WO2019104563A1 - Cleaning method of robot cleaner, and robot cleaner - Google Patents

Abstract

A cleaning method of a robot cleaner, and the robot cleaner. The cleaning method comprises: acquiring a drive current of a specified component in a cleaning state, the specified component at least comprising a walking wheel (S1); monitoring a changing state of the drive current (S2); and controlling a working mode of the robot cleaner according to the changing state of the drive current (S3). According to the cleaning method and the robot cleaner, a working mode can quickly be changed according to a situation of the floor to be cleaned.

Description

 \¥0 2019/104563 卩(:17 \2017/113663

Title of Invention: Sweeping Robot Cleaning Method and Sweeping Robot Technology

 [0001] The present invention relates to the field of smart device technology, and in particular, to a cleaning robot cleaning method and a cleaning robot.

 Background technique

 [0002] With the development of technology, sweeping robots with autonomous mobile functions are becoming more and more popular, and sweeping robots can save users a lot of cleaning time, and make it easier for users to enjoy their lives. Existing sweeping robots still have major problems in self-cleaning. When cleaning ground conditions such as floors and carpets, the power requirements for moving parts and cleaning parts are different, and proper switching is required. When the sweeping robot is cleaned at a power suitable for the floor, when the carpet is encountered, the friction in the carpet greatly increases the resistance of the robot movement, and the degree of airtightness between the robot and the carpet is reduced, thereby enabling the carpet to be cleaned. Very poor, so how to quickly switch the appropriate working mode according to the different conditions to be cleaned, so as to ensure the cleaning effect becomes an urgent problem to be solved.

 technical problem

 [0003] A main object of the present invention is to provide a cleaning robot for sweeping a robot and a cleaning robot, which are designed to enable rapid change of the working mode according to the condition to be cleaned.

 Problem solution

 Technical solution

 [0004] The present invention provides a cleaning method for a cleaning robot, which is characterized in that it comprises:

 [0005] acquiring a driving current of a specified component in a cleaning state, wherein the specifying component includes at least a traveling wheel; [0006] monitoring a change state of the driving current;

 [0007] controlling an operation mode of the cleaning robot according to a change state of the driving current.

 [0008] Further, the driving current is a driving current after the filtering process.

 [0009] Further, the specifying component further includes one or two of a side brush and a middle sweep.

[0010] Further, the step of controlling the working mode of the cleaning robot according to the changing state of the driving current includes: \¥0 2019/104563 卩(:17 \2017/113663

[0011] determining whether the driving current is decreased, and the reduced difference is greater than a specified current value;

 [0012] If yes, determining that the cleaning robot enters the floor from the carpet;

 [0013] controlling the cleaning robot to switch to the floor working mode.

 [0014] Further, the step of controlling the working mode of the cleaning robot according to the changing state of the driving current includes:

 [0015] determining whether the driving current is increased, and increasing the difference is greater than a specified current threshold;

 [0016] If yes, determining that the cleaning robot is faulty;

 [0017] controlling the cleaning robot to switch to an alarm mode.

 [0018] Further, the step of controlling the working mode of the cleaning robot according to the changing state of the driving current includes:

 [0019] determining whether the driving current is increased, and the increased difference is greater than a specified current value and less than a current threshold, wherein the current threshold is greater than a specified current value;

 [0020] If yes, determining that the cleaning robot enters the carpet from the floor;

 [0021] controlling the cleaning robot to switch to a carpet working mode.

 [0022] Further, the step of controlling the switching of the cleaning robot to the carpet working mode includes: [0023] determining whether the mopping function of the cleaning robot is turned on;

 [0024] If no, the step "Controlling the sweeping robot to switch to the carpet working mode" is performed.

 [0025] If yes, the cleaning robot is controlled to retreat in situ, and the floor working mode is maintained for cleaning.

 [0026] Further, the step of controlling the working mode of the cleaning robot according to the changing state of the driving current includes:

 [0027] determining whether the driving current is decreased, and the reduced difference thereof is greater than a specified current value;

 [0028] If yes, determining that the cleaning robot enters the floor from the carpet;

 [0029] controlling the cleaning robot to return to the carpet, and moving the carpet area along the edge of the carpet to control the cleaning robot to clean the carpet area in a carpet working mode.

 [0030] Further, the step of controlling the working mode of the cleaning robot according to the changing state of the driving current includes:

 [0031] determining whether the driving current is increased, and increasing the difference is greater than a specified current value and less than a current threshold

Wherein the current threshold is greater than a specified current value; \¥0 2019/104563 卩(:17 \2017/113663

[0032] If yes, determining that the cleaning robot enters the carpet from the floor;

 [0033] controlling the cleaning robot to return to the floor, and moving the carpet area along the edge of the carpet to control the cleaning robot to clean other areas outside the carpet area in the floor working mode.

 [0034] Further, the step of controlling the working mode of the cleaning robot according to the changing state of the driving current includes:

 [0035] determining whether the difference in the change of the driving current is greater than a specified current value and less than a current threshold, wherein the current threshold is greater than a specified current value;

 [0036] If yes, controlling the sweeping robot to return or turn, and continue to clean in the original working mode

[0037] The cleaning robot proposed by the present invention includes:

 [0038] an obtaining unit, configured to acquire a driving current of a specified component in a cleaning state, wherein the specifying component includes at least a walking wheel;

 [0039] a monitoring unit, configured to monitor a change state of the driving current;

 [0040] an execution unit, configured to control an operating mode of the cleaning robot according to a changing state of the driving current

[0041] Further, the driving current is a driving current after the filtering process.

 [0042] Further, the specifying component further includes one or two of a side brush and a middle sweep.

 [0043] Further, the execution unit includes:

 [0044] a first determining module, configured to determine whether the driving current is decreased, and the reduced difference is greater than a specified current value;

 [0045] a first determining module, configured to: when the driving current decreases, and the reduced difference is greater than the specified current value, determine that the cleaning robot enters the floor from the carpet;

 [0046] The first execution module is configured to control the sweeping robot to switch to the floor working mode.

 [0047] Further, the execution unit includes:

 [0048] a second determining module, configured to determine whether the driving current is increased, and the increased difference is greater than a specified current threshold;

[0049] a second determining module, configured to: when the driving current increases, and the increased difference is greater than a specified current threshold, determine that the cleaning robot is faulty; \¥0 2019/104563 卩(:17 \2017/113663

[0050] The second execution module is configured to control the sweeping robot to switch to the alarm mode.

 [0051] Further, the execution unit includes:

 [0052] a third determining module, configured to determine whether the driving current is increased, and the increased difference is greater than a specified current value and less than a current threshold, wherein the current threshold is greater than a specified current value;

 [0053] a third determining module, configured to: when the driving current increases, and the increased difference is greater than the specified current value and less than the current threshold, determining that the cleaning robot enters the carpet from the floor;

 [0054] The third execution module is configured to control the sweeping robot to switch to the carpet working mode.

 [0055] Further, the execution unit further includes

 [0056] a fourth determining module, configured to determine whether the mopping function of the cleaning robot is turned on;

 [0057] a fourth execution module, configured to: when the mopping function of the cleaning robot is not turned on, the third execution module performs control to switch the cleaning robot to the carpet working mode; when the mopping function of the cleaning robot is turned on At the same time, the sweeping robot is controlled to retreat in situ, and the floor working mode is maintained for cleaning.

 [0058] Further, the execution unit includes

 [0059] a fifth determining module, configured to determine whether the driving current is decreased, and the reduced difference is greater than a specified current value;

 [0060] a fifth determining module, configured to: when the driving current decreases, and the reduced difference is greater than the specified current value, determine that the cleaning robot enters the floor from the carpet;

 [0061] The fifth executing module is configured to control the cleaning robot to return to the carpet, and mark the carpet area along the edge of the carpet, and control the cleaning robot to clean the carpet area in a carpet working mode.

 [0062] Further, the execution unit includes:

 [0063] The sixth determining module is configured to determine whether the driving current is increased, and the increased difference is greater than the specified current value and less than the current threshold, wherein the current threshold is greater than the specified current value;

 [0064] a sixth determining module, configured to: when the driving current increases, and the increased difference is greater than a specified current threshold, determine that the cleaning robot enters the carpet from the floor;

 [0065] a sixth execution module, configured to control the cleaning robot to return to the floor, and mark the carpet area along the edge of the carpet, and control the cleaning robot to clean other areas outside the carpet area in a floor working mode .

[0066] Further, the execution unit includes: [0067] The seventh determining module is configured to determine whether the difference of the driving current change is greater than a specified current value and less than a current threshold, wherein the current threshold is greater than a specified current value;

 And a seventh executing module, configured to: when the difference of the driving current changes is greater than a specified current value and less than a current threshold, control the sweeping robot to retreat or turn, and continue to clean in the original working mode.

Advantageous effects of the invention

 Beneficial effect

 [0069] The beneficial effects of the present invention are: the sweeping robot acquires a driving current of a specified component in a cleaning state, wherein the specifying component includes at least a traveling wheel; monitoring a change state of the driving current; and changing a state according to the driving current Controlling the working mode of the cleaning robot, the cleaning robot determines whether the ground environment to be cleaned changes according to the changing state of the driving current, and controls the working mode of the cleaning robot to follow the cleaned ground environment, so that the cleaning robot faces different The ground environment guarantees a cleansing effect.

 Brief description of the drawing

 DRAWINGS

 1 is a schematic diagram showing the steps of a cleaning method of a cleaning robot according to an embodiment of the present invention;

 2 is a structural block diagram of a cleaning robot according to an embodiment of the present invention;

 3 is a structural block diagram of an execution unit of a cleaning robot according to an embodiment of the present invention.

4 is a structural block diagram of an execution unit of a cleaning robot according to another embodiment of the present invention;

 5 is a structural block diagram of an execution unit of a cleaning robot according to another embodiment of the present invention;

 6 is a structural block diagram of an execution unit of a cleaning robot according to another embodiment of the present invention;

 7 is a structural block diagram of an execution unit of a cleaning robot according to another embodiment of the present invention;

 8 is a structural block diagram of an execution unit of a cleaning robot according to another embodiment of the present invention.

 The implementation, functional features, and advantages of the present invention will be further described with reference to the accompanying drawings.

 BEST MODE FOR CARRYING OUT THE INVENTION

 BEST MODE FOR CARRYING OUT THE INVENTION

[0079] It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention. \¥0 2019/104563 卩(:17 \2017/113663 明.

 [0080] Referring to FIG. 1, a method for cleaning a cleaning robot in a first embodiment of the present invention includes:

 [0081] Step 31: Acquire a driving current of a specified component in a cleaning state, where the specifying component includes at least a walking wheel;

 [0082] Step 32: Monitor a change state of the driving current;

 [0083] Step 33: Control an operation mode of the cleaning robot according to a change state of the driving current.

 [0084] In the step, the cleaning robot acquires the driving current of the specified component in the cleaning state during the normal cleaning process, wherein the specified component includes at least the walking wheel, that is, the cleaning robot acquires the walking wheel in the cleaning state. Drive current.

 [0085] In step 32, the cleaning robot monitors the obtained change state of the above-mentioned driving current, specifically, monitors whether the driving current has a significantly increased or decreased change.

 [0086] In step 33, when the ground environment changes, for example, different environments for carpets and floors, the requirements for the cleaning ability of the cleaning robot will be different, and when the ground environment of the cleaning robot is changed, the walking is performed. The drive current of the wheel will change significantly. The sweeping robot determines whether the ground environment to be cleaned changes according to the change state of the driving current, and controls the working mode of the sweeping robot to follow the cleaned ground environment, so that the sweeping robot faces different ground environments, and the cleaning effect can be ensured. In order to avoid confusion, it should be noted that the above working mode is not a working mode for actually switching in the sweeping robot; specifically, for example, the working mode of the sweeping robot specifically includes a common cleaning mode and a strong cleaning mode, and the cleaning mode is selected by the user. After the selection, the switching mode is not performed, and the working mode mentioned in the embodiment of the present invention is that the cleaning robot performs control to change the working mode under the premise of setting the normal cleaning mode or the powerful cleaning mode.

[0087] In the cleaning method of the cleaning robot in the embodiment, the command component may further include one or two types of a middle sweep and a wind blower, that is, the sweeping robot may acquire the driving current or the sweeping ground of the two components of the side brush and the traveling wheel from time to time. The robot will obtain the driving currents of the two components of the middle sweep and the walking wheel from time to time. Preferably, the sweeping robot can also obtain the driving currents of the three components of the side brush, the middle sweep and the walking wheel from time to time. When the ground environment changes, for example, for different environments of carpets and floors, the requirements for the cleaning ability of the cleaning robot will be different, and when the ground environment of the cleaning robot is changed, the side brush, the middle sweep and the walking wheel The drive current will change significantly. By setting multiple specified components, the monitored drive current will be \¥0 2019/104563 卩(:17 \2017/113663 The result of the change state is more accurate.

 [0088] In the cleaning method of the cleaning robot in this embodiment, in the cleaning state of the cleaning robot, the cleaning robot filters the driving current before filtering, and filters out the interference. Preferably, the filtering method may employ averaging filtering.

 [0089] The cleaning robot cleaning method in the embodiment, the step 33 of controlling the working mode of the cleaning robot according to the changing state of the driving current includes:

 [0090] Step 3310, determining whether the driving current is decreased, and the reduced difference is greater than the specified current value;

[0091] Step 3311, if yes, determining that the cleaning robot enters the floor from the carpet;

 [0092] Step 3312: Control the sweeping robot to switch to the floor working mode.

 [0093] In step 3310, the above working mode may include a carpet working mode and a floor working mode, wherein the power of the lower brush, the middle sweep, and the fan in the carpet working mode is greater than the lower brush, the middle sweep, and the fan in the floor working mode. Power, carpet working mode is suitable for cleaning the ground resistance, the driving current and driving voltage of the side brush, the middle sweep and the walking wheel are large; the floor working mode is suitable for cleaning the place with low ground resistance. The driving current and driving voltage of the components such as the side brush, the middle sweep, and the walking wheel are small. When the sweeping robot is placed in the carpet for cleaning in the carpet working module, when it moves forward, when it enters the floor, the driving current will be significantly reduced because the driving power required by the floor is relatively small. The sweeping robot monitors the change state of the drive current of the three components of the side brush, the middle sweep and the walking wheel, and determines whether the drive current of the three components of the side brush, the middle sweep and the walking wheel is reduced, and the difference is reduced. Comparing with the specified current value, wherein the specified current value includes a side brush specified current value corresponding to the side brush component, a middle scan specified current value corresponding to the middle sweeping component, and a specified running current value of the traveling wheel corresponding to the traveling wheel component.

 [0094] In step 3311, when the driving currents corresponding to the three components of the side brush, the middle sweep, and the traveling wheel are greater than the corresponding side brush specified current value, the middle scan specified current value, and the middle scan specified current value, It is determined that the sweeping robot enters the floor from the carpet.

[0095] In step 3312, when the sweeping robot determines that the sweeping robot is going from the carpet to the floor, the cleaning still in the carpet working mode will waste power, and the sweeping robot is controlled to reduce the side brush, the middle sweep and the walking wheel. The driving voltage of the three components causes the sweeping robot to switch to the floor working mode, reducing the driving power of the three components of the side brush, the middle sweep and the walking wheel. \¥0 2019/104563 卩(:17 \2017/113663

[0096] In the cleaning robot cleaning method of another embodiment, the step S3 of controlling the working mode of the cleaning robot according to the changing state of the driving current includes:

 [0097] Step S320, determining whether the driving current is increased, and the increased difference is greater than a specified current threshold.

[0098] Step S321, if yes, determining that the cleaning robot is faulty;

 [0099] Step S322, controlling the cleaning robot to switch to the alarm mode.

 [0100] In step S320, the working mode of the cleaning robot further includes an alarm mode. When the cleaning robot is in the normal cleaning process, the side brush, the middle sweep, and the walking wheel are all in working state, and when the side brush, the middle sweep, and the walking When the drive current of the wheel is greater than its maximum current threshold, it is likely to cause damage. When the sweeping robot is in the cleaning state, it will separately monitor the change state of the driving current of the side brush, the middle sweep and the walking wheel, and determine whether the driving currents of the three components of the side brush, the middle sweep and the walking wheel increase, and increase each component. The large difference is compared with its corresponding current threshold, wherein the current threshold includes a side brush current threshold corresponding to the side brush component, a middle sweep current threshold corresponding to the middle sweep component, and a walking wheel current threshold corresponding to the traveling wheel component.

 [0101] In step S321, when the driving current of one or more of the three components of the side brush, the middle sweep and the walking wheel is greater than the corresponding current threshold, it is determined that the cleaning robot is malfunctioning.

 [0102] In step S322, the sweeping robot is controlled to switch to the alarm mode. In the alarm mode, the sweeping robot stops working, and the alarm light flashes, and a voice alarm is generated to remind the user that the sweeping robot is faulty, and the user is timely acquired. Robot fault information. In addition, when the sweeping robot is in the normal process, when the sweeping robot has other types of faults, such as a stalling of the traveling wheel, it will cause the sweeping robot to switch to the alarm mode.

 [0103] The step S3 of controlling the working mode of the cleaning robot according to the changing state of the driving current in another embodiment includes:

 [0104] Step S330, determining whether the driving current is increased, and the increased difference is greater than a specified current value and less than a current threshold, wherein the current threshold is greater than a specified current value;

 [0105] Step S331, if yes, determining that the cleaning robot enters the carpet from the floor;

 [0106] Step S332, controlling the cleaning robot to switch to the carpet working mode.

[0107] In step S330, when the cleaning robot is placed in the floor for cleaning in the floor working module, when it enters the carpet during the forward movement, the driving power is required because the carpet needs to be driven. \¥0 2019/104563 卩(:17 \2017/113663 The flow will increase significantly to accommodate the environment with high carpet resistance. The sweeping robot monitors the change of the drive current of the three components of the side brush, the middle sweep and the walking wheel. State, determining whether the driving current of the three components of the side brush, the middle sweep and the walking wheel is increased, and comparing the difference of each component increase with a corresponding specified current value, wherein the specified current value includes the corresponding side brush component The side brush specifies the current value, the middle scan specified current value corresponding to the middle sweeping component, and the specified running current value of the traveling wheel corresponding to the traveling wheel component; and compares the increased difference of each component with its corresponding current threshold, wherein the current threshold The edge brush current threshold corresponding to the side brush component, the middle sweep current threshold corresponding to the middle sweeping component, and the traveling wheel current threshold corresponding to the traveling wheel component are included.

 [0108] In step 3331, among the three components of the side brush, the middle sweep, and the walking wheel, the corresponding driving currents of the three components are greater than their corresponding specified current values, and the side brush, the middle sweep, and the walking wheel are three. When the driving current value corresponding to the component is less than its corresponding current threshold, it is determined that the sweeping robot enters the carpet from the floor at this time.

[0109] In step 3332, when the cleaning robot determines that the cleaning robot enters the carpet from the floor, the cleaning is still performed in the floor working mode, which may result in an unsatisfactory cleaning effect, which is manifested by insufficient driving force of the walking wheel, resulting in insufficient driving force of the walking wheel. The walking speed is slow. In addition, the driving power of the side brush and the middle sweep is small, resulting in poor cleaning effect. At this time, controlling the sweeping robot to switch to the carpet working mode can improve the cleaning effect of the cleaning robot, save the time required for cleaning, and improve the cleaning efficiency. .

 [0110] In another embodiment, the cleaning robot cleaning method, before the step 3332 of controlling the cleaning robot to switch to the carpet working mode, includes:

 [0111] Step 3333, determining whether the mopping function of the cleaning robot is turned on;

 [0112] If no, step 3332 is performed.

 [0113] In step 3333, the cleaning robot determines that the cleaning robot enters the carpet from the floor during the cleaning process, and at this time, the cleaning robot determines whether the mopping function of the cleaning robot is turned on, and when the mopping function is turned on, It will sprinkle water by controlling the water tank in the sweeping robot to facilitate better mopping.

[0114] When it is determined that the sweeping function of the sweeping robot is turned off, at this time, the sweeping robot does not sprinkle water due to the water tank, and the carpet is not damaged, thereby controlling the sweeping robot to enter the carpet and switching to the carpet working mode for cleaning. When it is determined that the sweeping function of the sweeping robot is turned on, the sweeping robot is now due to water. \¥0 2019/104563 卩(:17 \2017/113663 The box will be sprinkled, and the carpet will be damaged. At this time, the sweeping robot will be controlled to retreat in place, and the floor working mode will be maintained to clean the floor.

 [0115] In the cleaning robot cleaning method of another embodiment, the step 33 of controlling the operating mode of the cleaning robot according to the changing state of the driving current includes:

 [0116] Step 3340, determining whether the driving current is decreased, and the reduced difference is greater than the specified current value;

[0117] Step 3341, if yes, determining that the cleaning robot enters the floor from the carpet;

 [0118] Step 3342: Control the sweeping robot to return to the carpet, and mark the carpet area along the edge of the carpet to control the sweeping robot to clean the carpet area in a carpet working mode.

 [0119] In step 3340, when the cleaning robot is placed in the carpet for cleaning in the carpet working module, when it enters the floor during the forward movement, since the driving power required by the floor is small, the driving current thereof will be Will be significantly reduced. The sweeping robot monitors the change state of the drive current of the three components of the side brush, the middle sweep and the walking wheel, and determines whether the drive current of the three components of the side brush, the middle sweep and the walking wheel is reduced, and the difference is reduced. Comparing with the specified current value, wherein the specified current value includes a side brush specified current value corresponding to the side brush component, a middle scan specified current value corresponding to the middle sweeping component, and a specified running current value of the traveling wheel corresponding to the traveling wheel component.

 [0120] In step 3341, when the driving currents corresponding to the three components of the side brush, the middle sweep and the walking wheel are greater than the corresponding side brush specified current value, the middle scan specified current value, and the middle scan specified current value, It is determined that the sweeping robot enters the floor from the carpet.

 [0121] In step 3342, when the cleaning robot cleans the carpet through the carpet working mode, it is also possible to select an operating mode in which the carpet area is preferably cleaned, and when the working mode of the preferred carpet cleaning area is turned on, the cleaning robot will Will not switch to the floor working mode, and will control the sweeping robot to return to the carpet, and cause the sweeping robot to mark the carpet area along the edge of the carpet, and control the sweeping robot to perform the preferred cleaning of the carpet area in the carpet working mode to clean the carpet area. After that, clean the area of the floor.

 [0122] In the cleaning robot cleaning method of another embodiment, the step 33 of controlling the operating mode of the cleaning robot according to the changing state of the driving current includes:

[0123] Step 3350, determining whether the driving current is increased, and the increased difference is greater than the specified current value and less than the current threshold, wherein the current threshold is greater than the specified current value; [0124] step S351, if yes, determining that the cleaning robot enters the carpet from the floor;

 [0125] Step S352, controlling the cleaning robot to return to the floor, and marking the carpet area along the edge of the carpet, and controlling the cleaning robot to clean other areas outside the carpet area in the floor working mode.

 [0126] In step S350, when the cleaning robot is placed in the floor for cleaning in the floor working module, when it enters the carpet during the forward movement, the driving current will be large because the driving power required by the carpet is large. It will increase significantly to accommodate the environment with high carpet resistance. The sweeping robot monitors the change state of the driving current of the three components of the side brush, the middle sweep and the walking wheel, and determines whether the driving currents of the three components of the side brush, the middle sweep and the walking wheel increase, and each component is enlarged. The difference value is compared with a corresponding specified current value, wherein the specified current value includes a side brush specified current value corresponding to the side brush component, a middle scan specified current value corresponding to the middle sweeping component, and a specified current value of the traveling wheel corresponding to the traveling wheel component; Comparing the difference between each component and its corresponding current threshold, wherein the current threshold includes a side brush current threshold corresponding to the side brush component, a middle sweep current threshold corresponding to the middle sweep component, and a walking wheel current threshold corresponding to the traveling wheel component .

 [0127] In step S351, among the three components of the side brush, the middle sweep and the walking wheel, the corresponding driving currents of the three components are greater than their corresponding specified current values, and the side brush, the middle sweep and the walking wheel are three. When the driving current value corresponding to the component is less than its corresponding current threshold, it is determined that the sweeping robot enters the carpet from the floor at this time.

[0128] In step S352, when the cleaning robot cleans the floor through the floor working mode, it is also possible to select an operating mode in which the floor area is preferably cleaned, and when the working mode of the preferred cleaning floor area is turned on, the cleaning robot will Will not switch to the carpet working mode, and will control the sweeping robot back to the floor, and make the sweeping robot move the carpet area along the edge of the carpet to control the sweeping robot to perform the preferred cleaning of the floor area outside the carpet area in the floor working mode. After cleaning the other floor areas mentioned above, the area of the carpet is cleaned.

 [0129] In another embodiment, the cleaning robot cleaning method, the step S3 of controlling the working mode of the cleaning robot according to the changing state of the driving current includes:

[0130] Step S360, determining whether the difference in the change of the driving current is greater than a specified current value and less than a current threshold, wherein the current threshold is greater than a specified current value; \¥0 2019/104563 卩(:17 \2017/113663

[0131] Step 3361, if yes, controlling the sweeping robot to retreat or turn, and continue cleaning in the original working mode.

 [0132] In step 3360, the cleaning robot separately monitors the change state of the driving currents of the three components of the side brush, the middle sweep, and the walking wheel, and determines whether the driving currents of the three components of the side brush, the middle sweep, and the walking wheel increase, and Comparing the difference between each component and its corresponding specified current value, wherein the specified current value includes a side brush specified current value corresponding to the side brush component, a middle scan specified current value corresponding to the middle sweep component, and a corresponding corresponding to the traveling wheel component The walking wheel specifies a current value; and compares the difference between each component and its corresponding current threshold, wherein the current threshold includes a side brush current threshold corresponding to the side brush component, a middle sweep current threshold corresponding to the middle sweep component, and a walking wheel The walking wheel current threshold corresponding to the component.

 [0133] In step 3361, when the cleaning robot is in the floor working state or the carpet working state, when the three components of the side brush, the middle sweep and the walking wheel, the driving currents of the three components are greater than the corresponding specified current values, When the driving current corresponding to the three components of the side brush, the middle sweep and the walking wheel are less than their corresponding current thresholds, they will enter different areas of the ground environment. At this time, the above-mentioned cleaning robot will be directly controlled to return or turn, and will not enter the different areas of the ground environment, and continue to clean in the original working mode in the area where the ground environment is unchanged.

 [0134] Referring to FIG. 2, the cleaning robot in the embodiment of the present invention includes:

 [0135] The obtaining unit 10 is configured to acquire a driving current of the specified component in the cleaning state, wherein the specifying component includes at least a walking wheel;

 [0136] a monitoring unit 20, configured to monitor a change state of the driving current;

 [0137] The executing unit 30 is configured to control an operating mode of the cleaning robot according to the changing state of the driving current.

 [0138] During the normal cleaning process, the acquiring unit 10 acquires the driving current of the specified component in the cleaning state, wherein the specified component includes at least the traveling wheel, that is, the cleaning robot acquires the driving of the walking wheel in the cleaning state. Current.

 [0139] The monitoring unit 20 monitors the obtained change state of the above-mentioned driving current, specifically, monitors whether the above-mentioned driving current has a significantly increased or decreased change.

[0140] When the ground environment changes, for example, for different environments of carpets and floors, the requirements for the cleaning ability of the cleaning robot will be different, and when the ground environment of the cleaning robot is changed, the traveling wheel \¥0 2019/104563 卩 (: 17 \2017/113663 The drive current will change significantly. The execution unit 30 determines whether the ground environment to be cleaned changes according to the change state of the above drive current, and controls the working mode of the sweeping robot. The ground environment that follows the cleaning changes, so that the cleaning robot can face the different ground environments, and the cleaning effect can be ensured. In order to avoid confusion, it is necessary to explain that the above working mode is not the working mode of the real switching in the cleaning robot; For example, the working mode of the cleaning robot specifically includes a normal cleaning mode and a strong cleaning mode. The cleaning mode is selected by the user, and the switching mode is not performed after the selection, but the working mode mentioned in the embodiment of the present invention is set in the normal mode. Under the premise of cleaning mode or strong cleaning mode, the sweeping robot controls to change the working mode.

 [0141] In the cleaning robot in this embodiment, the command component may further include one or two types of a middle sweep and a wind blower, that is, the sweeping robot may acquire the driving current of the two components of the side brush and the traveling wheel or the sweeping robot. The driving currents of the two components of the middle sweep and the walking wheel are acquired from time to time. Preferably, the sweeping robot can also obtain the driving currents of the three components of the side brush, the middle sweep and the walking wheel from time to time. When the ground environment changes, for example, for different environments of carpets and floors, the requirements for the cleaning ability of the cleaning robot will be different, and when the ground environment of the cleaning robot is changed, the side brush, the middle sweep and the walking wheel The drive current will change significantly, and by setting multiple specified components, the result of the monitored drive current change state will be more accurate.

 [0142] In the cleaning robot in this embodiment, the sweeping robot in the cleaning state, the three components of the side brush, the middle sweep and the walking wheel generate a driving current, and the sweeping robot filters the driving current before acquiring the driving current to filter out the interference. . Preferably, the filtering method can adopt mean filtering.

 [0143] Referring to FIG. 3, in the cleaning robot in this embodiment, the executing unit 30 includes:

 [0144] The first determining module 310 is configured to determine whether the driving current is decreased, and the reduced difference is greater than the specified current value;

 [0145] The first determining module 311 is configured to: when the driving current decreases, and the reduced difference is greater than the specified current value, determine that the cleaning robot enters the floor from the carpet;

 [0146] The first execution module 312 is configured to control the sweeping robot to switch to the floor working mode.

[0147] The above working mode may include a carpet working mode and a floor working mode, wherein the power of the lower brush, the middle sweep, and the fan in the carpet working mode is greater than the power of the bottom brush, the middle sweep, and the fan in the floor working mode, and the carpet working mode Suitable for cleaning places with high ground resistance, side brush, middle sweep and line \¥0 2019/104563 卩(:17 \2017/113663 The driving current and driving voltage of the components such as the wheel are large; the floor working mode is suitable for cleaning the place with low ground resistance, the side brush, the middle sweep and the walking wheel The driving current and driving voltage of the components are small. When the sweeping robot is placed in the carpet for cleaning, the driving power required by the floor is relatively high when it moves forward while it enters the floor. Small, the driving current will be significantly reduced. The sweeping robot monitors the change state of the driving current of the three components of the side brush, the middle sweep and the walking wheel, respectively, and the first judging module 310 judges the three components of the side brush, the middle sweep and the walking wheel. Whether the driving current is decreased, and the reduced difference is compared with the specified current value, wherein the specified current value includes a side brush specified current value corresponding to the side brush component, a middle sweep specified current value corresponding to the middle sweeping component, and The running wheel corresponding to the traveling wheel component specifies a current value.

 [0148] When the driving current corresponding to the three components of the side brush, the middle sweep and the walking wheel are greater than the corresponding side brush specified current value, the middle scan specified current value, and the middle scan specified current value, the first determining module 311 determines The sweeping robot enters the floor from the carpet.

 [0149] When the sweeping robot determines that the sweeping robot is going from the carpet to the floor, cleaning in the carpet working mode at this time will waste power. At this time, the sweeping robot is controlled to reduce the driving of the three components of the side brush, the middle sweep and the walking wheel. The voltage, the first execution module 312 sweeps the robot to switch to the floor working mode, and reduces the driving power of the three components of the side brush, the middle sweep and the walking wheel.

 [0150] Referring to FIG. 4, in another embodiment, the cleaning unit, the execution unit 30 includes:

 [0151] The second determining module 320 is configured to determine whether the driving current is increased, and the increased difference is greater than a specified current threshold.

 [0152] The second determining module 321, is configured to determine that the cleaning robot is faulty when the driving current increases and the increased difference is greater than a specified current threshold;

 [0153] The second execution module 322 is configured to control the cleaning robot to switch to the alarm mode.

[0154] The working mode of the sweeping robot further includes an alarm mode. When the sweeping robot is in the normal cleaning process, the side brush, the middle sweep and the walking wheel are all in working state, and the driving currents of the side brush, the middle sweep and the walking wheel are greater than Its maximum current threshold is prone to damage. The cleaning robot monitors the change state of the driving currents of the side brush, the middle sweep and the walking wheel respectively in the cleaning state, and the second determining module 320 determines whether the driving currents of the three components of the side brush, the middle sweep and the walking wheel increase, and Comparing the difference between each component and its corresponding current threshold, wherein the current threshold includes the side brush current threshold corresponding to the side brush component, and the middle sweep \¥0 2019/104563 卩(:17 \2017/113663 The corresponding sweep current threshold for the component and the travel wheel current threshold corresponding to the travel wheel component.

 [0155] When the driving current of one or more of the three components of the side brush, the middle sweep and the walking wheel is greater than the corresponding current threshold, the second determining module 321 determines that the cleaning robot has failed.

 [0156] The second execution module 322 controls the sweeping robot to switch to the alarm mode. In the alarm mode, the sweeping robot stops working, and the alarm light flashes, generates a voice alarm, etc. to remind the user that the sweeping robot is faulty, and is convenient for the user to obtain in time. Robot fault information. In addition, when the sweeping robot is in the normal process, when the sweeping robot has other types of faults, such as a stalling of the traveling wheel, the sweeping robot is switched to the alarm mode.

 [0157] Referring to FIG. 5, in another embodiment, the cleaning unit, the execution unit 30 includes:

 [0158] The third determining module 330 is configured to determine whether the driving current is increased, and the increased difference is greater than the specified current value and less than the current threshold, wherein the current threshold is greater than the specified current value;

 [0159] The third determining module is configured to determine that the sweeping robot enters the carpet from the floor when the driving current increases and the increased difference is greater than the specified current value and less than the current threshold;

 [0160] The third execution module 332 is configured to control the sweeping robot to switch to the carpet working mode.

 [0161] When the cleaning robot is placed in the floor for cleaning by the floor work module, when it enters the carpet during the forward movement, the driving current will increase significantly due to the large driving power required by the carpet. To adapt to the environment where the carpet resistance is large. The cleaning robot separately monitors the change state of the driving current of the three components of the side brush, the middle sweep and the walking wheel, and the third determining module 330 determines whether the driving currents of the three components of the side brush, the middle sweep and the walking wheel increase, and each will The difference between the increase of one component is compared with the corresponding specified current value, wherein the specified current value includes a side brush specified current value corresponding to the side brush component, a middle scan specified current value corresponding to the middle sweep component, and a walking wheel corresponding to the traveling wheel component. Specifying a current value; and comparing the difference between each component and its corresponding current threshold, wherein the current threshold includes a side brush current threshold corresponding to the side brush component, a middle sweep current threshold corresponding to the middle sweep component, and a corresponding travel wheel component The walking wheel current threshold.

[0162] When three components of the side brush, the middle sweep and the walking wheel, the corresponding driving currents of the three components are greater than their corresponding specified current values, and the driving currents corresponding to the three components of the side brush, the middle sweep and the traveling wheel are When the value is less than its corresponding current threshold, the third determining module 331 determines that the sweeping robot enters the carpet from the floor at this time. \¥0 2019/104563 卩(:17 \2017/113663

[0163] When the sweeping robot determines that the sweeping robot enters the carpet from the floor, it is still cleaned in the floor working mode, which will result in unsatisfactory cleaning effect, which is manifested by insufficient driving force of the walking wheel, resulting in slow walking speed. In addition, the driving power of the side brush and the middle sweep is small, resulting in poor cleaning effect; the third execution module ₃₃ 2 controls the sweeping robot to switch to the carpet working mode, which can improve the cleaning effect of the cleaning robot, save the time required for cleaning, and improve the cleaning efficiency.

 [0164] The cleaning robot in this embodiment, the execution unit 30 further includes:

 [0165] The fourth determining module 333 is configured to determine whether the mopping function of the cleaning robot is turned on.

 [0166] When the mopping function of the cleaning robot is not turned on, the third execution module 332 performs control to switch the cleaning robot to the carpet working mode.

 [0167] During the cleaning process, when the cleaning robot determines that the cleaning robot enters the carpet from the floor, the fourth determining module 333 determines whether the mopping function of the cleaning robot is turned on, and in the case that the mopping function is turned on, it controls the cleaning. The water tank in the robot is sprinkled for better mopping.

 [0168] When it is determined that the sweeping function of the sweeping robot is turned off, the sweeping robot does not sprinkle water in the water tank, and the carpet is not damaged, thereby controlling the sweeping robot to enter the carpet, and the third executing module 332 performs control to switch the sweeping robot. Clean up to the carpet work mode. When it is determined that the sweeping function of the sweeping robot is turned on, at this time, the sweeping robot will sprinkle water due to the water tank, and thus the carpet may be damaged. Then, the sweeping robot is controlled to retreat in situ, and the floor working mode is continued to clean the floor.

 [0169] Referring to FIG. 6, in another embodiment, the cleaning robot, the execution unit 30 includes

 [0170] The fifth determining module 340 is configured to determine whether the driving current is decreased, and the reduced difference is greater than the specified current value;

 [0171] a fifth determining module 341, configured to: when the driving current decreases, and the reduced difference is greater than the specified current value, determine that the cleaning robot enters the floor from the carpet;

 [0172] The fifth executing module 342 is configured to control the cleaning robot to return to the carpet, and move the carpet area along the edge of the carpet to control the cleaning robot to clean the carpet area in a carpet working mode.

[0173] When the cleaning robot is placed in the carpet for cleaning in the carpet working module, when it enters the floor during the forward movement, the driving current will be significantly reduced due to the small driving power required for the floor. The sweeping robot monitors the change state of the driving current of the three components of the side brush, the middle sweep and the walking wheel, respectively. \¥0 2019/104563 卩(:17 \2017/113663 The fifth judgment module 340 determines whether the drive current of the three components of the side brush, the middle sweep and the walking wheel is reduced, and the difference between the reduction and the specified current is The values are compared, wherein the specified current value includes a side brush specified current value corresponding to the side brush member, a middle scan specified current value corresponding to the middle sweeping member, and a specified running current value of the traveling wheel corresponding to the traveling wheel member.

 [0174] When the driving current corresponding to the three components of the side brush, the middle sweep and the walking wheel are greater than the corresponding side brush specified current value, the middle scan specified current value, and the middle scan specified current value, the fifth determining module 341 determines The sweeping robot enters the floor from the carpet.

 [0175] When the cleaning robot cleans the carpet through the carpet working mode, it is also possible to select the working mode in which the carpet area is preferably cleaned, and when the working mode of the preferred carpet cleaning area is turned on, the cleaning robot will not switch to the floor at this time. In the working mode, the fifth executing module 342 returns the cleaning robot to the carpet, and causes the cleaning robot to mark the carpet area along the edge of the carpet, and controls the cleaning robot to perform the preferred cleaning of the carpet area in the carpet working mode, after cleaning the carpet area. , then clean the area of the floor.

 [0176] Referring to FIG. 7, the cleaning robot in another embodiment, the execution unit 30 includes:

 [0177] The sixth determining module 350 is configured to determine whether the driving current is increased, and the increased difference is greater than the specified current value and less than the current threshold, wherein the current threshold is greater than the specified current value;

 [0178] a sixth determining module 351, configured to: when the driving current increases, and the increased difference is greater than a specified current threshold, determine that the cleaning robot enters the carpet from the floor;

 [0179] a sixth execution module 352, configured to control the cleaning robot to return to the floor, and mark the carpet area along the edge of the carpet, and control the cleaning robot to perform other areas outside the carpet area in a floor working mode. Clean up.

[0180] When the cleaning robot is placed in the floor for cleaning by the floor work module, when it enters the carpet during the forward movement, the driving current will increase significantly due to the large driving power required by the carpet. To adapt to the environment where the carpet resistance is large. The cleaning robot separately monitors the change state of the driving current of the three components of the side brush, the middle sweep and the walking wheel, and the sixth determining module 350 determines whether the driving currents of the three components of the side brush, the middle sweep and the walking wheel increase, and each will The difference between the increase of one component is compared with the corresponding specified current value, wherein the specified current value includes a side brush specified current value corresponding to the side brush component, a middle scan specified current value corresponding to the middle sweep component, and a walking wheel corresponding to the traveling wheel component. Specify the current value; and each part \¥0 2019/104563 卩(:17 \2017/113663 The increased difference is compared with its corresponding current threshold, where the current threshold includes the side brush current threshold corresponding to the side brush component and the middle sweep current threshold corresponding to the middle sweep component. The walking wheel current threshold corresponding to the walking wheel component.

 [0181] Among the three components of the side brush, the middle sweep and the walking wheel, the corresponding driving currents of the three components are greater than their corresponding specified current values, and the driving currents corresponding to the three components of the side brush, the middle sweep and the traveling wheel When the value is less than its corresponding current threshold, the sixth determining module 351 determines that the sweeping robot enters the carpet from the floor at this time.

[0182] When the sweeping robot cleans the floor through the floor working mode, it is also possible to select an operating mode in which the floor area is preferably cleaned, and when the working mode of the preferred floor area is turned on, the sweeping robot will not switch to the carpet at this time. In the working mode, the sixth execution module 352 returns the control sweeping robot to the floor, and causes the sweeping robot to mark the carpet area along the edge of the carpet, and controls the sweeping robot to perform a preferred cleaning of the floor area outside the carpet area in the floor working mode. After the other floor areas have been cleaned, the area of the carpet is cleaned.

 [0183] Referring to FIG. 8, the cleaning robot in another embodiment, the execution unit 30 includes:

 [0184] The seventh determining module 360 is configured to determine whether the difference of the driving current change is greater than a specified current value and less than a current threshold, where the current threshold is greater than a specified current value;

 And a seventh executing module 361, configured to: when the difference of the driving current changes is greater than a specified current value and less than a current threshold, control the sweeping robot to retreat or turn, and continue to perform cleaning in the original working mode.

 [0186] The cleaning robot separately monitors the change state of the driving currents of the three components of the side brush, the middle sweep, and the walking wheel, and the seventh determining module 360 determines whether the driving currents of the three components of the side brush, the middle sweep, and the traveling wheel increase. And comparing the difference between each component and the corresponding specified current value, wherein the specified current value includes a side brush specified current value corresponding to the side brush component, a middle scan specified current value corresponding to the middle sweep component, and a corresponding travel wheel component The walking wheel specifies a current value; and compares the increased difference of each component with its corresponding current threshold, wherein the current threshold includes a side brush current threshold corresponding to the side brush component, a middle sweep current threshold corresponding to the middle sweep component, and walking The walking wheel current threshold corresponding to the wheel component.

[0187] When the cleaning robot is in the floor working state or the carpet working state, among the three components of the side brush, the middle sweep and the walking wheel, the driving currents of the three components are greater than their corresponding specified current values, and the side brush, the middle \¥0 2019/104563 卩(:17 \2017/113663 When the driving current corresponding to the three components of the sweeping and walking wheels is less than its corresponding current threshold, it will enter a different area of the ground environment. The seventh execution module 361 directly controls The above-mentioned cleaning robot returns or turns, does not enter a different area of the ground environment, and continues to clean in the original working mode in a region where the ground environment is constant.

 [0188] In summary, the beneficial effects in the embodiment of the present invention are: the sweeping robot acquires the driving current of the specified component in the cleaning state, wherein the specified component includes at least the traveling wheel; and monitors the changing state of the driving current; Controlling the working mode of the cleaning robot according to the changing state of the driving current, the cleaning robot determines whether the ground environment to be cleaned changes according to the changing state of the driving current, and controls the working mode of the cleaning robot to follow the cleaning ground environment to change , so that the sweeping robot can face the different ground conditions, and the cleaning effect can be guaranteed.

 The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are used directly or indirectly. Other related technical fields are equally included in the scope of patent protection of the present invention.

Claims

\¥0 2019/104563 卩(:17 \2017/113663 Claims  [Claim 1] A cleaning method for a cleaning robot, comprising:  Obtaining a driving current of a specified component in a cleaning state, wherein the specified component includes at least a traveling wheel;  Monitoring a change state of the drive current;  The operating mode of the cleaning robot is controlled according to the changing state of the driving current.  [Claim 2] The cleaning robot cleaning method according to claim 1, wherein the driving current is a driving current after the filtering process.  [Claim 3] The cleaning robot cleaning method according to claim 1, wherein the designating member further includes one or both of a side brush and a middle sweep.  [Claim 4] The cleaning robot cleaning method according to claim 3, wherein the step of controlling an operation mode of the cleaning robot according to a change state of the drive current includes determining whether the drive current is decreased And the reduced difference is greater than the specified current value; if so, it is determined that the cleaning robot enters the floor from the carpet; and the cleaning robot is controlled to switch to the floor working mode.  [Claim 5] The cleaning robot cleaning method according to claim 3, wherein the step of controlling an operation mode of the cleaning robot according to a change state of the drive current includes determining whether the drive current is increased And the increased difference is greater than a specified current threshold; if yes, determining that the cleaning robot is faulty;  The sweeping robot is controlled to switch to the alarm mode. [Claim 6] The cleaning robot cleaning method according to claim 5, wherein the step of controlling an operation mode of the cleaning robot according to a change state of the driving current includes determining whether the driving current is increased And the increased difference is greater than the specified current value and less than the current threshold, wherein the current threshold is greater than the specified current value; if yes, determining that the cleaning robot enters the carpet from the floor; \¥0 2019/104563 卩(:17 \2017/113663 Controls the sweeping robot to switch to the carpet working mode.  [Claim 7] The cleaning robot cleaning method according to claim 6, wherein the step of controlling the switching of the cleaning robot to the carpet working mode comprises:  Determining whether the mopping function of the cleaning robot is turned on;  If not, execute the step "Control the sweeping robot to switch to the carpet working mode".  [Claim 8] The cleaning robot cleaning method according to claim 3, wherein the step of controlling an operation mode of the cleaning robot according to a change state of the drive current includes determining whether the drive current is decreased And the reduced difference is greater than the specified current value; if yes, determining that the cleaning robot enters the floor from the carpet; controlling the cleaning robot to return to the carpet, and marking the carpet area along the edge of the carpet to control the cleaning robot The carpet area is cleaned in a carpet work mode.  [Claim 9] The cleaning robot cleaning method according to claim 5, wherein the step of controlling an operation mode of the cleaning robot according to a change state of the drive current includes determining whether the drive current is increased And the increased difference is greater than the specified current value and less than the current threshold, wherein the current threshold is greater than the specified current value; if yes, determining that the cleaning robot enters the carpet from the floor; controlling the cleaning robot to return to the floor, And marking the carpet area along the edge of the carpet to control the sweeping robot to clean other areas outside the carpet area in the floor working mode.  [Claim 10] The cleaning robot cleaning method according to claim 5, wherein the step of controlling an operation mode of the cleaning robot according to a change state of the drive current includes determining a difference in the change in the drive current Whether the value is greater than the specified current value and less than the current threshold, wherein the current threshold is greater than the specified current value; If so, the sweeping robot is controlled to return or turn, and the cleaning is continued in the original working mode. \¥0 2019/104563 卩(:17 \2017/113663 [Claim 11] A cleaning robot, comprising:  An acquiring unit, configured to acquire a driving current of a specified component in a cleaning state, wherein the specified component includes at least a walking wheel;  a monitoring unit, configured to monitor a changing state of the driving current; and an executing unit, configured to control an operating mode of the cleaning robot according to a changing state of the driving current.  [Claim 12] The cleaning robot according to claim 11, wherein the specifying member further includes one or both of a side brush and a middle sweep. The cleaning robot according to claim 11, wherein the drive current is a drive current after the filtering process. [Claim 14] The cleaning robot according to claim 13, wherein the execution unit includes a first determining module, configured to determine whether the driving current is decreased, and the reduced difference is greater than a specified current. Value  a first determining module, configured to: when the driving current decreases, and the reduced difference is greater than a specified current value, determine that the cleaning robot enters the floor from the carpet;  The first execution module is configured to control the sweeping robot to switch to the floor working mode.  [Claim 15] The cleaning robot according to claim 13, wherein the execution unit includes a second determining module, configured to determine whether the driving current is increased, and the increased difference is greater than a specified Current threshold  a second determining module, configured to: when the driving current increases, and the increased difference is greater than a specified current threshold, determine that the cleaning robot is faulty; and the second executing module is configured to control the cleaning robot Switch to the alarm mode. [Claim 16] The cleaning robot according to claim 15, wherein the execution unit includes a third determining module, configured to determine whether the driving current is increased, and the increased difference is greater than a specified current. a value that is less than a current threshold, wherein the current threshold is greater than a specified current value \¥0 2019/104563 卩(:17 \2017/113663 a third determining module, configured to: when the driving current increases, and the increased difference is greater than the specified current value and less than the current threshold, determining that the cleaning robot enters the carpet from the floor; The sweeping robot is controlled to switch to the carpet working mode.  [Claim 17] The cleaning robot according to claim 16, wherein the execution unit further includes  The fourth determining module is configured to determine whether the mopping function of the cleaning robot is turned on; when the mopping function of the cleaning robot is not turned on, the third executing module performs control to switch the cleaning robot to the carpet working mode.  [Claim 18] The cleaning robot according to claim 13, wherein the execution unit includes a fifth determining module, configured to determine whether the driving current is decreased, and the reduced difference is greater than a specified current. Value  a fifth determining module, configured to: when the driving current decreases, and the reduced difference is greater than a specified current value, determine that the cleaning robot enters the floor from the carpet;  And a fifth execution module, configured to control the cleaning robot to return to the carpet, and mark the carpet area along the edge of the carpet, and control the cleaning robot to clean the carpet area in a carpet working mode.  [Claim 19] The cleaning robot according to claim 15, wherein the execution unit includes a sixth determining module, configured to determine whether the driving current is increased, and the increased difference is greater than a specified current. And a value that is less than a current threshold, wherein the current threshold is greater than the specified current value. The sixth determining module is configured to determine the sweeping when the driving current increases and the increased difference is greater than a specified current threshold. The robot enters the carpet from the floor;  And a sixth execution module, configured to control the cleaning robot to return to the floor, and mark the carpet area along the edge of the carpet, and control the cleaning robot to clean other areas outside the carpet area in the floor working mode. [Claim 20] The cleaning robot according to claim 15, wherein the execution unit includes \¥0 2019/104563 卩(:17 \2017/113663 a seventh determining module, configured to determine whether the difference of the driving current change is greater than a specified current value and less than a current threshold, wherein the current threshold is greater than a specified current value; and a seventh execution module, configured to when the driving current changes When the difference is greater than the specified current value and less than the current threshold, the cleaning robot is controlled to retreat or turn, and the cleaning is continued in the original working mode.