically, the second driving component is controlled to be opposite to the first predetermined translation direction. Translating the first predetermined distance to cause the second driving member to close the first air inlet hole.

When the controller acquires the second cleaning mode, if the second shielding component is in the state of opening the second air inlet hole, the third driving component may not be processed, that is, the state of the second shielding component is not changed; if the second shielding component is When the component is in a state in which the second air inlet hole is closed, the third driving component may be controlled such that the third driving component opens the second air inlet hole.

In this embodiment, the first air inlet hole is in a closed state, the second air inlet hole is in an open state, and the fan component is in an operating state, and when the first driving component drives the roller brush component to rotate, the cleaning robot is in a roller cleaning. Brush cleaning method.

Before the controller acquires the second cleaning mode, the cleaning robot may be in a state in which the suction cleaning and the roller cleaning are working together, or may be in a suction only cleaning state or in a non-working state. When the second cleaning mode is acquired, the cleaning robot can switch the cleaning robot to the state of using the brush cleaning by controlling the first shielding member or the second shielding member.

In this embodiment, before the controller acquires the second cleaning mode, if the fan component of the cleaning robot is in the working state, when the second cleaning mode is acquired, the rotation speed of the fan component can be controlled to adjust the fan component. The second air inlet hole performs the wind speed when sucking air. Specifically, the rotation speed of the fan component may be reduced to reduce the wind speed when the fan component draws air from the second air inlet hole; or, the rotation speed of the fan component is increased, so that the fan component is sucked from the second air inlet hole. Increase wind speed when the wind is blowing.

When the cleaning mode is the third cleaning mode that is cleaned by the first air inlet hole, the controller controls the second driving component to cause the second driving component to drive the first shielding component to be in a state of opening the first air inlet hole; The third driving component is configured to drive the third driving component to drive the second shielding component in a state of closing the second air inlet hole; and control the fan component to allow the fan component to suck from the first air inlet hole.

In this embodiment, when the controller acquires the third cleaning mode, if the first shielding component is in the state of opening the first air inlet hole, the second driving component may not be processed, that is, the first shielding component is not changed. a state; if the first shielding member is in a state of closing the first air inlet hole, the second driving member may be controlled to open the first air inlet hole.

When the controller acquires the third cleaning mode, if the second shielding member is in the state of closing the second air inlet hole, the third driving component may not be processed, that is, the state of the second shielding component is not changed; if the second shielding is When the component is in a state in which the second air inlet hole is opened, the third driving component may be controlled such that the third driving component closes the second air inlet hole.

If the third driving component is a steering gear, the controller controls the third driving component to cause the third driving component to close the second air inlet hole, and specifically, the third driving component is controlled to be opposite to the second predetermined rotation direction. Rotating the second predetermined angle to cause the third driving member to close the second air inlet hole. If the third driving component is a linear motor, the controller controls the third driving component to cause the third driving component to close the second air inlet hole. Specifically, the third driving component is controlled to be opposite to the second predetermined translation direction. Translating the second predetermined distance to cause the third driving member to close the second air inlet hole.

In this embodiment, the first air inlet hole is in an open state, the second air inlet hole is in a closed state, and the fan member is in an operating state, and when the first driving member does not drive the roller brush member to rotate, the cleaning robot is in a suction type cleaning state.

Before the controller acquires the third cleaning mode, the cleaning robot may be in a state in which the suction cleaning and the roller cleaning are working together, or may be in a state of only brush cleaning, or in a non-working state. When the third cleaning mode is acquired, the cleaning robot can switch the cleaning robot to the state of suction cleaning by controlling the first shielding member or the second shielding member.

In this embodiment, before the controller acquires the third cleaning mode, if the fan component of the cleaning robot is in the working state, after the third cleaning mode is acquired, the rotation speed of the fan component can be controlled to adjust the fan component. The first inlet hole performs the wind speed at the time of suction. Specifically, the rotation speed of the fan component may be increased to increase the wind speed when the fan component absorbs air from the first air inlet hole; or the rotation speed of the fan component may be reduced to allow the fan component to suck from the first air inlet hole. Reduce the wind speed.

When the cleaning mode is the fourth cleaning mode of cleaning through the first air inlet hole after cleaning through the first air inlet hole, the controller controls the second driving component to enable the second driving component to drive the first shielding component to be opened. a state of the first air inlet hole; controlling the third driving component to cause the third driving component to drive the second shielding component in a state of closing the second air inlet hole; controlling the fan component to cause the fan component to be performed from the first air inlet hole Suction

When detecting that the preset cleaning area cleaning is completed, the controller controls the second driving part to cause the second driving part to drive the first shielding part to be in a state of closing the first air inlet hole; and controlling the third driving part to make the The third driving component drives the second shielding component in a state of opening the second air inlet hole; the fan component is controlled to allow the fan component to suck from the second air inlet hole; and the first driving component is controlled to drive the first driving component to drive The brush member rotates.

In this embodiment, when the controller detects whether the preset cleaning area is cleaned, the controller may determine according to the method in the related art, which is not described in detail in this embodiment.

The embodiment can be applied to the situation that there are both easy-to-wrap hair-type garbage on the ground and dusty garbage which is easy to adhere. The suction cleaning area can be used to clean the preset cleaning area first, and the ground is easy to be entangled. Hair-like garbage. After the suction cleaning is completed, the preset cleaning area is cleaned by the brush-type cleaning method to remove the dusty dirt adhering to the ground, thereby improving the cleanliness of the floor cleaning.

When the cleaning mode is the fifth cleaning mode that is cleaned by the first air inlet hole after cleaning through the second air inlet hole, the controller controls the third driving component to drive the third driving component to drive the second shielding component to be opened. a state of the second air inlet hole; controlling the second driving member to cause the second driving member to drive the first shielding member in a state of closing the first air inlet hole; controlling the fan member to cause the fan member to be performed from the second air inlet hole Suction; controlling the first driving component to cause the first driving component to drive the roller component to rotate;

When detecting that the preset cleaning area cleaning is completed, the controller controls the third driving part to cause the third driving part to drive the second shielding part to be in a state of closing the second air inlet hole; and controlling the second driving part to make the The two driving members drive the first shielding member in a state of opening the first air inlet hole; and control the fan member to allow the fan member to suck from the first air inlet hole.

In another embodiment of the present application, based on the embodiment shown in FIG. 5, the cleaning robot may further include: a third shielding member and a fourth driving member; the third shielding member is configured to block the first air inlet hole or the second inlet The air hole, the fourth driving component is configured to drive the third shielding component to open or close the first air inlet hole, or to drive the third shielding component to open or close the second air inlet hole.

When the cleaning mode is the first cleaning mode for cleaning through the first air inlet hole and the second air inlet hole, the controller controls the fourth driving component to cause the fourth driving component to drive the third shielding component to open the first air inlet a state of the hole and the second air inlet hole; the controller controls the fan component to cause the fan component to draw air from the first air inlet hole and the second air inlet hole; the controller controls the first driving component to make the first driving component Drive the roller brush part to rotate.

In this embodiment, a shielding member and a driving member are used, and the opening and closing control of the first air inlet hole and the second air inlet hole can be realized, and a new implementation manner is provided, which can make the cleaning robot more compact. Achieve sweeping. In this embodiment, it is possible to clean the easily entangled hair by suction on the front side, and to clean the easily adhered dust by using a roller brush on the rear side.

In one embodiment, when the cleaning mode is the second cleaning mode that is cleaned by the second air inlet hole, the controller may control the fourth driving component to cause the fourth driving component to drive the third shielding component to be closed. a wind inlet hole, a state in which the second air inlet hole is opened; a fan component is controlled to suck the fan component from the second air inlet hole; and the first driving component is controlled to cause the first driving component to drive the roller component to rotate.

In one embodiment, when the cleaning mode is the third cleaning mode that is cleaned by the first air inlet hole, the controller may control the fourth driving component to cause the fourth driving component to drive the third shielding component to be opened first. The air hole, the state of closing the second air inlet hole; controlling the fan component to allow the fan component to suck from the first air inlet hole.

In this embodiment, the first air inlet hole is in an open state, the second air inlet hole is in a closed state, and the fan component is in an operating state, and when the first driving component does not drive the roller brush member to rotate, the cleaning robot is in a suction cleaning state.

In one embodiment, when the cleaning mode is the fourth cleaning mode that is cleaned by the second air inlet hole after being cleaned by the first air inlet hole, the controller may control the fourth driving component to make the fourth driving component Driving the third shielding member to open the first air inlet hole and close the second air inlet hole; and controlling the fan component to allow the fan component to suck from the first air inlet hole;

When detecting that the preset cleaning area cleaning is completed, the controller controls the fourth driving component to cause the fourth driving component to drive the third shielding member to be in a state of closing the first air inlet hole and opening the second air inlet hole; controlling the fan a component to cause the fan component to draw air from the second air inlet; the first drive component is controlled to cause the first drive component to drive the roller component to rotate.

In one embodiment, when the cleaning mode is the fifth cleaning mode that is cleaned by the first air inlet hole after cleaning through the second air inlet hole, the controller may control the fourth driving component to make the fourth driving component Driving the third shielding member to close the first air inlet hole and open the second air inlet hole; controlling the fan component to allow the fan component to suck from the second air inlet hole; and controlling the first driving component to make the first The driving component drives the roller brush member to rotate;

When detecting that the preset cleaning area cleaning is completed, the controller controls the fourth driving component to cause the fourth driving component to drive the third shielding component to be in a state of opening the first air inlet hole and closing the second air inlet hole; controlling the fan a component to allow the fan component to draw air from the first air inlet.

In another embodiment of the present application, the step of acquiring the cleaning mode based on the embodiment shown in FIG. 5 may specifically include:

The type of the object to be cleaned on the ground to be cleaned is identified, and the cleaning mode is determined according to the type of the object to be cleaned.

The controller determines the cleaning mode according to the type of the object to be cleaned, and specifically includes the following situations:

When the type of the object to be cleaned includes an easy-wound type and an adhesive type, determining that the cleaning mode is the first cleaning mode or the fourth cleaning mode;

When the type of the object to be cleaned is an adhesive type, determining that the cleaning mode is the second cleaning mode or the fifth cleaning mode;

When the type of the object to be cleaned is an easy-wound type, it is determined that the cleaning mode is the third cleaning mode.

In this embodiment, the controller can automatically identify the type of the object to be cleaned on the ground, and adjust the cleaning mode of the cleaning robot according to the type of the object to be cleaned. For example, when it is recognized that there is obvious hair on the front ground, the suction cleaning mode is enabled; when it is recognized that there is no hair on the front ground, but there is a grain of rice adhered to the ground, the roller brush cleaning mode is enabled; When it is recognized that there are many types of garbage on the ground in front, the suction cleaning and the roller cleaning can be enabled to work together, and the cleaning method can be adopted according to the actual ground conditions to improve the cleaning effect.

In the above embodiment, the cleaning robot is provided with a first air inlet hole and a second air inlet hole, the roller brush member is located in the second air inlet hole, and the first air inlet hole is located at the front side of the second air inlet hole. The sweeping robot can control to open the first air inlet hole, close the second air inlet hole, and clean it by suction type cleaning method; or can control to close the first air inlet hole, open the second air inlet hole, and control the roller brush member to rotate, adopting rolling The brush cleaning method is used for cleaning; the first air inlet hole and the second air inlet hole can be controlled to control the rotation of the roller brush member, and the suction cleaning method and the roller brush cleaning method are used for cleaning together. The embodiments of the present application provide various cleaning methods, so that the same cleaning robot can provide a variety of cleaning methods to meet different needs of the user for cleaning.

At the same time, the cleaning robot can clean from one cleaning mode to another by controlling the opening and closing of the first air inlet hole and the second air inlet hole, and controlling the roller brush member and the fan unit according to the set cleaning mode. Mode switching, which does not require manual manual replacement of parts, thus improving the automation of the sweeping robot when switching the cleaning mode.

Corresponding to the above-described cleaning robot embodiment, the embodiment of the present application further provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by the processor, the ground provided by the embodiment of the present application is implemented. Cleaning method. The method is applied to a controller in the sweeping robot. The sweeping robot is provided with a first air inlet hole and a second air inlet hole, and the first air inlet hole is located at a front side of the second air inlet hole. The sweeping robot further includes: a fan component, a roller brush component located in the second air inlet hole, and a first driving component for driving the roller brush component. The first air inlet hole and the second air inlet hole are respectively communicated with the cavity of the fan component. The first air inlet hole is located at the front side of the second air inlet hole, and the first air inlet hole is away from the center position of the cleaning robot with respect to the second air inlet hole. The ground cleaning method includes:

Controlling the fan component to draw air from the first air inlet hole; and/or controlling the fan component to draw air from the second air inlet hole, and controlling the first driving component to drive the roller brush member to rotate.

In summary, in the embodiment, during the cleaning process, the cleaning robot can clean the easily entangled hair and the like through the first air inlet hole on the front side, and pass through the second air inlet hole and the roller brush on the rear side. The computer-readable storage medium provided by the embodiment of the present application can improve the cleaning effect when the component is cleaned by the brushing method, and the dust is adhered to the ground. .

Corresponding to the above-described cleaning robot embodiment, the embodiment of the present application further provides a computer program, which is implemented by the processor to implement the ground cleaning method provided by the embodiment of the present application. The method is applied to a controller in the sweeping robot. The sweeping robot is provided with a first air inlet hole and a second air inlet hole, and the first air inlet hole is located at a front side of the second air inlet hole. The sweeping robot further includes: a fan component, a roller brush component located in the second air inlet hole, and a first driving component for driving the roller brush component. The first air inlet hole and the second air inlet hole are respectively communicated with the cavity of the fan component. The first air inlet hole is located at the front side of the second air inlet hole, and the first air inlet hole is away from the center position of the cleaning robot with respect to the second air inlet hole. The ground cleaning method includes:

It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply such entities or operations. There is any such actual relationship or order between them. Furthermore, the terms "comprises," "comprising," or "includes" or "includes" or "includes" or "includes" or "includes" or "includes" Other elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

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

The above description is only the preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application are included in the scope of the present application.

Claims

A sweeping robot, wherein the sweeping robot is provided with a first air inlet hole and a second air inlet hole, and the first air inlet hole is located at a front side of the second air inlet hole; the sweeping robot The device includes: a controller, a fan component, a roller brush component located in the second air inlet hole, and a first driving component for driving the roller brush component; the first air inlet hole and the second air inlet hole respectively And communicating with the cavity of the fan component; the first air inlet hole is located at a front side of the second air inlet hole, and the first air inlet hole is away from the sweeping air relative to the second air inlet hole The center position of the robot;

The controller, configured to control the fan component to draw air from the first air inlet hole; and/or control the fan component to suck air from the second air inlet hole, and control the first driving component The roller brush member is driven to rotate.
The cleaning robot according to claim 1, wherein the cleaning robot further comprises: a first shielding member for blocking the first air inlet hole and a second shielding member for shielding the second air inlet hole a shielding member, and a second driving member for driving the first shielding member to open or close the first air inlet hole, and a second driving member for driving the second shielding member to open or close the second air inlet hole a third driving component; the controller is specifically configured to:

Obtaining a cleaning mode before controlling the fan component to allow the fan component to draw air from the first air inlet hole and the second air inlet hole;

Controlling the second driving component to cause the second driving component to drive the first when the cleaning mode is a first cleaning mode that is cleaned by the first air inlet hole and the second air inlet hole a shielding member is in a state of opening the first air inlet hole; controlling the third driving member to cause the third driving member to drive the second shielding member to be in a state of opening the second air inlet hole; The fan component to allow the fan component to draw air from the first air inlet hole and the second air inlet hole; control the first driving component to cause the first driving component to drive the roller brush The part rotates.
The cleaning robot according to claim 2, wherein the controller is specifically configured to:

Controlling the second driving component to cause the second driving component to drive the first shielding component to be in a closed state when the cleaning mode is a second cleaning mode that is cleaned by the second air inlet hole a state of the first air inlet hole; controlling the third driving member to cause the third driving member to drive the second shielding member in a state of opening the second air inlet hole; controlling the fan member to The fan member is caused to draw air from the second air inlet hole; the first driving member is controlled such that the first driving member drives the roller brush member to rotate.
The cleaning robot according to claim 2, wherein the controller is specifically configured to:

Controlling the second driving component to cause the second driving component to drive the first shielding component to open when the cleaning mode is a third cleaning mode that is cleaned by the first air inlet hole a state of the first air inlet hole; controlling the third driving member to cause the third driving member to drive the second shielding member in a state of closing the second air inlet hole; controlling the fan member to The fan component is caused to draw air from the first air inlet hole.
The cleaning robot according to claim 2, wherein the controller is specifically configured to:

When the cleaning mode is the fourth cleaning mode that is first cleaned by the first air inlet hole and then cleaned by the second air inlet hole, the second driving component is controlled to make the second a driving member driving the first shielding member in a state of opening the first air inlet hole; controlling the third driving member to cause the third driving member to drive the second shielding member to close the second a state of the air inlet hole; controlling the fan component to cause the fan component to suck air from the first air inlet hole;

Controlling the second driving component to cause the second driving component to drive the first shielding component to be in a state of closing the first air inlet hole when detecting that the preset cleaning area cleaning is completed; controlling the a third driving member, wherein the third driving member drives the second shielding member in a state of opening the second air inlet hole; controlling the fan member to cause the fan member to move from the second The air hole performs suction; the first driving member is controlled such that the first driving member drives the roller member to rotate.
The cleaning robot according to claim 2, wherein the controller is specifically configured to:

When the cleaning mode is the fifth cleaning mode that is first cleaned by the second air inlet hole and then cleaned by the first air inlet hole, the third driving component is controlled to make the third a driving member driving the second shielding member in a state of opening the second air inlet hole; controlling the second driving member to cause the second driving member to drive the first shielding member to close the first a state of the air inlet hole; controlling the fan member to cause the fan member to suck air from the second air inlet hole; controlling the first driving member to cause the first driving member to drive the roller The brush member rotates;

Controlling the third driving component to cause the third driving component to drive the second shielding component to be in a state of closing the second air inlet hole when detecting that the preset cleaning area cleaning is completed; controlling the a second driving member to cause the second driving member to drive the first shielding member in a state of opening the first air inlet hole; controlling the fan member to cause the fan member to move from the first The wind hole is sucking.
The cleaning robot according to claim 1, wherein the cleaning robot further comprises: a third shielding member and a fourth driving member; and the third shielding member is configured to block the first air inlet or the second air inlet a hole, the fourth driving component is configured to drive the third shielding component to open or close the first air inlet hole, or to drive the third shielding component to open or close the second air inlet hole;

The controller is specifically configured to:

Obtaining a cleaning mode before controlling the fan component to allow the fan component to draw air from the first air inlet hole and the second air inlet hole; and when the cleaning mode is through the first air inlet hole And controlling, in the first cleaning mode of cleaning the second air inlet hole, the fourth driving component to drive the fourth driving component to drive the third shielding component to open the first air inlet hole and a state of the second air inlet hole; controlling the fan member to cause the fan member to suction from the first air inlet hole and the second air inlet hole; controlling the first driving member to cause the The first drive member drives the roller brush member to rotate.
The cleaning robot according to any one of claims 2 to 7, wherein the controller is specifically configured to:

Identifying the type of material to be cleaned on the ground to be cleaned; determining the cleaning mode based on the type.
The cleaning robot according to claim 8, wherein the controller is specifically configured to:

Determining that the cleaning mode is the first cleaning mode or the fourth cleaning mode when the type includes the entangled type and the adhering type, the fourth cleaning mode is to first clean through the first air inlet hole, and then a cleaning mode for cleaning through the second air inlet hole;

When the type is an adherent type, determining that the cleaning mode is the second cleaning mode or the fifth cleaning mode, and the second cleaning mode is a cleaning mode for cleaning by the second air inlet hole, the fifth The cleaning mode is a cleaning mode in which cleaning is performed through the second air inlet hole and then cleaning through the first air inlet hole;

When the type is an easy-wound type, it is determined that the cleaning mode is a third cleaning mode, and the third cleaning mode is a cleaning mode that is cleaned by the first air inlet hole.
A ground cleaning method, which is applied to a controller in a cleaning robot, wherein the cleaning robot is provided with a first air inlet hole and a second air inlet hole, and the first air inlet hole is located at the second inlet a front side of the air hole; the cleaning robot further includes: a fan member, a roller brush member located in the second air inlet hole, and a first driving member for driving the roller brush member; the first air inlet The hole and the second air inlet hole respectively communicate with the cavity of the fan component; the first air inlet hole is located at the front side of the second air inlet hole, the first air inlet hole is opposite to the first air inlet hole The secondary air inlet is away from the center position of the cleaning robot; the method includes:

Controlling the fan component to draw air from the first air inlet hole; and/or controlling the fan component to draw air from the second air inlet hole, and controlling the first driving component to drive the roller brush component to rotate .
The method according to claim 10, wherein the cleaning robot further comprises: a first shielding member for blocking the first air inlet hole and a second shielding portion for shielding the second air inlet hole a component, and a second driving component for driving the first shielding member to open or close the first air inlet hole, and a second driving member for driving the second shielding member to open or close the second air inlet hole Three drive components;

Before controlling the fan component to suck from the first air inlet hole and/or the second air inlet hole, the method further includes: acquiring a cleaning mode;

Controlling the fan component to draw air from the first air inlet hole; and/or controlling the fan component to draw air from the second air inlet hole, and controlling the first driving component to drive the roller brush The steps of rotating the component include:

Controlling the second driving component to cause the second driving component to drive the first when the cleaning mode is a first cleaning mode that is cleaned by the first air inlet hole and the second air inlet hole a shielding member is in a state of opening the first air inlet hole; controlling the third driving member to cause the third driving member to drive the second shielding member to be in a state of opening the second air inlet hole; The fan component to cause the fan component to draw air from the first air inlet hole and the second air inlet hole, and control the first driving component to cause the first driving component to drive the roller The brush member rotates.
The method of claim 11 wherein the method further comprises:

Controlling the second driving component to cause the second driving component to drive the first shielding component to be in a closed state when the cleaning mode is a second cleaning mode that is cleaned by the second air inlet hole a state of the first air inlet hole; controlling the third driving member to cause the third driving member to drive the second shielding member in a state of opening the second air inlet hole; controlling the fan member to The fan member is caused to draw air from the second air inlet hole; the first driving member is controlled such that the first driving member drives the roller brush member to rotate.
The method of claim 11 wherein the method further comprises:

Controlling the second driving component to cause the second driving component to drive the first shielding component to open when the cleaning mode is a third cleaning mode that is cleaned by the first air inlet hole a state of the first air inlet hole; controlling the third driving member to cause the third driving member to drive the second shielding member in a state of closing the second air inlet hole; controlling the fan member to The fan component is caused to draw air from the first air inlet hole.
The method of claim 11 wherein the method further comprises:

When the cleaning mode is the fourth cleaning mode that is first cleaned by the first air inlet hole and then cleaned by the second air inlet hole, the second driving component is controlled to make the second a driving member driving the first shielding member in a state of opening the first air inlet hole; controlling the third driving member to cause the third driving member to drive the second shielding member to close the second a state of the air inlet hole; controlling the fan component to cause the fan component to suck air from the first air inlet hole;

Controlling the second driving component to cause the second driving component to drive the first shielding component to be in a state of closing the first air inlet hole when detecting that the preset cleaning area cleaning is completed; controlling the a third driving member, wherein the third driving member drives the second shielding member in a state of opening the second air inlet hole; controlling the fan member to cause the fan member to move from the second The air hole performs suction; the first driving member is controlled such that the first driving member drives the roller member to rotate.
The method of claim 11 wherein the method further comprises:

When the cleaning mode is the fifth cleaning mode that is first cleaned by the second air inlet hole and then cleaned by the first air inlet hole, the third driving component is controlled to make the third a driving member driving the second shielding member in a state of opening the second air inlet hole; controlling the second driving member to cause the second driving member to drive the first shielding member to close the first a state of the air inlet hole; controlling the fan member to cause the fan member to suck air from the second air inlet hole; controlling the first driving member to cause the first driving member to drive the roller The brush member rotates;

Controlling the third driving component to cause the third driving component to drive the second shielding component to be in a state of closing the second air inlet hole when detecting that the preset cleaning area cleaning is completed; controlling the a second driving member to cause the second driving member to drive the first shielding member in a state of opening the first air inlet hole; controlling the fan member to cause the fan member to move from the first The wind hole is sucking.
The method according to claim 10, wherein the cleaning robot further comprises: a third shielding member and a fourth driving member; the third shielding member is configured to block the first air inlet hole or the second air inlet hole The fourth driving component is configured to drive the third shielding component to open or close the first air inlet hole, or to drive the third shielding component to open or close the second air inlet hole;

Before controlling the fan component to suck from the first air inlet hole and/or the second air inlet hole, the method further includes: acquiring a cleaning mode;

Controlling the fan component to draw air from the first air inlet hole; and/or controlling the fan component to draw air from the second air inlet hole, and controlling the first driving component to drive the roller brush The steps of rotating the component include:

Controlling the fourth driving component to cause the fourth driving component to drive the third when the cleaning mode is the first cleaning mode that is cleaned by the first air inlet hole and the second air inlet hole a shielding member is in a state of opening the first air inlet hole and the second air inlet hole; controlling the fan member to suck the fan member from the first air inlet hole and the second air inlet hole Winding and controlling the first driving component to cause the first driving component to drive the roller component to rotate.
The method according to any one of claims 11 to 16, wherein the step of acquiring a cleaning mode comprises:

Identifying the type of material to be cleaned on the ground to be cleaned;

The cleaning mode is determined according to the type.
The method according to claim 17, wherein the step of determining a cleaning mode according to the type comprises:

Determining that the cleaning mode is the first cleaning mode or the fourth cleaning mode when the type includes the entangled type and the adhering type, the fourth cleaning mode is to first clean through the first air inlet hole, and then a cleaning mode for cleaning through the second air inlet hole;

When the type is an adherent type, determining that the cleaning mode is the second cleaning mode or the fifth cleaning mode, and the second cleaning mode is a cleaning mode for cleaning by the second air inlet hole, the fifth The cleaning mode is a cleaning mode in which cleaning is performed through the second air inlet hole and then cleaning through the first air inlet hole;

When the type is an easy-wound type, it is determined that the cleaning mode is a third cleaning mode, and the third cleaning mode is a cleaning mode that is cleaned by the first air inlet hole.
A computer readable storage medium, wherein the computer readable storage medium stores a computer program, the computer program being executed by a processor to implement the method steps of any of claims 10-18.
A computer program, characterized in that the computer program, when executed by a processor, implements the method steps of any of claims 10-18.