CN110897565B - Control system and method of multifunctional sweeping robot - Google Patents
Control system and method of multifunctional sweeping robot Download PDFInfo
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- CN110897565B CN110897565B CN201911201242.6A CN201911201242A CN110897565B CN 110897565 B CN110897565 B CN 110897565B CN 201911201242 A CN201911201242 A CN 201911201242A CN 110897565 B CN110897565 B CN 110897565B
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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
- A47L11/4002—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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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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
Abstract
The invention belongs to the technical field of sweeping robots, and particularly relates to a control system and a control method of a multifunctional sweeping robot. According to the control method of the multifunctional sweeping robot, sweeping is performed by the sweeping robot according to a preset working mode; capturing information of a ground cleaning environment in real time in the cleaning process of the sweeping robot; judging the cleaning environment information captured in real time; according to the judging result, the floor sweeping robot is controlled to adjust the working mode, the floor sweeping robot can sweep, mop, dry and the like according to the ground pollution degree and the humidity which are automatically identified, and the floor sweeping robot has the advantages of integration of multiple functions, small size, portability, convenience in hiding and the like, and can meet the design requirement of taking a user as the center, and the user experience of a product is improved.
Description
Technical Field
The invention belongs to the technical field of sweeping robots, and particularly relates to a control system and a control method of a multifunctional sweeping robot.
Background
In the increasingly diversified market of products, various sweeping electrical appliances for cleaning, sweeping, dust collection and the like are continuously increased, and the sweeping electrical appliances have the main advantages of freeing the hands of people, being simple to operate, small in size and convenient to carry, but can cause other living problems in the sweeping process, for example, a sweeping robot cannot mop the floor, the mopping robot cannot wet the floor completely, the sweeping robot cannot humidify the floor and the like, so that great inconvenience is brought to the use of users. Nowadays, the function demand of the sweeping electric appliance is increasingly greater, the increasingly refined, diversified and personalized function demand is a necessary result of social development and technological progress, but the more refined, diversified and personalized experience brought to users by the function of the sweeping electric appliance on the use demand of the users is less.
Disclosure of Invention
In order to solve the problems of poor user experience and the like caused by insufficient functions of the sweeping electric appliance, such as fineness, diversification, individuation and the like, the invention provides a control system and a method of a multifunctional sweeping robot.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a control method of a multifunctional sweeping robot,
the sweeping robot carries out sweeping according to a preset working mode;
capturing information of a ground cleaning environment in real time in the cleaning process of the sweeping robot;
judging the cleaning environment information captured in real time;
and controlling the sweeping robot to adjust the working mode according to the judgment result.
Furthermore, the working mode of the sweeping robot comprises one or more of a sweeping mode, a primary sweeping mode and a secondary sweeping mode.
Further, the cleaning mode comprises one or more of a watering mode, a mopping mode and a drying mode.
Further, the sweeping robot carries out sweeping according to a preset working mode comprising
Accumulating the sweeping time of the sweeping robot;
when the sweeping time of the sweeping robot reaches the preset time T1, capturing information of the ground sweeping environment;
judging the captured cleaning environment information and the primary cleaning environment information;
and controlling the sweeping robot to adjust to a first-level sweeping mode according to the judgment result, and acquiring a reference value M of the sweeping environment information.
Further, when the captured cleaning environment information is less than the primary cleaning environment information, storing the captured cleaning environment information as a reference value M; and when the captured cleaning environment information is larger than or equal to the first-level cleaning environment information, storing the first-level cleaning environment information as a reference value M.
Further, the judgment of the cleaning environment information captured in real time comprises
Judging a difference value X between the currently captured cleaning environment information N and a reference value M obtained by cleaning according to a preset working mode;
and when N is less than or equal to M-X, updating the reference value M of the current cleaning environment information to be M-X.
And further, judging the current updated reference value M and the secondary cleaning environment information, and storing the secondary cleaning environment information as the reference value M when the current reference value M is less than or equal to the secondary cleaning environment information.
Further, the step of judging the cleaning environment information captured in real time further comprises
Judging the currently captured cleaning environment information N and the secondary cleaning environment information;
when the currently captured cleaning environment information N is larger than or equal to the secondary cleaning environment information, controlling the sweeping robot to adjust to a secondary cleaning mode;
when the currently captured cleaning environment information N is smaller than the secondary cleaning environment information, judging the currently acquired cleaning environment information N and the primary cleaning environment information;
and when the currently captured cleaning environment information N is larger than or equal to the primary cleaning environment information, controlling the cleaning robot to adjust to a primary cleaning mode.
Further, the cleaning environment information comprises one or more of a ground pollution degree value and a humidity value.
A control system of a multifunctional floor sweeping robot comprises a control module, a capturing module and a judging module
The control module is used for controlling the sweeping robot to sweep according to a preset working mode;
the acquisition module is used for acquiring information of the ground cleaning environment in real time;
the judging module is used for judging the cleaning environment information captured in real time; and the control module controls the sweeping robot to adjust the working mode according to the judgment result.
Furthermore, the robot cleaning system further comprises a counting module used for accumulating the cleaning time of the cleaning robot.
Further, the robot cleaning system further comprises an updating module used for updating the reference value of the cleaning environment information of the cleaning robot.
Further, the capturing module comprises a pollution degree sensor and a humidity sensor, wherein the pollution degree sensor is used for detecting a pollution degree value of the ground; the humidity sensor is used for detecting the humidity value of the ground.
The invention provides a control method of a multifunctional sweeping robot, which is characterized in that sweeping is carried out by the sweeping robot according to a preset working mode; capturing information of a ground cleaning environment in real time in the cleaning process of the sweeping robot; judging the cleaning environment information captured in real time; according to the judging result, the floor sweeping robot is controlled to adjust the working mode, the floor sweeping robot can sweep, mop, dry and the like according to the ground pollution degree and the humidity which are automatically identified, and the floor sweeping robot has the advantages of integration of multiple functions, small size, portability, convenience in hiding and the like, and can meet the design requirement of taking a user as the center, and the user experience of a product is improved.
Drawings
Fig. 1 is a schematic structural diagram of a control system of the multifunctional sweeping robot;
fig. 2 is a flowchart of a control method of the multifunctional sweeping robot.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
As shown in fig. 1, a control system of a multifunctional sweeping robot comprises a control module 1, a capturing module 2, a counting module 3, an updating module 4 and a judging module 5, wherein the control module 1, the capturing module 2, the counting module 3, the updating module 4 and the judging module 5 are arranged in sequence
The control module 1 is used for controlling the sweeping robot to sweep according to a preset working mode; the working modes of the floor sweeping robot comprise a floor sweeping mode, a primary floor sweeping mode, a secondary floor sweeping mode and the like, wherein the floor sweeping mode comprises a water sprinkling mode, a floor mopping mode, a drying mode and the like, namely the floor sweeping robot is used for sweeping the floor
The sweeping mode is a common function of the sweeping robot, and the sweeping robot has a sweeping and cleaning function under the condition of initialization or common operation and mainly aims at removing dust, paper scraps, hair and the like;
the mopping mode is a special function of the sweeping robot, and is started when the pollution sensor judges that the pollution degree exceeds first-level or second-level pollution, and mainly aims at removing stains, sticky matters, mud and the like;
the drying mode is a special function of the sweeping robot, and the drying is started when the humidity sensor judges that the humidity degree exceeds primary or secondary humidity, mainly aiming at the environments such as a humid environment, a water sprinkling over the ground and the like;
the watering mode is the special function of robot of sweeping the floor, and when humidity transducer discernment air circumstance is drier, the robot automatic start humidification function carries out humidification or dust fall to the surrounding environment. The water of the robot is filtered by the internal filter screen, so that the secondary pollution caused by mopping the sewage is avoided.
The counting module 3 is used for accumulating the sweeping time of the sweeping robot, namely, the product only starts the sweeping function when the sweeping robot is in an initial state, and when the default time T1 of the system is reached, the pollution degree sensor and the humidity sensor start to acquire the ground pollution degree data and the ground humidity data;
the capturing module 2 is used for capturing information of a ground cleaning environment in real time, wherein the cleaning environment information comprises a ground pollution degree value and a humidity value; the capturing module comprises a pollution degree sensor and a humidity sensor, wherein the pollution degree sensor is used for detecting a pollution degree value of the ground, namely the pollution degree sensor automatically captures the pollution degree of the ground environment, transmits data to the central processor, automatically identifies and distinguishes the pollution degree grade, and judges whether a primary cleaning mode or a secondary cleaning mode is carried out;
the humidity sensor is used for detecting a ground humidity value, namely the humidity sensor automatically captures ground environment humidity, transmits data to the central processor, automatically identifies and judges the humidity level and judges whether a humidification or dehumidification function is performed or not;
the updating module 4 is used for updating the reference value of the cleaning environment information of the sweeping robot, namely, when the captured cleaning environment information is less than the primary cleaning environment information in the initial state, the captured cleaning environment information is stored as a reference value M; when the captured cleaning environment information is larger than or equal to the first-level cleaning environment information, storing the first-level cleaning environment information as a reference value M;
judging a difference value X between the currently captured cleaning environment information N, the currently captured cleaning environment information N and a reference value M obtained by cleaning according to a preset working mode in the second stage, and updating the reference value M of the currently cleaned environment information to be M-X when N is less than or equal to M-X; and judging the current updated reference value M and the secondary cleaning environment information, and storing the secondary cleaning environment information as the reference value M when the current reference value M is less than or equal to the secondary cleaning environment information.
The judging module 5 is used for judging the cleaning environment information captured in real time; and controlling the sweeping robot to adjust the working mode according to the judgment result by the control module 1.
The control system of the embodiment is that the sweeping robot only performs a simple sweeping function in an initialization state of the humidity sensor and the pollution sensor, when the robot judges that the ground pollutants are sticky or difficult to sweep through the pollution sensor, the robot automatically starts the floor mopping function, and when the robot finds that the ground is wet after walking for a circle according to a track, the robot automatically starts sweeping and drying, or when sweeping is started, the robot recognizes that the ground environment is wet, and then automatically starts the drying function; when the humidity sensor identifies that the air environment is dry, the robot automatically starts a humidifying function to humidify or reduce dust in the surrounding environment; the water in the sweeping robot is filtered by the internal filter screen, so that secondary pollution caused by mopping of sewage can be avoided, the structure can be designed and realized according to the existing humidifying robot, and further description is omitted in the invention.
As shown in fig. 2, a control method of the multifunctional sweeping robot includes:
s1: the sweeping robot carries out sweeping according to a preset working mode;
s11: accumulating the sweeping time of the sweeping robot;
s12: when the sweeping time of the sweeping robot reaches the preset time T1, capturing information of the ground sweeping environment;
namely, the product only starts the cleaning function when the cleaning robot is in an initial state, and when the default time T1 of the system is reached, the pollution degree sensor and the humidity sensor start to acquire ground pollution degree data and ground humidity data;
s13: judging the captured cleaning environment information and the primary cleaning environment information;
judging whether the ground pollution degree is larger than or equal to A1 and the ground humidity is larger than or equal to S1(A1 is the initialized first default pollution degree value, and S1 is the initialized first default humidity value);
s14: controlling the sweeping robot to adjust to a first-level sweeping mode according to the judgment result, and acquiring a reference value M of sweeping environment information;
when the captured cleaning environment information is less than the primary cleaning environment information, storing the captured cleaning environment information as a reference value M; when the captured cleaning environment information is larger than or equal to the first-level cleaning environment information, storing the first-level cleaning environment information as a reference value M;
the ground pollution degree is more than or equal to A1Ground humidity is greater than or equal to S1Then start the first level sprinkling and mopping/first level drying function and count the working time T2 of the sweeping robot (one time is a cycle time according to the cleaning house), and A1/S1The values are respectively stored as reference values B/P;
the pollution degree of the ground is less than A1Ground humidity < S1Then the contamination degree value and the humidity value A are calculated0/S0The value is stored as a reference value B/P, and only the sweeping function is executed;
s2: capturing information of a ground cleaning environment in real time in the cleaning process of the sweeping robot;
s3: judging the cleaning environment information captured in real time;
the judgment comprises the steps of judging a difference value X between the currently captured cleaning environment information N, the currently captured cleaning environment information N and a reference value M obtained by cleaning according to a preset working mode, and judging the currently captured cleaning environment information N and secondary cleaning environment information;
when N is less than or equal to M-X, updating the reference value M of the current cleaning environment information to be M-X; judging the current updated reference value M and the secondary cleaning environment information, and storing the secondary cleaning environment information as the reference value M when the current reference value M is less than or equal to the secondary cleaning environment information;
namely, whether the degree of contamination captured in real time is less than or equal to B-X or whether the humidity is less than or equal to P-X? (X is the difference value between the current captured data value and the reference value stored in the first stage), and judging again when the pollution degree captured in real time is greater than B-X or the humidity is greater than P-X; when the pollution degree captured in real time is less than or equal to B-X or the humidity is less than or equal to P-X, assigning the data, and updating the reference value B to be B-X and P to be P-X;
then judging whether the updated pollution degree B is less than or equal to A2Whether the humidity P is less than or equal to S2(A2Redefining default value approximate A according to environmental change after the sweeping robot operates1，S2Redefining default value approximate S according to environmental change after the sweeping robot operates1) The pollution degree B after updating is less than or equal to A2Humidity P is less than or equal to S2The contamination level reference value B is updated to A2, and the humidity reference value P is updated to S2And entering a redetermination; degree of contamination B > A when updated2Humidity P > S2Directly entering into the re-judgment;
s4: controlling the sweeping robot to adjust the working mode according to the judgment result;
when the currently captured cleaning environment information N is larger than or equal to the secondary cleaning environment information, controlling the sweeping robot to adjust to a secondary cleaning mode; when the currently captured cleaning environment information N is smaller than the secondary cleaning environment information, judging the currently acquired cleaning environment information N and the primary cleaning environment information; when the currently captured cleaning environment information N is larger than or equal to the primary cleaning environment information, controlling the sweeping robot to adjust to a primary sweeping mode;
that is, after the floor sweeping robot captures the data of the degree of pollution and the data of the humidity of the ground in real time, it is determined whether the degree of pollution B is greater than or equal to the degree of secondary pollution and whether the humidity P is greater than or equal to the degree of secondary humidity?
When the pollution degree B is more than or equal to the secondary pollution degree and the humidity P is more than or equal to the secondary humidity, starting the functions of secondary watering, secondary mopping and secondary drying until the working time T2 is up;
when the contamination degree B is less than the secondary contamination degree and the humidity P is less than the secondary humidity, then continue to determine whether B is greater than or equal to the primary contamination degree and whether P is greater than or equal to the primary humidity?
When the pollution degree B is more than or equal to the first-level pollution degree and the humidity P is more than or equal to the first-level humidity, starting the first-level watering, first-level mopping and first-level drying functions until the working time T2 is up;
and judging again when the pollution degree B is less than the first-class pollution degree and the humidity P is less than the first-class humidity.
The whole sweeping robot circularly works according to the control method.
According to the sweeping robot, the sweeping robot can sweep, mop, dry and the like according to the automatically identified ground pollution degree and humidity through the control method, the sweeping robot has the advantages of integrating multiple functions, being small and portable, being convenient to hide and the like, meets the design requirement centering on a user, and improves the user experience of products.
The above description is only a preferred embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing on the protection scope of the present invention.
Claims (11)
1. A control method of a multifunctional sweeping robot is characterized by comprising the following steps:
the sweeping robot carries out sweeping according to a preset working mode;
capturing information of a ground cleaning environment in real time in the cleaning process of the sweeping robot;
judging the cleaning environment information captured in real time;
controlling the sweeping robot to adjust the working mode according to the judgment result;
the sweeping robot carries out sweeping according to a preset working mode, wherein sweeping time of the sweeping robot is accumulated; when the sweeping time of the sweeping robot reaches the preset time T1, capturing information of the ground sweeping environment; judging the captured cleaning environment information and the primary cleaning environment information; controlling the sweeping robot to adjust to a first-level sweeping mode according to the judgment result, and acquiring a reference value M of sweeping environment information;
when the captured cleaning environment information is less than the primary cleaning environment information, storing the captured cleaning environment information as a reference value M; and when the captured cleaning environment information is larger than or equal to the first-level cleaning environment information, storing the first-level cleaning environment information as a reference value M.
2. The control method of the multifunctional sweeping robot according to claim 1, characterized in that: the working mode of the sweeping robot comprises one or more of a sweeping mode, a primary sweeping mode and a secondary sweeping mode.
3. The control method of the multifunctional sweeping robot according to claim 2, characterized in that: the cleaning mode comprises one or more of a sprinkling mode, a mopping mode and a drying mode.
4. The control method of the multifunctional sweeping robot according to claim 1, characterized in that: the judgment of the real-time captured cleaning environment information comprises
Judging a difference value X between the currently captured cleaning environment information N and a reference value M obtained by cleaning according to a preset working mode;
and when N is less than or equal to M-X, updating the reference value M of the current cleaning environment information to be M-X.
5. The control method of the multifunctional sweeping robot according to claim 4, characterized in that: and judging the current updated reference value M and the secondary cleaning environment information, and storing the secondary cleaning environment information as the reference value M when the current reference value M is less than or equal to the secondary cleaning environment information.
6. The control method of the multifunctional sweeping robot according to claim 4, characterized in that: the step of judging the cleaning environment information captured in real time further comprises
Judging the currently captured cleaning environment information N and the secondary cleaning environment information;
when the currently captured cleaning environment information N is larger than or equal to the secondary cleaning environment information, controlling the sweeping robot to adjust to a secondary cleaning mode;
when the currently captured cleaning environment information N is smaller than the secondary cleaning environment information, judging the currently acquired cleaning environment information N and the primary cleaning environment information;
and when the currently captured cleaning environment information N is larger than or equal to the primary cleaning environment information, controlling the cleaning robot to adjust to a primary cleaning mode.
7. The control method of the multifunctional sweeping robot according to claim 1, characterized in that: the cleaning environment information comprises one or more of a ground pollution degree value and a humidity value.
8. The utility model provides a control system of multi-functional robot of sweeping floor which characterized in that: the control method utilizing the multifunctional sweeping robot of any one of claims 1 to 7, comprising a control module, a capturing module and a judging module, wherein the control module, the capturing module and the judging module are used for controlling the multifunctional sweeping robot
The control module is used for controlling the sweeping robot to sweep according to a preset working mode;
the acquisition module is used for acquiring information of the ground cleaning environment in real time;
the judging module is used for judging the cleaning environment information captured in real time; and the control module controls the sweeping robot to adjust the working mode according to the judgment result.
9. The control system of the multifunctional sweeping robot of claim 8, wherein: the robot sweeping system further comprises a counting module used for accumulating sweeping time of the sweeping robot.
10. The control system of the multifunctional sweeping robot of claim 8, wherein: the robot cleaning system further comprises an updating module used for updating the reference value of the cleaning environment information of the cleaning robot.
11. The control system of the multifunctional sweeping robot of claim 8, wherein: the capture module comprises a pollution degree sensor and a humidity sensor, and the pollution degree sensor is used for detecting a pollution degree value of the ground; the humidity sensor is used for detecting the humidity value of the ground.
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| CN114947646B (en) * | 2020-09-28 | 2023-08-01 | 添可智能科技有限公司 | Floor brush mechanism, cleaning machine and drying method |
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