Robot cleaner and automatic cleaning method

Abstract

A cleaning robot and an automatic cleaning method thereof, to implement automatic cleaning. The cleaning robot includes a lifting mechanism and a cleaning base, where the cleaning base includes a base body, a scraping mechanism disposed on the base body, and a spraying assembly provided with nozzles. The nozzles are arranged along a mopping component of the cleaning robot and formed into a structure for spraying water or mist to the mopping component. The scraping mechanism includes a scraper, and the scraper comes into contact with and moves relative to the mopping component, to scrape off the attachment on the mopping component while squeezing out the water. The lifting mechanism causes the mopping component to lift or move down by causing the mopping component to come into contact with or separate from the scraper.

1 . A cleaning robot, comprising a lifting mechanism and a cleaning base, wherein the cleaning base comprises:
 a base body, a scraping mechanism disposed on the base body, and a spraying assembly having nozzles;   the nozzles arranged along a mopping component of the cleaning robot and formed into a structure for spraying water or mist to the mopping component;   the scraping mechanism comprises a scraper, and the scraper comes into contact with and moves relative to the mopping component, to scrape off an attachment on the mopping component while squeezing out the water;   the cleaning base having a water supply system and a sewage collection system, the water supply system configured to supply water to the spraying assembly, and the sewage collection system configured to collect dirty water after the mopping component is cleaned; and   the lifting mechanism causing the mopping component to lift or down by causing the mopping component to come into contact with or separate from the scraper.   
     
     
         2 . The cleaning robot according to  claim 1 , wherein the mopping component comprises a roller brush, and the roller brush is configured to be rotatable under driving of a motor, the scraper is strip-shaped, and the scraper and the roller brush are configured axially parallel to each other. 
     
     
         3 . The cleaning robot according to  claim 2 , wherein the roller brush is configured to lift by a specific height in a vertical direction through a control of the lifting mechanism and then come into contact with the scraper. 
     
     
         4 . The cleaning robot according to  claim 1 , wherein the mopping component comprises a flat mop, and the scraping mechanism comprises a transmission mechanism driven by a driving motor assembly, to cause the scraper to reciprocate straightly along the flat mop. 
     
     
         5 . The cleaning robot according to  claim 4 , wherein the scraping mechanism has an inclination angle, and the mopping component is configured to rotate by a corresponding inclination angle while lifting through a control of the lifting mechanism. 
     
     
         6 . The cleaning robot according to  claim 5 , wherein the lifting mechanism comprises: a driving assembly, a lifting assembly, and a cleaning assembly sequentially connected, the driving assembly is configured to drive the lifting assembly, the lifting assembly enables the cleaning assembly to lift or move down relative to a to-be-cleaned surface, when the cleaning assembly moves down to come into contact with the to-be-cleaned surface, the cleaning assembly is configured to be capable of cleaning on the to-be-cleaned surface, and after lifting, the cleaning assembly is capable of not coming into contact with the to-be-cleaned surface. 
     
     
         7 . The cleaning robot according to  claim 6 , wherein the lifting assembly has a telescopic mechanism, the telescopic mechanism connects the lifting assembly and the cleaning assembly to enable the cleaning assembly to always fit the to-be-cleaned surface through a telescoping performance of the telescopic mechanism and apply a specific pressure to the to-be-cleaned surface. 
     
     
         8 . The cleaning robot according to  claim 7 , wherein the cleaning base has a charging device configured to charge the cleaning robot. 
     
     
         9 . The cleaning robot according to  claim 1 , wherein the water supply system comprises a clean water tank and a clean water pump, and the sewage collection system comprises a water filtering tank, a sewage pump, and a sewage tank, wherein the clean water tank, the clean water pump, and the spraying assembly are sequentially connected, and the water filtering tank, the sewage pump, and the sewage tank are sequentially connected, the water filtering tank is configured to receive dirty water remaining after the mopping component is cleaned and filter the dirty water with a filtering element, the sewage pump transfers water in the water filtering tank to the sewage tank, the clean water tank provides a water source to the spraying assembly, water in the clean water tank is transferred to the spraying assembly through the clean water pump, and the spraying assembly sprays water onto the mopping component. 
     
     
         10 . The cleaning robot according to  claim 1 , wherein the water supply system comprises a faucet and a water inlet pipe, the sewage collection system comprises a water filtering tank, a sewage pump, a water outlet pipeline, and a floor drain sequentially connected, the spraying assembly is connected to the faucet through the water inlet pipe, the water filtering tank is connected to the water outlet pipeline through the sewage pump, and the water outlet pipeline is connected to the floor drain. 
     
     
         11 . The cleaning robot according to  claim 1 , wherein the water supply system comprises a faucet, a water inlet pipe, a clean water tank, and a clean water pump sequentially connected, and the sewage collection system comprises a water filtering tank, a sewage pump, and a floor drain sequentially connected, wherein a water inlet valve capable of opening or closing the water inlet pipe is disposed in the clean water tank, the faucet is connected to the clean water tank through the water inlet pipe, the clean water tank is connected to the spraying assembly through the clean water pump, and the water filtering tank is connected to the floor drain through the sewage pump. 
     
     
         12 . A method for automatically cleaning a mopping component with the cleaning robot according to  claim 11 , comprising the steps of:
 step 1: lifting a mopping component through a lifting mechanism, and causing the mopping component to gradually approach a scraper of a cleaning base;   step 2: stopping approaching when the mopping component interferes with the scraper;   step 3: rotating the mopping component, spraying, by the nozzles, water to flush or mist to wet the mopping component, and scraping off, by the scraper, objects attached to the mopping component and meanwhile squeezing out water on the mopping component;   step 4: stopping, by the nozzles, spraying water or mist, continuously rotating, by the mopping component, and continuously squeezing out, by the scraper, water on the mopping component; and   step 5: stopping rotating the mopping component when water stops dripping from the mopping component.   
     
     
         13 . A method for automatically cleaning a mopping component with the cleaning robot according to  claim 11 , comprising the following steps:
 step 1: causing a mopping component to gradually lift to adapt to an angle of a scraper of a cleaning base and to approach the scraper;   step 2: stopping approaching when the mopping component interferes with the scraper;   step 3: spraying, by the nozzles, water to flush or mist to wet the mopping component, to move the scraper, and scraping off, by the scraper, objects attached to the mopping component and squeezing out the water on the mopping component;   step 4: stopping, by the nozzles, spraying the water or mist, and continuously squeezing out, by the scraper, the water on the mopping component; and   step 5: stopping moving the scraper when water chips stops dripping from the mopping component.   
     
     
         14 . The automatic cleaning method according to  claim 13 , further comprising step 6: causing, by a lifting mechanism after water stops dripping from the mopping component, the mopping component to move down and continue to mop. 
     
     
         15 . The automatic cleaning method according to  claim 14 , wherein the step 1 to the step 6 are cyclically performed until cleaning work ends. 
     
     
         16 . The automatic cleaning method according to  claim 15 , further comprising: returning, by the mopping component each time the mopping component cleans a specific area or for a specific time, to the cleaning base to perform a back-washing. 
     
     
         17 . A working method of the cleaning robot according to  claim 7 , comprising the following steps:
 step 1: recognizing, by the cleaning robot, a to-be-cleaned surface, and transferring information to a processor;   step 2: determining, by the processor, a cleaning strategy for the to-be-cleaned surface according to the received information; and   step 3: when the cleaning strategy in step 2 is to only sweep but not mop the to-be-cleaned surface, transmitting, by the processor, a first actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, a second actuating signal to a sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface;   when the cleaning strategy in step 2 is to only mop but not sweep the to-be-cleaned surface, transmitting, by the processor, a third actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, a fourth actuating signal to a sweeping module, and stopping, by the sweeping module, cleaning the to-be-cleaned surface;   when the cleaning strategy in step 2 is to both sweep and mop the to-be-cleaned surface, transmitting, by the processor, the third actuating signal to the driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, the second actuating signal to the sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface; and   when the cleaning strategy in step 2 is to neither sweep nor mop the to-be-cleaned surface, transmitting, by the processor, the first actuating signal to the driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, the fourth actuating signal to the sweeping module, and stopping, by the sweeping module, cleaning the to-be-cleaned surface.   
     
     
         18 . The cleaning robot according to  claim 1 , wherein the lifting mechanism comprises: a driving assembly, a lifting assembly, and a cleaning assembly sequentially connected, the driving assembly is configured to drive the lifting assembly, the lifting assembly enables the cleaning assembly to lift or move down relative to a to-be-cleaned surface, when the cleaning assembly moves down to come into contact with the to-be-cleaned surface, the cleaning assembly is configured to be capable of cleaning on the to-be-cleaned surface, and after lifting, the cleaning assembly is capable of not coming into contact with the to-be-cleaned surface. 
     
     
         19 . The cleaning robot according to  claim 1 , wherein the cleaning base has a charging device configured to charge the cleaning robot. 
     
     
         20 . A method for automatically cleaning a mopping component with the cleaning robot according to  claim 6 , comprising the steps of:
 step 1: lifting a mopping component through a lifting mechanism, and causing the mopping component to gradually approach a scraper of a cleaning base;   step 2: stopping approaching when the mopping component interferes with the scraper;   step 3: rotating the mopping component, spraying, by the nozzles, water to flush or mist to wet the mopping component, and scraping off, by the scraper, objects attached to the mopping component and meanwhile squeezing out water on the mopping component;   step 4: stopping, by the nozzles, spraying water or mist, continuously rotating, by the mopping component, and continuously squeezing out, by the scraper, water on the mopping component; and   step 5: stopping rotating the mopping component when water stops dripping from the mopping component.   
     
     
         21 . A method for automatically cleaning a mopping component with the cleaning robot according to  claim 3 , comprising the steps of:
 step 1: lifting a mopping component through a lifting mechanism, and causing the mopping component to gradually approach a scraper of a cleaning base;   step 2: stopping approaching when the mopping component interferes with the scraper;   step 3: rotating the mopping component, spraying, by the nozzles, water to flush or mist to wet the mopping component, and scraping off, by the scraper, objects attached to the mopping component and meanwhile squeezing out water on the mopping component;   step 4: stopping, by the nozzles, spraying water or mist, continuously rotating, by the mopping component, and continuously squeezing out, by the scraper, water on the mopping component; and   step 5: stopping rotating the mopping component when water stops dripping from the mopping component.   
     
     
         22 . A method for automatically cleaning a mopping component with the cleaning robot according to  claim 1 , comprising the steps of:
 step 1: lifting a mopping component through a lifting mechanism, and causing the mopping component to gradually approach a scraper of a cleaning base;   step 2: stopping approaching when the mopping component interferes with the scraper;   step 3: rotating the mopping component, spraying, by the nozzles, water to flush or mist to wet the mopping component, and scraping off, by the scraper, objects attached to the mopping component and meanwhile squeezing out water on the mopping component;   step 4: stopping, by the nozzles, spraying water or mist, continuously rotating, by the mopping component, and continuously squeezing out, by the scraper, water on the mopping component; and   step 5: stopping rotating the mopping component when water stops dripping from the mopping component.   
     
     
         23 . A method for automatically cleaning a mopping component with the cleaning robot according to  claim 4 , comprising the following steps:
 step 1: causing a mopping component to gradually lift to adapt to an angle of a scraper of a cleaning base and to approach the scraper;   step 2: stopping approaching when the mopping component interferes with the scraper;   step 3: spraying, by the nozzles, water to flush or mist to wet the mopping component, to move the scraper, and scraping off, by the scraper, objects attached to the mopping component and squeezing out the water on the mopping component;   step 4: stopping, by the nozzles, spraying the water or mist, and continuously squeezing out, by the scraper, the water on the mopping component; and   step 5: stopping moving the scraper when water stops dripping from the mopping component.   
     
     
         24 . A method for automatically cleaning a mopping component with the cleaning robot according to  claim 1 , comprising the following steps:
 step 1: causing a mopping component to gradually lift to adapt to an angle of a scraper of a cleaning base and to approach the scraper;   step 2: stopping approaching when the mopping component interferes with the scraper;   step 3: spraying, by the nozzles, water to flush or mist to wet the mopping component, to move the scraper, and scraping off, by the scraper, objects attached to the mopping component and squeezing out the water on the mopping component;   step 4: stopping, by the nozzles, spraying the water or mist, and continuously squeezing out, by the scraper, the water on the mopping component; and   step 5: stopping moving the scraper when water stops dripping from the mopping component.   
     
     
         25 . The automatic cleaning method according to  claim 12 , further comprising step 6: causing, by a lifting mechanism after water stops dripping from the mopping component, the mopping component to move down and continue to mop. 
     
     
         26 . The automatic cleaning method according to  claim 12 , further comprising: returning, by the mopping component each time the mopping component cleans a specific area or for a specific time, to the cleaning base to perform a back-washing. 
     
     
         27 . A working method of the cleaning robot according to  claim 6 , comprising the following steps:
 step 1: recognizing, by the cleaning robot, a to-be-cleaned surface, and transferring information to a processor;   step 2: determining, by the processor, a cleaning strategy for the to-be-cleaned surface according to the received information; and   step 3: when the cleaning strategy in step 2 is to only sweep but not mop the to-be-cleaned surface, transmitting, by the processor, a first actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, a second actuating signal to a sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface;   when the cleaning strategy in step 2 is to only mop but not sweep the to-be-cleaned surface, transmitting, by the processor, a third actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, a fourth actuating signal to a sweeping module, and stopping, by the sweeping module, cleaning the to-be-cleaned surface;   when the cleaning strategy in step 2 is to both sweep and mop the to-be-cleaned surface, transmitting, by the processor, the third actuating signal to the driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, the second actuating signal to the sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface; and   when the cleaning strategy in step 2 is to neither sweep nor mop the to-be-cleaned surface, transmitting, by the processor, the first actuating signal to the driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, the fourth actuating signal to the sweeping module, and stopping, by the sweeping module, cleaning the to-be-cleaned surface.   
     
     
         28 . A working method of the cleaning robot according to  claim 1 , comprising the following steps:
 step 1: recognizing, by the cleaning robot, a to-be-cleaned surface, and transferring information to a processor;   step 2: determining, by the processor, a cleaning strategy for the to-be-cleaned surface according to the received information; and   step 3: when the cleaning strategy in step 2 is to only sweep but not mop the to-be-cleaned surface, transmitting, by the processor, a first actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, a second actuating signal to a sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface;   when the cleaning strategy in step 2 is to only mop but not sweep the to-be-cleaned surface, transmitting, by the processor, a third actuating signal to a driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, a fourth actuating signal to a sweeping module, and stopping, by the sweeping module, cleaning the to-be-cleaned surface;   when the cleaning strategy in step 2 is to both sweep and mop the to-be-cleaned surface, transmitting, by the processor, the third actuating signal to the driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to come into contact with the to-be-cleaned surface, mopping, by the cleaning assembly, the to-be-cleaned surface, transmitting, by the processor, the second actuating signal to the sweeping module, and cleaning, by the sweeping module, the to-be-cleaned surface; and   when the cleaning strategy in step 2 is to neither sweep nor mop the to-be-cleaned surface, transmitting, by the processor, the first actuating signal to the driving assembly, driving, by the driving assembly, a lifting assembly and causing a cleaning assembly to separate from the to-be-cleaned surface, transmitting, by the processor, the fourth actuating signal to the sweeping module, and stopping, by the sweeping module, cleaning the to-be-cleaned surface.