CN113143123A - Cleaning robot system and cleaning control method - Google Patents
Cleaning robot system and cleaning control method Download PDFInfo
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- CN113143123A CN113143123A CN202110149969.5A CN202110149969A CN113143123A CN 113143123 A CN113143123 A CN 113143123A CN 202110149969 A CN202110149969 A CN 202110149969A CN 113143123 A CN113143123 A CN 113143123A
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- cleaning
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- cleaning robot
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Electric Vacuum Cleaner (AREA)
Abstract
The application is applicable to the technical field of robots and provides a cleaning robot system and a cleaning control method, wherein the cleaning robot system comprises a cleaning robot and a base station; the cleaning robot comprises a robot body, a dust suction assembly and a rotary cleaning assembly; the base station comprises a cleaning device; when the cleaning robot is in a mopping mode, the rotary cleaning assembly is in a working state and is used for mopping; when the cleaning robot is in a cleaning mode, the dust suction assembly and the rotary cleaning assembly are both in a working state, and the dust suction assembly and the rotary cleaning assembly are jointly used for dust suction work; the cleaning device is configured to clean the rotating cleaning assembly when the cleaning robot returns to the base station. The robot system can be used for mopping and absorbing dust, and can automatically clean the cleaning robot through the base station.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a cleaning robot system and a cleaning control method.
Background
In recent years, with the development of social economy and the improvement of the domestic living standard, furniture cleaning gradually enters an intelligent and mechanized era, and a cleaning robot produced by transportation can free people from household cleaning work, effectively reduce the workload of people in the aspect of household cleaning, and relieve the fatigue degree of people in the household cleaning process.
Some existing sweeping robots can only realize a sweeping function and cannot realize a mopping function; or if the existing cleaning robot needs to mop the floor, an additional floor mopping component needs to be installed to achieve the floor mopping function, so that the cost is high; in addition, in the prior art, the mopping robot or the sweeping and mopping integrated cleaning robot with the mopping function is limited in that the mop cloth needs to be cleaned by a user, and the user needs to frequently participate in changing and washing the cleaning piece of the cleaning robot in the whole process of cleaning the floor, so that the user cannot be completely liberated from the mopping process, the workload of the user is increased, and the mopping effect is easily influenced due to untimely changing and washing, and the floor cannot be cleaned.
Disclosure of Invention
The embodiment of the application provides a cleaning robot system and a cleaning control method, and can solve the problem that an existing cleaning robot cannot sweep and drag the whole body or is difficult to clean.
In a first aspect, an embodiment of the present application provides a cleaning robot system, which includes a cleaning robot and a base station; the cleaning robot comprises a robot body, a dust suction assembly and a rotary cleaning assembly;
when the cleaning robot is in a mopping mode, the rotary cleaning assembly is in a working state and is used for mopping;
when the cleaning robot is in a cleaning mode, the dust collection assembly and the rotary cleaning assembly are both in a working state, and the dust collection assembly and the rotary cleaning assembly are jointly used for dust collection.
In a second aspect, an embodiment of the present application provides a cleaning control method applied to a cleaning robot system, where the cleaning robot system includes a cleaning robot and a base station; the cleaning robot comprises a robot body, a dust suction assembly and a rotary cleaning assembly; the base station comprises a cleaning device; the method comprises the following steps:
acquiring a current working mode of the cleaning robot;
if the current working mode of the cleaning robot is a floor mopping mode, controlling a dust collection assembly of the cleaning robot not to work, and controlling a rotary cleaning assembly of the cleaning robot to work;
if the current working mode of the cleaning robot is a cleaning mode, controlling a dust collection assembly and a rotary cleaning assembly of the cleaning robot to work simultaneously;
and when the cleaning robot returns to the base station, cleaning the rotary cleaning component by using the cleaning device.
In a third aspect, an embodiment of the present application provides a cleaning control apparatus, which is applied to a cleaning robot system, where the cleaning robot system includes a cleaning robot and a base station; the cleaning robot comprises a robot body, a dust suction assembly and a rotary cleaning assembly; the base station comprises a cleaning device; the cleaning control device includes:
the working mode acquisition module is used for acquiring the current working mode of the cleaning robot;
the cleaning robot mopping module is used for controlling a dust collection assembly of the cleaning robot not to work and controlling a rotary cleaning assembly of the cleaning robot to work if the current working mode of the cleaning robot is the mopping mode;
the cleaning robot cleaning module is used for controlling a dust collection assembly and a rotary cleaning assembly of the cleaning robot to work simultaneously if the current working mode of the cleaning robot is a cleaning mode;
a cleaning robot cleaning module to clean the rotating cleaning assembly with the cleaning device when the cleaning robot returns to a base station.
In a fourth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to perform the method of any one of the second aspects.
Compared with the prior art, the embodiment of the application has the advantages that: in an embodiment of the present application, a cleaning robot system includes a cleaning robot and a base station. The rotary cleaning component in the cleaning robot can mop the floor and guide the garbage to the dust suction port during dust suction. The cleaning robot does not need to be additionally provided with a cleaning piece for guiding the garbage to the dust suction port, so that the cost is saved, and the power consumption of the robot is also reduced. The base station can clean the cleaning robot, and extra manual labor is avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of a cleaning robot system according to an embodiment of the present disclosure;
fig. 2 is a schematic view of a cleaning robot in a cleaning robot system according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a cleaning robot reaching a base station according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a cleaning robot system according to an embodiment of the present disclosure;
fig. 5 is a schematic flowchart of a cleaning control method according to a second embodiment of the present application;
fig. 6 is a schematic flow chart of a cleaning control device according to a third embodiment of the present application;
fig. 7 is a schematic structural diagram of a cleaning robot according to a fourth embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Fig. 1 is a schematic view of a cleaning robot system according to an embodiment of the present disclosure, and the cleaning robot system includes a cleaning robot and a base station, as shown in fig. 1.
The cleaning robot comprises a body, a dust suction assembly and a rotary cleaning assembly. The cleaning robot in the embodiment comprises two working modes of mopping and sweeping, and the cleaning robot can be used for mopping and sweeping. In the mopping mode, a rotary cleaning component of the cleaning robot is in a working state, and a dust collection component is in a non-working state; the rotary cleaning component can be used for mopping the floor through rolling, and the rotary cleaning component can be wet or dry when mopping the floor. In the cleaning mode, the rotary cleaning component and the dust collection component of the cleaning robot are both in a working state, and the rotary cleaning component in the cleaning mode is dry and can guide garbage to the dust collection port, so that dust collection work can be completed together with the dust collection component.
In one possible implementation manner, the cleaning robot may include a control module, a user may select a working mode of the cleaning robot, and the control module in the cleaning robot may drive the cleaning robot to clean in a preset area according to the working mode selected by the user. If the user selects the mopping mode, the control module of the cleaning robot can drive the rotary cleaning component to work; if the user selects the cleaning mode, the control module of the cleaning robot can drive the rotary cleaning component and the dust collection component to jointly complete dust collection. The control module can also judge whether the rotary cleaning component needs to be cleaned according to the current cleaning time, cleaning area, cleaning path length and/or the state of the rotary cleaning component of the cleaning robot. When the rotating cleaning assembly needs to be cleaned, the control module can drive the cleaning robot to go to the base station for cleaning.
As shown in fig. 1, the cleaning robot may further include a communication module that may communicate with a communication module in the base station to guide the cleaning robot to the base station.
The cleaning robot and the base station are both provided with communication components for communicating with each other. Taking how the cleaning robot moves to the base station as an example, the cleaning robot is provided with a signal receiving device, the base station is provided with a signal transmitting device, when the cleaning robot needs to stop at the base station, the signal receiving device arranged on the cleaning robot continuously detects a guide signal transmitted by the signal transmitting device on the base station, and the cleaning robot accurately stops at the base station under the guide of the guide signal.
After the cleaning robot stops at the base station, the signal transmitting device on the cleaning robot can send instructions to the base station to charge, collect dust, clean or/and dry. For example, the cleaning robot communicates in the form of the number of blinks of the beacon or the color of the lamp, 1 blinking of the beacon on the cleaning robot represents charging only, 2 blinking of the beacon on the machine represents dust collection, 3 blinks represents washing, 4 blinks represents drying, 5 blinks represents charging + dust collection, etc., and the signal receiver on the base station receives the signals, thereby performing corresponding operations.
After the cleaning robot stops at the base station, the base station can be directly charged, dust-collected, cleaned or/and dried by the base station without indicating the base station to perform corresponding operation through signals. And is not limited herein.
The cleaning robot can further comprise a charging assembly, and the charging assembly is used for charging when the cleaning robot reaches the base station. The cleaning robot can detect the electric quantity of the cleaning robot at intervals in the cleaning process, and when the electric quantity of the cleaning robot is smaller than a preset current threshold value, the cleaning robot can go to a base station to be charged.
The base station may include a cleaning device that cleans a rotating cleaning assembly of the cleaning robot. The rotary cleaning assembly of the cleaning robot and the cleaning device of the base station can rotate relatively and/or move relatively, so that the cleaning device can clean the rotary cleaning assembly.
The base station can further comprise a clean water tank, when the rotating cleaning assembly needs to be cleaned, the clean water tank can enable clean water to act on the rotating cleaning assembly, and then the base station adopts the cleaning device to clean the rotating cleaning assembly.
The base station can further comprise a scraping piece, the scraping piece can scrape garbage on the rotary cleaning component before the rotary cleaning component enters the cleaning device, and cleaning liquid can be prevented from splashing in the process of cleaning the rotary cleaning component by using the cleaning device. Specifically, when the cleaning robot reaches the base station, the rotary cleaning assembly can rotate at a preset rotating speed, and the scraping piece can scrape garbage on the rotary cleaning assembly in the rotating process of the rotary cleaning assembly; the clean water tank can pour water in the rotary cleaning assembly to clean the rotary cleaning assembly. Scraping rubbish and adopting clear water to wash to clean the subassembly is cleaned to the rotation, can go on in step, also can separately go on.
The base station may further include a communication module for the base station to communicate with the cleaning robot, thereby acquiring an operation mode of the cleaning robot. Before the cleaning robot returns to the base station, the base station can communicate with the cleaning robot through the communication module to acquire the working mode of the cleaning robot, so that the operation of the rotating robot is determined. In another possible implementation manner, the cleaning robot may directly issue an operation instruction to the base station through the communication module, and the base station directly performs a response operation on the cleaning robot according to the received operation instruction.
The base station may further comprise a drying device which is not required to be used if the cleaning robot is in a mopping mode before returning to the base station after the cleaning of the rotating cleaning assembly is completed; if the cleaning robot is in a sweeping mode before returning to the base station, the rotating cleaning components of the cleaning robot may be dried from the use of the drying device. Specifically, the drying device may be an air drying device or a drying device.
In addition, the base station may further include a charging device, and when the cleaning robot arrives at the base station, the charging device may be connected to a charging assembly of the cleaning robot to charge the cleaning robot.
The base station may further include a dust collection port, and the cleaning robot includes a dust outlet. When the cleaning robot reaches the base station, the dust collecting port of the base station can be butted with the dust outlet of the cleaning robot, so that the garbage in the cleaning robot is sucked into the base station.
Further, the cleaning robot may further include a first dirt tank, and the base station may include a corresponding second dirt tank. The cleaning robot can store the generated sewage and the cleaned garbage into the first sewage tank in the process of sweeping or mopping. When the garbage in the first sewage tank reaches a preset threshold value, the cleaning robot can reach the base station to perform sewage treatment. A first dirt box of the cleaning robot is provided with a dust outlet; the second dirt box of the base station is provided with a dust collecting opening, the dust collecting opening of the base station can be in butt joint with the dust outlet of the cleaning robot, and then the garbage in the first dirt box of the cleaning robot is sucked into the second dirt box of the base station by the suction force generated when the fan works. In addition, the second dirt box of the base station can also collect sewage generated by the cleaning device in the process of cleaning the rotating cleaning assembly.
In another possible implementation manner, the cleaning robot can be provided with a garbage box, and the base station is provided with a clean water tank and a sewage tank. In the cleaning mode, the rotary cleaning component and the dust suction component work together to guide the garbage into the garbage box; when the garbage storage amount in the garbage box reaches a preset threshold value, the cleaning robot can reach the base station, and the base station sucks the garbage in the garbage box into the base station by utilizing suction force generated when the fan works. In the mopping mode, the rotary cleaning assembly mops the floor, when the rotary cleaning assembly needs cleaning, a clean water tank on the base station can supply clean water and clean mops, and a sewage tank on the base station can recover sewage.
In another possible implementation manner, the cleaning robot can be further provided with a garbage box and a clean water tank, and the base station is provided with a sewage tank. In the mopping mode, a clean water tank on the cleaning robot can apply clean water on the rotary cleaning assembly to mop the floor; when the rotary cleaning assembly needs cleaning, the rotary cleaning assembly can be put on a base station to clean mops and recover sewage; in the cleaning mode, the rotary cleaning component and the dust suction component work together to guide the garbage into the garbage box.
In another possible implementation manner, the cleaning robot can be provided with a rotary cleaning component, a garbage box, a clean water tank and a sewage tank; in the mopping mode, the clean water tank can continuously clean mops and the sewage tank can continuously recover sewage (namely, the robot automatically cleans) in the rotating process of the rotary cleaning assembly; in the sweeping mode, the rotary cleaning component and the dust collection component work together to guide the garbage into the garbage box.
In another possible implementation, a rotary cleaning assembly, a clean water tank and a sewage tank are provided on the cleaning robot. In the mopping mode, the rotary cleaning component works, the clean water tank can provide clean water to continuously clean mops in the rotating process of the rotary cleaning component, and the sewage tank can recover sewage (namely, the robot self-cleans); in the cleaning mode, the rotary cleaning assembly and the dust suction assembly work together to guide the garbage into the sewage tank.
In one possible implementation, the cleaning robot can set at least two modes during the production process, including a mopping mode and a sweeping mode. When the user uses the cleaning robot, the user can select a mode required by the user. When the user selects the cleaning mode, the cleaning robot can perform dust collection operation by rotating the cleaning assembly and the dust collection assembly, and when the amount of garbage in the dust box of the robot exceeds a first preset value, the electric quantity of the cleaning robot is less than a second preset value, or/and the cleaning task of the cleaning robot is completed, the cleaning robot can automatically return to the base station for charging, dust collection or/and standby. When the cleaning robot is in the mopping mode, the cleaning robot performs mopping operation, and when the rotating cleaning component of the cleaning robot needs to be cleaned, the electric quantity of the cleaning robot is smaller than a second preset value, or/and the cleaning task of the cleaning robot is completed, the cleaning robot automatically returns to the base station to clean the rotating cleaning component, charge or/and stand-by.
When the cleaning robot reaches the base station, communication between the cleaning robot and the base station is possible, so that the base station can receive the state of the cleaning robot, thereby determining the operation required by the cleaning robot. When the cleaning robot reaches the base station and needs to wash the rotating cleaning assembly, the clean water tank on the base station outputs clean water to act on the rotating cleaning assembly, cleaning is realized by rotating or/and moving the rotating cleaning assembly relative to the cleaning device, and then sewage generated by washing can be collected in the second sewage tank on the base station. Before the robot performs dust collection operation on a cleaning area when being in a sweeping mode, the robot needs to detect the drying state of the rotary cleaning component, and if the rotary cleaning component is not dry, the robot needs to stop on a base station to dry the rotary cleaning component.
In another possible implementation, when the user does not select the operation mode, the cleaning robot may perform cleaning according to a default workflow. The default work flow of the cleaning robot can be an automatic work flow of sweeping first and then mopping, namely sweeping first- > cleaning- > mopping- > air drying. Firstly, the cleaning robot adopts the rotary cleaning component and the dust absorption component to absorb dust, then the cleaning robot arrives at the base station to clean the rotary cleaning component, then the rotary cleaning component is used for mopping the floor, after mopping is completed, the cleaning robot arrives at the base station, and the base station cleans and dries the rotary cleaning component. Of course, other default workflows may be set, and are not limited herein.
Fig. 2 is a schematic view of a cleaning robot in a cleaning robot system according to an embodiment of the present disclosure, as shown in fig. 2, the cleaning robot includes a rotary cleaning assembly, the rotary cleaning assembly includes a roller, the roller can roll during traveling of the cleaning robot to mop the floor, when mopping the floor, the roller can be kept stationary for a first preset time to mop the floor, and after a preset cleaning time, a preset moving distance, or a preset cleaning area is provided, the roller can rotate by a preset angle, so that each part of the roller can contact the floor to mop the floor during mopping the floor, thereby improving the usage efficiency of the roller. In one possible implementation, it may be determined that the cleaning of the rotary cleaning assembly is required when the cleaning time reaches a preset threshold, the movement distance reaches a preset distance value, the cleaning area reaches a preset threshold, or the rotation angle of the drum of the rotary cleaning assembly reaches a preset angle threshold. The rotary cleaning component of the cleaning robot is connected with the dust suction port, and under a cleaning mode, the roller in the rotary cleaning component can guide garbage to the dust suction port in the advancing process, so that the dust suction component can suck the garbage into a garbage box or a first dirt box of the cleaning robot.
Fig. 3 is a schematic diagram of a base station in a cleaning robot system according to an embodiment of the present disclosure, as shown in fig. 3, the base station includes a cleaning device therein, and the cleaning device can be docked with a rotating cleaning assembly of the cleaning robot and then wash the rotating cleaning assembly. Fig. 4 is a schematic structural diagram of a cleaning robot system according to an embodiment of the present disclosure, and as shown in fig. 4, a cleaning device is docked with a rotating cleaning assembly, so as to clean the rotating cleaning assembly. As shown in fig. 4, a first soil box is provided in the cleaning robot, and the first soil box can store the garbage sucked in the cleaning mode and the sewage on the rotary cleaning assembly. Correspondingly, the base station can comprise a clean water tank and a second sewage tank, and the clean water tank acts clean water on the rotary cleaning component and is used for cleaning the rotary cleaning component; the sewage generated by the cleaning can be recycled to the second sewage tank through the sewage pipeline.
In the embodiment, the cleaning robot adopts the same rotary cleaning component in both the cleaning mode and the mopping mode, the rotary cleaning component can mop the floor in the mopping mode, and can guide the garbage to the dust suction port in the cleaning mode, so that an additional component is not required to be arranged to guide the garbage to the dust suction port during dust suction, and the cost is reduced; the rotary cleaning assembly can be effectively cleaned on the base station, and the cleanliness of the floor can be improved.
Fig. 5 is a schematic flowchart of a cleaning control method provided in the second embodiment of the present application, where the method is applied to a cleaning robot system, where the cleaning robot system includes a cleaning robot and a base station; the cleaning robot comprises a robot body, a dust suction assembly and a rotary cleaning assembly; the base station comprises a cleaning device; as shown in fig. 5, the method includes:
s501, acquiring the current working mode of the cleaning robot;
specifically, the user may select an operation mode of the cleaning robot when cleaning using the cleaning robot. The operation mode of the cleaning robot includes a cleaning mode, which may also be referred to as a dust suction mode, and a mopping mode. In the cleaning robot system, the cleaning robot can acquire a working mode according to a selection of a user. The base station may communicate with the cleaning robot to obtain a working mode of the cleaning robot.
S502, if the current working mode of the cleaning robot is a mopping mode, controlling a dust suction assembly of the cleaning robot not to work, and controlling a rotary cleaning assembly of the cleaning robot to work.
Specifically, the cleaning robot includes a body, a dust suction assembly and a rotary cleaning assembly. The dust collection assembly comprises a dust collection opening, relative to the advancing direction of the robot, the rotary cleaning assembly is located in front of the dust collection opening, and the dust collection opening is arranged towards the rotary cleaning assembly, so that the rotary cleaning assembly can guide the garbage to the dust collection opening in the cleaning mode. The cleaning robot has a mopping mode and a cleaning mode, when the robot is in the mopping mode, only the rotary cleaning component is in a working state, and when the robot is in the cleaning mode, both the dust collection component and the rotary cleaning component are in the working state.
Specifically, the rotary cleaning assembly may be rotated at constant or variable speed at all times, or periodically: mopping is performed without rotating under preset conditions, and then rotated within a preset angle range. The preset condition is one or more of preset time, preset distance, preset area and preset area. The robot uses the same rotary cleaning assembly in both the mopping mode and the sweeping mode.
Specifically, when the cleaning robot works, the current working mode can be determined, components needing to be operated are selected according to the current working mode, then the components move according to a preset route of the cleaning robot, and related components are driven to work in the traveling process of the cleaning robot, so that the cleaning robot cleans the ground.
If the working mode of the cleaning robot is a mopping mode, the rotary cleaning component of the cleaning robot is adopted to mop the floor without rotating under the preset condition; when the floor mopping time of the rotary cleaning assembly reaches a preset time threshold value, the rotary cleaning assembly rotates for a preset angle, and the floor mopping is continued. The rotary cleaning assembly can be used for mopping the floor by periodically repeating the actions, when the rotary cleaning assembly rotates for a preset angle or works for a preset time, the rotary cleaning assembly can be determined to need to be cleaned, and at the moment, the cleaning robot can be driven to go to a base station.
And S503, if the current working mode of the cleaning robot is a cleaning mode, controlling a dust suction assembly and a rotary cleaning assembly of the cleaning robot to work simultaneously.
If the current working mode of the cleaning robot is a cleaning mode, firstly detecting the state of the rotary cleaning component; if the rotary cleaning component is in a non-drying state, the cleaning robot returns to the base station; the base station may employ a drying device to dry the rotating cleaning assembly; if the rotary cleaning component is in a dry state, the dust collection component and the rotary cleaning component of the cleaning robot are adopted to collect dust together. When the sucked garbage in the sewage tank in the cleaning robot reaches a preset threshold value, the cleaning robot can be driven to move to the base station, and the garbage in the sewage tank is removed.
S504, when the cleaning robot returns to the base station, the cleaning device is adopted to clean the rotary cleaning assembly.
Specifically, the base station comprises a cleaning device, and the cleaning device can be butted with the rotary cleaning assembly and can move relatively or rotate relatively, so that the rotary cleaning assembly can be cleaned.
Specifically, the cleaning device in the base station may start to drive the relevant equipment to be opened for cleaning when the cleaning robot reaches a specified position, for example, a water inlet is opened, detergent is added, and the like are mixed into cleaning liquid, and then the rotating cleaning assembly is automatically cleaned by using the cleaning device and the cleaning liquid.
In addition, the process of the cleaning robot parked on the base station for cleaning can also be as follows: the rotary cleaning assembly continuously rotates, and the cleaning device on the base station is used for scraping sewage or dirt of the rotary cleaning assembly.
In addition, the base station can also comprise a charging device, a dust collecting device, a scraping piece, a cleaning device and/or a drying/air drying device. After the cleaning robot returns to the base station, one or more of the following actions may be performed: the charging assembly on the cleaning robot is in butt joint with the charging assembly on the base station to realize charging; a dust outlet on the cleaning robot is in butt joint with a dust collecting port on the base station to collect dust; the scraping piece scrapes the garbage on the rotary cleaning component before the rotary cleaning component enters the cleaning device, and the scraping piece can also prevent cleaning liquid from splashing when the cleaning device cleans the rotary cleaning component; the cleaning device and the rotary cleaning component rotate and/or move relatively to realize cleaning of the rotary cleaning component; the drying/seasoning device dries/dries the rotating cleaning assembly.
The rotating cleaning component of the cleaning robot may be wet or dry in the mopping mode; the cleaning robot is dry in the sweeping mode, so that the cleaning robot can determine whether the cleaned rotary cleaning component needs to be dried or dried according to the working mode of the cleaning robot.
In this embodiment, the cleaning robot can control different cleaning components to work according to different working modes, so that the cleaning robot can sweep and drag the cleaning components into a whole. The base station can automatically select cleaning items of the cleaning robot according to the working mode of the cleaning robot, so that the cleaning robot can clean without manpower.
Fig. 6 is a schematic diagram of a cleaning control device provided in a third embodiment of the present application, applied to a cleaning robot system, where the cleaning robot system includes a cleaning robot and a base station; the cleaning robot comprises a robot body, a dust suction assembly and a rotary cleaning assembly; the base station comprises a cleaning device; the cleaning control module includes:
the working mode acquisition module is used for acquiring the current working mode of the cleaning robot;
the cleaning robot mopping module is used for controlling a dust collection assembly of the cleaning robot not to work and controlling a rotary cleaning assembly of the cleaning robot to work if the current working mode of the cleaning robot is the mopping mode;
the cleaning robot cleaning module is used for controlling a dust collection assembly and a rotary cleaning assembly of the cleaning robot to work simultaneously if the current working mode of the cleaning robot is a cleaning mode;
a cleaning robot cleaning module to clean the rotating cleaning assembly with the cleaning device when the cleaning robot returns to a base station.
Fig. 7 is a schematic structural diagram of a cleaning robot according to an embodiment of the present disclosure. As shown in fig. 7, the cleaning robot 7 of this embodiment includes: at least one processor 70 (only one shown in fig. 7), a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, the processor 70 implementing the steps in any of the various method embodiments described above when executing the computer program 72.
The processor 70 may be a Central Processing Unit (CPU), and the processor 70 may be other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may in some embodiments be an internal storage unit of the cleaning robot 7, such as a hard disk or a memory of the cleaning robot 7. The memory 71 may also be an external storage device of the cleaning robot 7 in other embodiments, such as a plug-in hard disk provided on the cleaning robot 7, a Smart Memory Card (SMC), a Secure Digital (SD) card, a flash card (FlashCard), and the like. Further, the memory 71 may also include both an internal storage unit and an external storage device of the cleaning robot 7. The memory 71 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a terminal device, enables the terminal device to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer memory, Read-only memory (ROM), random-access memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A cleaning robot system, characterized in that the cleaning robot system comprises a cleaning robot and a base station; the cleaning robot comprises a robot body, a dust suction assembly and a rotary cleaning assembly;
when the cleaning robot is in a mopping mode, the dust suction assembly is in a non-working state, the rotary cleaning assembly is in a working state, and the rotary cleaning assembly is used for mopping;
when the cleaning robot is in a cleaning mode, the dust collection assembly and the rotary cleaning assembly are both in a working state, and the dust collection assembly and the rotary cleaning assembly are jointly used for dust collection.
2. The system of claim 1, wherein the suction assembly includes a suction port disposed toward the rotary cleaning assembly;
when the cleaning robot is in a cleaning mode, the rotary cleaning assembly is used for guiding the object to be cleaned into the dust suction port.
3. The system of claim 2, wherein the base station comprises a cleaning device;
the cleaning device is configured to clean the rotating cleaning assembly when the cleaning robot returns to the base station.
4. The system of claim 3, wherein the base station further comprises a scraper;
the scraping piece is used for scraping garbage on the rotary cleaning assembly before the cleaning device cleans the rotary cleaning assembly; and/or for preventing splashing of cleaning fluid during cleaning of the rotary cleaning assembly by the cleaning device.
5. The system of claim 3, wherein the base station further comprises a charging device and/or a drying device;
the charging device is used for charging the cleaning robot;
the drying device is used for drying the rotary cleaning component after the cleaning device cleans the rotary cleaning component and before the cleaning robot cleans the rotary cleaning component.
6. The system of claim 5, wherein the drying device comprises an air drying device and/or a drying device.
7. The system of any one of claims 1 to 6, wherein the cleaning robot further comprises a first dirt box; the base station includes a second dirt tank;
the first dirt tank is for collecting dirt water of the rotary cleaning assembly when the cleaning robot is in the mopping mode;
when the cleaning robot is in the sweeping mode, the first dirt box is used for collecting the garbage collected by the dust collection assembly;
the second soil box is used to collect sewage and/or garbage in the first soil box when the cleaning robot reaches a base station.
8. A cleaning control method is characterized by being applied to a cleaning robot system, wherein the cleaning robot system comprises a cleaning robot and a base station; the cleaning robot comprises a robot body, a dust suction assembly and a rotary cleaning assembly; the base station comprises a cleaning device; the method comprises the following steps:
acquiring a current working mode of the cleaning robot;
if the current working mode of the cleaning robot is a floor mopping mode, controlling a dust collection assembly of the cleaning robot not to work, and controlling a rotary cleaning assembly of the cleaning robot to work;
if the current working mode of the cleaning robot is a cleaning mode, controlling a dust collection assembly and a rotary cleaning assembly of the cleaning robot to work simultaneously;
and when the cleaning robot returns to the base station, cleaning the rotary cleaning component by using the cleaning device.
9. The method of claim 8, wherein controlling the dust suction assembly of the cleaning robot to be not operated and the rotary cleaning assembly of the cleaning robot to be operated if the current operation mode of the cleaning robot is the mopping mode comprises:
if the working mode of the cleaning robot is a mopping mode, cleaning time is preset at intervals, a moving distance is preset at intervals, or a cleaning area is preset at intervals, and the cleaning robot is controlled to rotate the rotary cleaning assembly by a preset angle.
10. The method of claim 8, wherein the base station comprises a drying device, and the controlling the dust suction assembly and the rotary cleaning assembly of the cleaning robot to simultaneously operate if the current operation mode of the cleaning robot is a cleaning mode comprises:
if the current working mode of the cleaning robot is a cleaning mode, detecting the state of the rotary cleaning assembly;
if the rotary cleaning component is in a non-drying state, the base station dries the rotary cleaning component by adopting the drying device;
and if the rotary cleaning assembly is in a dry state, controlling a dust suction assembly and the rotary cleaning assembly of the cleaning robot to work simultaneously.
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| CN202110149969.5A CN113143123A (en) | 2021-02-03 | 2021-02-03 | Cleaning robot system and cleaning control method |
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| CN202110149969.5A CN113143123A (en) | 2021-02-03 | 2021-02-03 | Cleaning robot system and cleaning control method |
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Address after: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Applicant after: Shenzhen Ledong robot Co.,Ltd. Address before: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Applicant before: SHENZHEN LD ROBOT Co.,Ltd. |
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