Cleaning robot and control method

Abstract

The disclosure relates to a cleaning robot and a control method. The cleaning robot may include: a body; a moving mechanism; a power module; a mopping module; and a control module; and further includes a liquid supply device, where the control module can control, based on a current mopping condition, the liquid supply device to convey a liquid to the mopping module. The beneficial effects of the present disclosure are that the cleaning robot can complete mopping work more efficiently, to reduce burden of a user and improve the degree of automation and the user experience of the cleaning robot. The cleaning robot can intelligently and autonomously control, based on the current mopping condition, the liquid supply device to convey a liquid to a mop, thereby prolonging the service life of a ground material such as a floor in home of the user.

1 . A cleaning robot, configured to move and work in a working region, the cleaning robot comprising:
 a body;   a moving mechanism, configured to support the body and drive the cleaning robot to move on a working surface in the working region;   a power module, configured to provide a driving force for the cleaning robot to move and work;   a mopping module, configured to be mounted on the body and perform predetermined mopping work, wherein the mopping module being configured to have a wiping member mounted thereon; and   a control module, configured to be electrically connected to and control the power module, to implement automatic moving and automatic working of the cleaning robot; wherein,   the cleaning robot further comprises: a liquid supply device electrically connected to the control module, wherein when in a wet mopping mode, when a preset condition is met, the control module limits the liquid supply device in conveying a liquid to the mopping module.   
     
     
         2 . The cleaning robot according to  claim 1 , wherein when the cleaning robot is in the wet mopping mode and in a case that it is detected that the cleaning robot is abnormal, the control module limits the liquid supply device in conveying the liquid to the mopping module. 
     
     
         3 . The cleaning robot according to  claim 2 , wherein in an abnormal case that it is detected that the cleaning robot is trapped or stuck, the control module limits the liquid supply device in conveying the liquid to the mopping module. 
     
     
         4 . The cleaning robot according to  claim 2 , wherein the cleaning robot further comprises a mop detection device electrically connected to the control module, the mop detection device is configured to detect whether the wiping member is mounted on the cleaning robot, and in an abnormal case that the mop detection device detects that the wiping member is not mounted on the cleaning robot, the control module limits the liquid supply device in conveying the liquid to the mopping module. 
     
     
         5 . The cleaning robot according to  claim 1 , wherein when the cleaning robot is in the wet mopping mode and in a case that it is detected that the mopping module is at a non-mopping height within a preset period of time, the control module limits the liquid supply device in conveying the liquid to the mopping module. 
     
     
         6 . The cleaning robot according to  claim 5 , wherein the cleaning robot further comprises a lifting mechanism, the control module controls the lifting mechanism to lift the mopping module from a first position relative to the working surface during the mopping work to a second position, and when the mopping module is in the wet mopping mode and in a case that it is detected that the mopping module is in a lifted state within the preset period of time, the liquid supply device is limited in conveying the liquid to the mopping module. 
     
     
         7 . The cleaning robot according to  claim 5 , wherein the control module controls a lifting mechanism to lift the mopping module from a first position relative to the working surface to a second position in the following conditions, and the conditions comprise at least one of the following: the cleaning robot returning to a base station to replace the mopping module, the cleaning robot being in a standby state, and the cleaning robot being trapped or stuck. 
     
     
         8 . The cleaning robot according to  claim 6 , wherein in a case that a non-working surface is detected, the control module controls the lifting mechanism to lift the mopping module from the first position relative to the working surface to the second position, to control the cleaning robot to cross the non-working surface, and in a case that it is detected that the mopping module is in the lifted state within the preset period of time, the liquid supply device is limited in conveying the liquid to the mopping module. 
     
     
         9 . The cleaning robot according to  claim 8 , wherein after it is detected that the cleaning robot crosses the non-working surface, the control module controls the lifting mechanism to lower the mopping module from the second position relative to the working surface to the first position, and the liquid supply device conveys the liquid to the mopping module. 
     
     
         10 . The cleaning robot according to  claim 1 , wherein when the cleaning robot is in the wet mopping mode and in a case that the cleaning robot is at least replacing the wiping member, the control module limits the liquid supply device in conveying the liquid to the mopping module. 
     
     
         11 . The cleaning robot according to  claim 1 , wherein the limiting, by the control module when a preset condition is met, the liquid supply device in conveying a liquid to the mopping module comprises:
 controlling, by the control module when the preset condition is met, the liquid supply device to stop conveying the liquid to the mopping module.   
     
     
         12 . A control method for a cleaning robot, wherein a cleaning robot comprises a mopping module for performing predetermined mopping work, and the method comprises:
 controlling the cleaning robot to enter a wet mopping mode; and   limiting conveying of a liquid to the mopping module when a preset condition is met.   
     
     
         13 . The control method for a cleaning robot according to  claim 12 , wherein the limiting conveying of a liquid to the mopping module comprises:
 stopping conveying the liquid to the mopping module.   
     
     
         14 . The control method for a cleaning robot according to  claim 12 , wherein the limiting conveying of a liquid to the mopping module when a preset condition is met comprises:
 performing control to convey the liquid to the mopping module when the preset condition is not met.   
     
     
         15 . A control method for a cleaning robot, the cleaning robot moves and works in a working region, wherein the cleaning robot comprises a mopping module configured to perform predetermined mopping work and a liquid supply device, a working mode of the cleaning robot comprises dry mopping or wet mopping, the liquid supply device is controlled in the dry mopping mode to be in a closed state, the liquid supply device is controlled in the wet mopping mode to convey a liquid to the mopping module, and the working region comprises at least one preset region; and
 the method comprises:   controlling the cleaning robot to perform dry mopping on the preset region; and   controlling the cleaning robot to perform wet mopping on the preset region if it is detected that the cleaning robot completes the dry mopping on the preset region.   
     
     
         16 . The control method for a cleaning robot according to  claim 15 , wherein a wiping member is mounted on the mopping module, and before the performing wet mopping on the preset region, the method further comprises:
 controlling the cleaning robot to transfer information that the wiping member is to be replaced to a user, or controlling the cleaning robot to at least replace the wiping member.   
     
     
         17 . The control method for a cleaning robot according to  claim 15 , wherein after the cleaning robot completes dry mopping work and wet mopping work on the working region, the control module controls the cleaning robot to transfer information about unloading of a wiping member mounted on the mopping module to a user, or controls the cleaning robot to at least unload the wiping member. 
     
     
         18 . (canceled) 
     
     
         19 . The control method for a cleaning robot according to  claim 15 , wherein the method further comprises:
 controlling the cleaning robot to perform dry mopping on the working region if it is detected that the cleaning robot completes wet mopping on the working region.   
     
     
         20 . The control method for a cleaning robot according to  claim 15 , wherein when the cleaning robot performs wet mopping work, the liquid supply device conveys the liquid to the mopping module according to a preset power and a preset period of time; and
 before the performing wet mopping on the preset region, the control method for a cleaning robot further comprises:   controlling the cleaning robot to wet a wiping member mounted on the mopping module in at least one of the following manners, the manners comprising: conveying the liquid to the liquid supply device according to a power greater than the preset power and conveying the liquid to the liquid supply device according to a period of time greater than the preset period of time.   
     
     
         21 . The control method for a cleaning robot according to  claim 15 , wherein before the performing wet mopping on the preset region, the control method for a cleaning robot further comprises:
 controlling the cleaning robot to wet a wiping member while moving according to a preset path before starting the wet mopping.   
     
     
         22 . (canceled) 
     
     
         23 . (canceled) 
     
     
         24 . (canceled)