KR102611848B1 - Robot vacuum cleaner and control method - Google Patents

Abstract

The present invention relates to a robot vacuum cleaner and control method. The robot vacuum cleaner includes a body; A traveling means that supports the body and allows the robot vacuum cleaner to travel; A power module that provides driving and work driving force to the robot vacuum cleaner; A floor mopping module mounted on the body to perform a preset floor mopping task and capable of attaching a mop; A control module that is electrically connected to the power module and controls the power module to implement automatic driving and automatic operation of the robot vacuum cleaner, and may further include a liquid supply device, and the control module is configured to determine the current floor mopping status. Accordingly, the liquid supply device may control delivery of the liquid to the floor mopping module. The robot vacuum cleaner according to the present invention can improve the degree of automation and user experience, and can extend the service life of ground materials such as the floor of the user's home.

Description

Robot vacuum cleaner and control method

The present invention relates to a robot vacuum cleaner and also to a control method of the robot vacuum cleaner.

As user demands increase, the types of robot vacuum cleaners are increasing, and robot vacuum cleaners can improve ground cleanliness by cleaning the ground.

Existing robot vacuum cleaners can use a mop to wipe the floor when performing cleaning work. Specifically, the mop is connected to the floor mopping board or the robot vacuum cleaner body and the ground is cleaned with a wet mop. When supplying water to a mop, a natural water supply method is generally used, that is, the water in the tank naturally flows to the mop at a constant speed to wet the mop. However, if the robot vacuum cleaner does not have electricity or is stuck somewhere and cannot move, the mop may be damaged due to the constant water supply from the tank, or a lot of water may accumulate on the ground and damage the floor.

Therefore, the user must observe his or her robot vacuum cleaner to deal with a situation in which the robot vacuum cleaner has no electricity or is stuck somewhere and cannot move. These human-involved tasks can lower the user's experience of automated operation of the robot vacuum cleaner.

In order to overcome the shortcomings of the existing technology, the problem to be solved by the present invention is to provide a robot cleaner that can automatically deliver liquid to the cleaning member.

In order to solve the problems of existing technology, the present invention is a robot vacuum cleaner that works while traveling in the work area,

body;

Travel means for supporting the body and allowing the robot cleaner to travel on a work surface of the work area;

A power module that provides driving and work driving force to the robot vacuum cleaner;

a floor wiping module mounted on the body to perform a preset floor wiping task and capable of mounting a cleaning member; and

It includes a control module that is electrically connected to the power module and controls the power module to implement automatic driving and automatic operation of the robot vacuum cleaner,

It further includes a liquid supply device electrically connected to the control module, and when a preset state is satisfied in the wet mopping mode, the control module restricts the liquid supply device from delivering liquid to the floor mopping module.

Preferably, when detecting that there is an abnormality in the robot vacuum cleaner in the wet mopping mode, the control module restricts the liquid supply device from delivering liquid to the floor mopping module.

Preferably, if an abnormality is detected, such as the robot vacuum cleaner being stuck or stuck, the control module restricts the liquid supply device from delivering liquid to the floor mopping module.

Preferably, the robot cleaner further includes a mop detection device electrically connected to the control module, the mop detection device detects whether the cleaning member is mounted on the robot cleaner, and the mop detection device detects whether the cleaning member is mounted on the robot cleaner. Upon detecting that the cleaning member is not mounted on the robot vacuum cleaner, the control module restricts the liquid supply device from delivering liquid to the floor mopping module.

Preferably, when the floor mopping module of the robot vacuum cleaner detects that the floor mopping height is not within a preset time period in the wet mopping mode, the control module restricts the liquid supply device from delivering liquid to the floor mopping module. do.

Preferably, the robot vacuum cleaner further includes lifting means, and the control module controls the lifting means to raise the floor mopping module from a first position relative to the work surface to a second position when performing a floor mopping task. And, when it detects that the floor mopping module is in a rising state within a preset time period in the wet mopping mode, the liquid supply device restricts delivery of liquid to the floor mopping module.

Preferably, the control module controls the floor mopping module in at least one of the following: when the robot cleaner returns to the base station and replaces the floor mopping module, when the robot vacuum cleaner is in a standby state, and when the robot vacuum cleaner is trapped or hung. The lifting means is controlled to rise from a first position relative to the work surface to a second position.

Preferably, upon detecting that it is not a working surface, the control module controls the lifting means to raise the floor mopping module from a first position relative to the working surface to a second position such that the robot vacuum cleaner moves over the non-working surface. When detecting that the floor mopping module is in a rising state within a preset time period, the liquid supply device restricts delivery of liquid to the floor mopping module.

Preferably, upon detecting that the robot vacuum cleaner has crossed the non-working surface, the control module controls the lifting means to lower the floor mopping module from the second position relative to the working surface to the first position and supplies the liquid. A device delivers liquid to the floor mopping module.

Preferably, in the wet mopping mode, when the robot cleaner has replaced at least the cleaning member, the control module restricts the liquid supply device from delivering liquid to the floor mopping module.

Preferably, when a preset state is satisfied, the control module restricts the liquid supply device so that the liquid is not delivered to the floor mopping module, and when the preset state is satisfied, the control module and controlling the liquid supply device to stop delivering.

The present invention also relates to a control method of a robot vacuum cleaner including a floor wiping module that performs a preset floor wiping task,

Controlling the robot vacuum cleaner to work in wet mopping mode;

A method of controlling a robot vacuum cleaner including a step of restricting delivery of liquid to the floor mopping module when a preset condition is satisfied.

Preferably, limiting liquid delivery to the floor mopping module includes stopping liquid delivery to the floor mopping module.

Preferably, restricting the delivery of liquid to the floor mopping module when a preset condition is satisfied includes controlling delivery of the liquid to the floor mopping module when the preset condition is not satisfied.

Compared to existing technology, the robot vacuum cleaner according to the present invention can complete the floor mopping task more efficiently, reduce the burden on the user, improve the degree of automation of the robot cleaner and the user's experience, and improve the If the preset condition is satisfied, the control module can intelligently control the liquid supply device to deliver liquid to the mop, thereby extending the service life of ground materials such as the floor of the user's home.

In order to overcome the shortcomings of existing technology, the problem that the present invention aims to solve is to provide a robot vacuum cleaner that improves work efficiency and effectiveness by intelligently switching work modes.

In order to solve the problems of existing technology, the present invention includes a floor mopping module and a liquid supply device for working while traveling in the work area and performing preset floor mopping tasks, and includes work modes such as dry mopping or wet mopping. and controlling the liquid supply device to be in an off state in the dry mopping mode, controlling the liquid supply device to deliver liquid to the floor mopping module in the wet mopping mode, and the work area is at least one preset In the control method of a robot vacuum cleaner including an area,

Controlling the robot vacuum cleaner to perform dry mopping on the preset area;

When detecting that dry mopping of the robot cleaner for the preset area is completed, controlling the robot vacuum cleaner to perform wet mopping for the preset area; a control method of a robot vacuum cleaner comprising a. provides.

Preferably, the floor cleaning module may be equipped with a cleaning member,

The method controls the robot vacuum cleaner to transmit information to the user to replace the cleaning member before wet mopping the preset area, or at least controls the robot cleaner to replace the cleaning member. Includes more steps.

Preferably, when the dry mopping and wet mopping operations of the robot cleaner for the work area are completed, the control module controls the robot cleaner to transmit information to the user to detach the cleaning member, or at least to transmit the cleaning member to the user. The robot cleaner is controlled to attach and detach the member.

Preferably, the work area is divided into at least one preset area according to a preset and/or user defined method.

Preferably, the method further includes controlling the robot cleaner to perform dry mopping on the work area when detecting that wet mopping of the robot cleaner on the work area is completed.

Preferably, the robot cleaner includes a liquid supply device for delivering liquid to the floor mopping module, and when the robot cleaner performs a wet mopping task, the liquid supply device is supplied according to a preset power and a preset time. Delivering liquid to the floor cleaning module,

The method is a method of delivering liquid to the liquid supply device with a power greater than the preset power before performing wet mopping on the preset area, and delivering liquid to the liquid supply device for a time greater than the preset time. It further includes controlling the robot cleaner to wet the cleaning member by at least one of the delivery methods.

Preferably, the method further includes controlling the robot vacuum cleaner to travel along a preset path and wet the cleaning member before mopping the preset area.

Preferably, controlling the robot cleaner to perform wet mopping for the preset area includes controlling the robot cleaner to travel to a starting position of dry mopping within the preset area and to start wet mopping from the starting position. includes more.

An embodiment of the present invention also provides a robot vacuum cleaner that works while traveling in a work area, including a floor wiping module and a liquid supply device for performing a preset floor wiping task, and includes a work mode such as dry mopping or wet mopping, , controlling the liquid supply device to be in an off state in the dry mopping mode, and controlling the liquid supply device to deliver liquid to the floor mopping module in the wet mopping mode, and the work area is at least one preset area. Including,

It further includes a control module for controlling the robot vacuum cleaner to perform dry mopping on the preset area, and when detecting that dry mopping of the robot cleaner on the preset area is completed, wet mopping on the preset area. A robot vacuum cleaner is provided, characterized in that the robot vacuum cleaner is controlled to perform.

Preferably, the floor wiping module may be equipped with a cleaning member, and before performing wet mopping of the preset area, the control module controls the robot vacuum cleaner to transmit information to the user to replace the cleaning member. Or, at least, the robot cleaner is controlled to replace the cleaning member.

Compared to existing technologies, the robot vacuum cleaner according to the present invention can intelligently switch between dry mopping and wet mopping modes during the work process and automatically continue wet mopping after completing dry mopping for the cleaning area, allowing the user to There is no need to switch by hand, saving the user's time and improving the user's experience.

In order to overcome the shortcomings of the existing technology, the problem that the present invention aims to solve is to provide a robot cleaner that can automatically control the delivery of liquid to the cleaning member.

In order to solve the problems of existing technology, the present invention can work while traveling in the work area, and includes: a body; Travel means for supporting the body and allowing the robot cleaner to travel on a work surface of the work area; A power module that provides driving and work driving force to the robot vacuum cleaner; a floor wiping module mounted on the body, performing a preset floor wiping task, and capable of mounting a cleaning member; and a control module that is electrically connected to the power module and controls the power module to implement automatic driving and automatic operation of the robot vacuum cleaner, further comprising a liquid supply device electrically connected to the control module, and controlling the power module. The module provides a robot vacuum cleaner that controls the liquid supply device to deliver liquid to the floor mopping module according to the current floor mopping status.

Preferably, the robot vacuum cleaner is in at least one (but not limited to) of the following states: being stuck in an obstacle during the work process, returning to the base station and replacing the floor mopping module, replacing the floor mopping module, and waiting. Upon detecting this, the control module controls the liquid supply device to stop delivering liquid to the floor mopping module.

Preferably, the robot vacuum cleaner further includes a lifting means, and the control module can control the lifting means to raise the floor mopping module to a different height from the height at which it performs the floor mopping task, and the lifting means can be raised. Upon detecting that a condition is present, the control module controls the liquid supply to stop delivering liquid to the floor mopping module.

Preferably, the robot cleaner further includes a mop detection device electrically connected to the control module, the mop detection device capable of detecting whether the cleaning member is mounted on the robot cleaner, and the mop detection device When detecting that the cleaning member is not mounted on the robot cleaner, the control module controls the liquid supply device to stop delivering liquid to the floor cleaning module.

Preferably, the robot cleaner may further include a humidity detection device, and controls the liquid supply device to deliver liquid to the floor mopping module according to the current floor mopping state detected by the humidity detection device.

Preferably, the robot vacuum cleaner may further include a signal transmission device that transmits the floor cleaning status detected by the humidity detection device to the user.

Preferably, the humidity detection device may include a mop humidity sensor, and the control module controls the liquid supply device to deliver liquid to the floor mopping module according to the humidity of the cleaning member detected by the mop humidity sensor.

Preferably, the mop humidity sensor is mounted underneath the body.

Preferably, the humidity detection device may include an environmental humidity detection device, and controls the liquid supply device to deliver the liquid to the floor mopping module according to the environmental humidity detected by the environmental humidity detection device.

Preferably, the environmental humidity detection device may control the liquid supply device to deliver liquid to the floor mopping module according to the environmental humidity detected locally and/or remotely by the robot vacuum cleaner.

Preferably, the humidity detection device may include a ground humidity sensor, and the control module controls the liquid supply device to deliver liquid to the floor mopping module according to the ground humidity detected by the ground humidity sensor.

Preferably, the robot vacuum cleaner may further include a ground sensor, and the control module controls the liquid supply device to deliver liquid to the floor mopping module according to the ground condition detected by the ground sensor, and the ground condition includes ground material. Includes.

Preferably, the robot vacuum cleaner may further include navigation means for forming a work area map of the robot cleaner, and the control module may direct the liquid supply device to the floor mopping module according to the current floor mopping state displayed in the work area map. Controls the delivery of liquid.

Preferably, the navigation means includes, but is not limited to, at least one of an ultrasonic sensor, an optical sensor, a UWB sensor, and an inertial navigation system.

Preferably, the control module can control the liquid supply device to deliver liquid to the floor mopping module according to a user's command.

Preferably, the liquid supply device may include a liquid reservoir.

Preferably, the liquid supply device may further include a liquid delivery device electrically connected to the control module and interconnected with the liquid reservoir, wherein the control module is configured to cause the liquid delivery device to dispense the liquid in the liquid reservoir according to the current floor mopping state. Controls transmission to the floor mopping module.

Preferably, the robot cleaner may be installed in the liquid reservoir and may further include a liquid level monitoring device for monitoring the liquid level in the liquid reservoir.

Preferably, the robot vacuum cleaner may further include a signal transmission device, and when the signal transmission device detects that the liquid level in the liquid reservoir is lower than a preset threshold by the liquid level monitoring device, a message is sent to the user indicating that the amount of liquid in the robot vacuum cleaner is insufficient. send

Preferably, the robot cleaner may further include an indicating device to indicate whether the amount of liquid in the robot cleaner is sufficient.

Preferably, the robot vacuum cleaner may further include at least two liquid reservoirs, at least two liquid delivery devices each interconnected with the at least two liquid reservoirs, and the control module may be configured to determine whether the at least two liquid delivery devices are currently mopping the floor. Depending on the ecology, the delivery of the liquid in at least two liquid reservoirs to the floor cleaning module is controlled, and the types of liquid stored in the at least two liquid reservoirs are different.

Preferably, the robot cleaner further includes valves associated with at least two liquid delivery devices, and the valves are opened and closed by a control module to control delivery of liquid from the liquid supply device to the floor mopping module according to the current floor mopping state. do.

Preferably, the robot vacuum cleaner may further include a ground sensor, and the control module controls the amount and type of liquid delivered by each liquid reservoir among the at least two liquid reservoirs according to the ground condition detected by the ground sensor, Ground condition includes ground material and/or ground stain type.

Preferably, the robot vacuum cleaner may further include navigation means for forming a work area map of the robot cleaner, and the control module may transmit the liquid supply device to the floor mopping module according to the current floor mopping state displayed in the work area map. Controls the amount and type of liquid being used.

Preferably, the robot cleaner may further include an energy module to provide energy for the robot cleaner to run and work.

Preferably, the robot vacuum cleaner may be for domestic and/or indoor service.

An embodiment of the present invention also provides a method for controlling a robot vacuum cleaner including a liquid supply device, including the steps of controlling the robot vacuum cleaner to work; determining whether the liquid supply device needs to deliver liquid to the floor mopping module according to the current floor scrubbing condition; A method of controlling a robot vacuum cleaner including a step of controlling a liquid supply device to deliver liquid to a floor mopping module when delivery is necessary.

Preferably, the working state may include dry mopping or wet mopping, and correspondingly, the method includes controlling the robot cleaner to be in the working state, then having the robot cleaner perform dry mopping on the work area and then mopping on the work area. It may further include performing wet mopping.

Compared to existing technology, the robot vacuum cleaner according to the present invention can complete the floor mopping task more efficiently, reduce the burden on the user, improve the degree of automation of the robot cleaner and the user's experience, and improve the If the preset condition is satisfied, the control module can intelligently control the liquid supply device to deliver liquid to the mop, thereby extending the service life of ground materials such as the floor of the user's home.

The purpose, technical solution and effects of the present invention described above can be implemented by the following drawings.
Figure 1 is a schematic diagram of a cleaning system for a robot vacuum cleaner according to an embodiment of the present invention.
Figure 2 is a front view of a robot vacuum cleaner according to an embodiment of the present invention.
Figure 3 is a schematic diagram of a functional module of a robot vacuum cleaner according to an embodiment of the present invention.
Figure 4 is a structural diagram of a robot vacuum cleaner according to an embodiment of the present invention having one liquid reservoir.
Figure 5 is a structural diagram of a robot cleaner according to an embodiment of the present invention including two liquid delivery devices and two liquid reservoirs.
Figure 6 is a structural diagram of a robot cleaner according to an embodiment of the present invention including one liquid delivery device and two liquid reservoirs.
Figure 7 is a structural diagram of a liquid supply device for a robot vacuum cleaner according to an embodiment of the present invention.
Figure 8 is a structural diagram of a lifting means according to an embodiment of the present invention.
Figures 9 to 12 are schematic diagrams of scenarios of the robot vacuum cleaner's work process.
Figures 13 to 16 are schematic diagrams showing utilization scenarios of a robot vacuum cleaner when the non-working surface is a carpet.
Figure 17 is a structural diagram of the floor cleaning module of a robot vacuum cleaner.

Hereinafter, the present invention will be described in detail through the accompanying drawings, which are provided only for reference and description and are not intended to limit the present invention.

Figure 1 is a schematic diagram of a cleaning system for a robot vacuum cleaner according to the present invention. The cleaning system 300 of the robot cleaner may include a base station 200 and a robot cleaner 100, and the robot cleaner 100 may be a device that can automatically replace cleaning members. Correspondingly, the robot cleaner 100 that returns to the base station 200 can not only charge electricity but also replace the cleaning member, and the base station of the robot cleaner is equipped with a charging function and a cleaning member replacement function at the same time, so that the user can You can save space. When the robot vacuum cleaner 100 returns to the base station 200, if it detects that the cleaning member needs to be replaced or charged, it boots the base station 200 return program. Accordingly, the robot cleaner 100 returns to the base station 200 and automatically replaces the cleaning member and/or automatically charges it. In one embodiment of the present invention, the cleaning member may be a cleaning member such as a mop or sponge that cleans the work surface (ground). In order to explain the present invention more clearly, hereinafter, a mop is used as a cleaning member.

The base station 200 includes a bottom plate 207, a support plate 206, and a top plate 205, and the top plate 205 is connected to the bottom plate 207 through the support plate 206. A new mop groove (203), an old mop groove (204), and a mop replacement device (not shown) are installed in the upper plate (205). The mop replacement device may use a lifting means, a vibrating means, etc., and a new mop groove (204) is installed in the top plate (205). The projection of (203) and the old mop groove (204) on the bottom plate (207) corresponds to the second operating position (202) and the first operating position (201) on the bottom plate (207) of the robot vacuum cleaner (100). do. The positions of the new mop groove and the old mop groove are not constant, and as described in other embodiments, the positions of the new mop groove 203 and the old mop groove 204 may be interchanged. After the robot cleaner 100 detaches the old mop at the first operation position 201, the mop replacement device of the base station 200 retrieves the mop and releases a new mop, and thus the robot vacuum cleaner 100 performs the second operation. Install a new mop at position 202.

In another embodiment of the present invention, the mop replacement position of the robot vacuum cleaner may be installed separately from the charging position. In this case, when the robot cleaner needs to replace the mop, it can return to the mop replacement position to replace the mop, and when it needs to be charged, it can return to the charging position and charge it. Here, the mop replacement position may not be constant, and the present invention does not limit this. For convenience of explanation, unless specifically explained below, when the robot cleaner is described as returning to the base station to replace the mop, the return position may mean a base station equipped with both charging and mop replacement functions, and may only replace the mop. It may mean a base station that replaces . Correspondingly, when the robot vacuum cleaner is described as returning and charging, the return position may mean a base station that simultaneously provides charging and mop replacement functions, or it may mean a base station only for charging the robot cleaner.

In this embodiment, the robot vacuum cleaner may be for household and/or indoor service.

2 and 3, in one embodiment of the present invention, the robot cleaner 100 may be a floor-wiping robot, and includes a body 10, a traveling means 20, an energy module 30, and a floor-wiping robot. It includes a module 40, a power module 80, a control module 60, and further includes navigation means 70. The traveling element of the traveling means includes an active wheel 21 that allows the robot vacuum cleaner 100 to move, and the traveling means may have a caterpillar structure. In one embodiment of the present invention, the robot cleaner 100 may further include a driven wheel (not shown). The energy module 30 can be selectively used to supply electricity to the robot vacuum cleaner, and the robot cleaner can selectively charge the energy module 30. The power module 80 may include a motor and a transmission structure connected to the motor. The electric transmission means is connected to the traveling means, the motor drives the electric means, and the traveling means moves by the electric action of the electric power means. Here, the transmission means may be a worm gear means, a conical gear means, etc. Two sets of motors are installed in the power module 80. One set of motors drives the traveling means, and the other set of motors vibrates at a constant frequency to drive the floor mopping module to mop the floor. A set of motors for driving the traveling means may be installed in the power module 80, but the number of motors in each set is not limited and may be, for example, one or two. The floor mopping module 40 may be mounted on a body to perform a preset floor mopping task, and a mop may be mounted on the floor mopping module 40. As shown in FIG. 17, the floor cleaning module 40 may include a floor cleaning board 43, and the mop may be detachably mounted on the floor cleaning board. The floor cleaning board and the mop may be formed as one piece, or may be connected to each other using Velcro or double-sided tape, but the present invention is not limited to this. The navigation means 70 is for controlling the operation of the robot vacuum cleaner by providing environmental control data and forming a map of the robot vacuum cleaner's work area, and includes an ultrasonic sensor, radar sensor, optical sensor (laser or infrared sensor, etc.), and UWB sensor. , inertial navigation system, etc., but is not limited thereto.

In another embodiment of the present invention, the robot vacuum cleaner 100 may be a two-in-one cleaning device. At this time, the robot vacuum cleaner may further include a floor sweeping module in addition to the floor mopping module. The floor sweeping module may include a roller brush and a side brush for cleaning dirt such as dust and debris on the ground and corners, and the dirt is concentrated into the roller brush through the side brush and then collected in a dust collection box.

Control modules include, for example, embedded digital signal processors (DSPs), microprocessor units (MPUs), application specific integrated circuits (ASICs), and programmable logic devices (PLDs). ), it may be a controller such as a System on Chip (SOC), a Central Processing Unit (CPU), or a Field Programmable Gate Array (FPGA).

The controller can control the work of the robot vacuum cleaner according to a preset program or received commands. Specifically, the controller may control the traveling means to travel along a preset traveling path in the work area of the robot vacuum cleaner. The robot vacuum cleaner cleans waste such as dust and debris in the work area by performing a floor wiping task using a floor wiping module while traveling by means of travel. Furthermore, when the robot vacuum cleaner travels along a preset path and completes the floor mopping operation, the controller may stop the floor mopping operation of the robot vacuum cleaner and control the traveling means so that the robot vacuum cleaner moves out of the work area. The traveling path and stopping position of the robot vacuum cleaner can be set in advance in the controller, and the traveling means can be controlled by the controller to perform the operation.

In an embodiment of the present invention, the robot cleaner may further include a liquid supply device electrically connected to the control module. The control module can control the liquid supply device to deliver liquid to the floor mopping module according to the current floor mopping status, so the robot vacuum cleaner can automatically control the supply of liquid to the mop. The delivered liquid may be water, water with added aroma, alcohol, etc., but is not limited to this in the present invention. Furthermore, the work mode of the robot vacuum cleaner may include work modes such as dry mopping, wet mopping, first dry mopping followed by wet mopping, and first wet mopping followed by dry mopping. Users can select the corresponding work mode in the robot vacuum cleaner app according to actual demand. Dry mopping mode can be implemented by turning off the liquid supply device, and wet mopping mode can be implemented by controlling the liquid supply device to deliver liquid to the floor mopping module.

Figure 4 shows a robot vacuum cleaner equipped with one liquid reservoir. As shown in FIG. 4, the liquid supply device may include a liquid reservoir 51 and a liquid delivery device 50 electrically connected to the control module. Here, the liquid delivery device 50 is interconnected with the liquid reservoir 51. In one embodiment, the control module may control the delivery of liquid from the liquid supply device to the floor mopping module through a program, that is, the liquid delivery device 50 may be directed to the liquid reservoir 51 according to the current floor mopping condition. It is possible to automatically control the delivery of the liquid inside to the floor mopping module. In another embodiment, the robot vacuum cleaner may further include a valve associated with the liquid delivery device. The valve is opened and closed by the control module, and the liquid supply device can control delivery of liquid to the floor scrubbing module according to the current floor mopping status.

In one embodiment of the present invention, the liquid delivery device 50 may be a pump capable of performing a liquid delivery function, such as a peristaltic pump, a gear pump, a plunger pump, and a diaphragm pump, but is not limited thereto. The control module controls the amount of liquid delivered from the liquid reservoir 51 to the floor mopping module by controlling the rotation speed of the impeller of the pump. The liquid delivery device 50 and the liquid reservoir 51 are interconnected by a tube 52, and the liquid in the liquid reservoir 51 can flow to the liquid delivery device 50 through the tube 52. The liquid delivery device 50 may deliver liquid to the floor mopping module. In one embodiment of the present invention, the liquid delivery device 50 directly delivers the liquid to the floor mopping module 40 in the manner shown in FIG. 4, thereby achieving the purpose of delivering the liquid to the floor mopping module. . In another embodiment of the present invention, the liquid delivery device 50 can spray liquid directly onto the ground during the work of the robot vacuum cleaner, and the robot vacuum cleaner removes stains by performing wet mopping while traveling on the ground on which the liquid has been sprayed. and achieves the purpose of cleaning the floor more thoroughly. All embodiments of the present invention can transfer liquid to the floor mopping module by applying the above two methods.

Figure 7 is a structural diagram of a liquid supply device for a robot vacuum cleaner according to an embodiment of the present invention. The liquid flows out from the outlet pipe 525 of the liquid delivery device 50 and is sprayed through the spray sheet 526 (three spray sheets are used in the present invention), and the sprayed liquid is delivered to the floor mopping module. In another embodiment of the present invention, the liquid may flow out of the outlet pipe of the liquid delivery device 50 and then be immersed in a sponge, sprayed by a spray sheet, and then delivered to the floor mopping module. In another embodiment, the spray sheet may be connected directly to the back of the liquid reservoir 51 and then delivered to the floor cleaning module. According to the above method, the liquid in the liquid supply device can be uniformly delivered to the floor cleaning module to evenly wet the mop.

Figure 8 is a structural diagram of the lifting means of the floor mopping module according to this embodiment. In this embodiment, the means for raising the floor mopping module may adjust the height of the floor mopping module 40 relative to the work surface. Specifically, the elevating means of the floor mopping module includes an elevating means and a fixing plate 11, the elevating means and the fixing plate 11 are fixedly connected, and the floor mopping module 40 is mounted on the fixing plate 11. The lifting means includes a lifting motor 15 and an electric means. Here, the electric means includes a meshing device of the gear 16 and the screw 17, and further includes a lifting platform 19, and the lifting motor 15 drives the electric means to move the floor cleaning module 40 up and down. Let's do it. Specifically, the lifting platform 19 moves the floor mopping module 40 to move up and down with respect to the work surface by the action of the lifting means.

A slide groove 22 is installed on the elevating platform 19, and a corresponding projection (not shown) is installed on the body. By combining the slide groove 22 and the projection, the floor cleaning module 40 is connected to the body. It moves up and down. Of course, the floor cleaning module 40 can also move up and down with respect to the body by combining the elevating platform and the female and male screws installed on the body. In another embodiment, the means for raising the floor mopping module may be a vibrating means, and the lifting platform 19 vibrates the floor mopping module 40 by the action of the vibrating means, thereby adjusting the distance of the floor mopping module 40 relative to the work surface. can be adjusted, but the specific structure is not described further here as it is a structure commonly used by control devices.

As shown in Figure 8, the floor mopping module 40 is mounted on the fixing plate 11 by magnetic adsorption. Specifically, a magnetic element 18 such as a magnet or magnetic strip is installed in the floor mopping module 40 and is attracted to a magnetic element installed on the fixing plate 11. Additionally, the floor wiping module 40 may be mounted on the fixing plate 11 by installing a pin hole in the floor wiping module 40 and engaging it with a pin correspondingly installed on the fixing plate 11. A downward protruding device (not shown), such as a support or convex ball, is installed on the upper part of the body. This protruding device moves relative to the floor mopping module 40 and comes into contact with the floor mopping module 40 to separate the floor mopping module 40 from the body 10 . Here, the number of projection devices is two, and their projections on the floor cleaning board are at both ends of the floor cleaning board. Of course, the number of protruding devices may be one or multiple.

The floor mopping module of the robot vacuum cleaner has at least three heights relative to the work surface by the action of the lifting means, namely a first position when the robot vacuum cleaner performs the floor mopping task, a first position when the robot vacuum cleaner moves or an obstacle is reached. The second position when passing through, the third position when the robot cleaner attaches and detaches the mop 28, etc. Here, the third position is higher than or equal to the second position, and the first position is lower than the second position. By adjusting the position of the floor mopping module using the elevating means, the robot vacuum cleaner's needs such as mopping the floor, passing obstacles, and automatically replacing mops can be met. Of course, in addition to the above three heights, the robot vacuum cleaner may also include a fourth position for mounting a new mop that is lower than the first position.

Figures 9 to 12 are schematic diagrams of scenarios of the robot vacuum cleaner's work process. The positional relationship of the floor cleaning module 40 will be explained according to this scenario schematic diagram. As shown in Figure 9, when the robot vacuum cleaner is in a state of performing a floor mopping task, the lifting means controls the floor mopping module to be in the first position. At this time, there is a certain pressure between the mop and the ground, and the mop is in contact with the ground with a certain excess amount, so that a desirable cleaning effect can be achieved. When the robot vacuum cleaner encounters an obstacle in the process of wiping the floor, the lifting means controls the floor wiping module to rise to the second position as shown in FIG. 10. At this time, the floor mopping module can rise automatically. The second position is higher than the height in the working state, but should not be higher than the height at which the mop is attached and detached to prevent the mop and floor wiping board from falling off. When the robot vacuum cleaner needs to replace the mop during the floor wiping process or needs to be recharged because the amount of electricity during the floor wiping process is less than a preset threshold, the lifting means controls the floor wiping module to rise to the second position as shown in Figure 10. , At the same time, the robot vacuum cleaner may form position coordinates before returning through a navigation means and display these position coordinates on the work area map. When replacing the mop, the lifting means raises the mop to the third position as shown in FIG. 11 and then detaches it, thereby separating the floor mopping module and the body as shown in FIG. 12. The old mop can be attached and detached to a first operating position as shown in FIG. 1, where the first operating position is a position for attaching and detaching the old mop. After removing the old mop, the robot vacuum cleaner can automatically attach a new mop. The robot vacuum cleaner can be equipped with a new mop at the second operating position, and when the robot cleaner enters that position, the floor mopping module is adsorbed to the body by magnetic adsorption. Specifically, a magnet is installed in the floor mopping module, and a magnetic element is installed in the body. When the installation or charging of the new mop is completed, the lifting means raises the floor mopping module to the second position, and the robot vacuum cleaner returns to the position marked on the work area map. Upon reaching the indicated position, the lifting means adjusts the floor mopping module to the first position to continue mopping the floor. If the floor cleaning operation of the robot vacuum cleaner needs to be temporarily stopped during the floor cleaning process, the lifting means raises the floor cleaning module to the second position. By raising the mop by the above-mentioned lifting means when passing an obstacle, in the existing technology, the floor mopping module of the robot vacuum cleaner only has a first position to perform floor mopping during the work process, so the height of passing the obstacle is almost zero. The problem of limited cleaning range has been resolved. The floor mopping module can control the lifting means to raise the mop to the second position when pausing the floor mopping operation, so in the existing technology, the floor mopping module only has a first position to perform the floor mopping operation, so that the liquid is not discharged to the floor. Solved the problem of the floor being damaged by intrusion. After replacing the mop or after charging, the robot vacuum cleaner may return to the floor wiping position before replacing the mop and continue mopping the floor, rather than repeatedly wiping the area where the floor mopping work was completed and performing the floor mopping task in existing technology. It solved the problem of leaving out unused areas and improved the cleaning efficiency of robot vacuum cleaners. In addition, mops can be replaced automatically, improving the degree of automation and user experience of the robot vacuum cleaner.

In one embodiment of the present invention, the robot vacuum cleaner detects whether the liquid reservoir is equipped when starting work. If it detects that the liquid reservoir is not mounted on the robot vacuum cleaner, the robot vacuum cleaner cannot start work, and the control module controls the robot vacuum cleaner to send information that the liquid reservoir is not mounted on the user. The information the user receives may be an alarm issued by the robot vacuum cleaner itself or a warning message pushed by the app. The robot vacuum cleaner starts work when it detects that a liquid reservoir is installed.

When users use a robot vacuum cleaner, they can select different cleaning modes depending on the state of stains on the ground, which are generally divided into dry mopping and wet mopping modes. Dry mopping is mainly intended to remove dirt such as dust and hair, while wet mopping is mainly intended to remove stains that are difficult to clean. Because of the complex ground conditions at home, always use both modes together. According to existing technology, when performing a cleaning task, the user must observe the working status of the robot vacuum cleaner on site, and when the robot cleaner confirms that it has finished wet mopping or dry mopping, input a command by hand to start wet mopping or dry mopping again. You have to control the robot vacuum cleaner to work in mopping mode, which is very cumbersome.

In one embodiment of the present invention, the default work mode of the robot vacuum cleaner is to first perform dry mopping and then perform wet mopping. That is, when a user operates the robot cleaner and starts work, the robot cleaner may first perform dry mopping on the work area, and then perform wet mopping after completing the dry mopping. Accordingly, it is possible to prevent the user from performing wet mopping without collecting dust in the work area, causing waste such as hair to adhere to the work area. Furthermore, the robot vacuum cleaner can intelligently switch between dry mopping and wet mopping modes during the work process. After dry mopping the work area, wet mopping can be performed automatically, so the user does not need to observe the working status of the robot vacuum cleaner in the field, and also manually wet mopping mode depending on the dry mopping status by the robot vacuum cleaner. There is no need to operate . Therefore, the method of this embodiment can save the user's time and improve the user's experience.

Of course, in other embodiments, the user can change the default work mode through an app or a human-machine interface on the robot vacuum cleaner body according to the stain condition of the ground in his home or his own needs. For example, the default work mode can be changed to a mode such as dry mopping, wet mopping, wet mopping first, and then dry mopping, but the present invention is not limited to this.

In one embodiment of the present invention, after the robot cleaner builds a map, the work area can be divided into at least one preset area according to the area partition method preset in the robot cleaner app, and the user can divide it into at least one preset area according to his or her needs. The work area may be divided into at least one preset area. After dividing the area, the robot vacuum cleaner first performs dry mopping for one preset area according to the wet mopping mode followed by dry mopping, and the robot vacuum cleaner records the driving path recorded on the map or the driving distance recorded by the self-installed sensor. If it is determined that dry mopping of the preset area has been completed, wet mopping can be performed on the preset area. Once the wet mopping work is completed, dry mopping and wet mopping work similar to the above can be performed on other preset areas according to the program. Of course, after the robot vacuum cleaner builds a map and demarcates the area, it first performs dry mopping on the entire work area, and when it determines that dry mopping on the entire work area is complete, it may perform wet mopping on the entire area. .

Furthermore, in one embodiment of the present invention, by controlling the robot vacuum cleaner to continue dry mopping the work area after the wet mopping task is completed, it is possible to prevent the user from contaminating the work area even if the user enters the work area within a short period of time. You can. If the robot vacuum cleaner detects liquids such as coffee or milk during dry mopping, it can first avoid these areas and later switch to wet mopping mode and then wipe these areas again. Accordingly, it is possible to prevent the liquid from penetrating the dry mop and contaminating other areas. The base station may have a number of dry mops and wet mops installed that correspond to the work mode of the robot vacuum cleaner, or only dry mops may be installed. Wet mopping is achieved by delivering liquid to the floor mopping module through a liquid supply device.

In one embodiment of the present invention, the robot cleaner is controlled to send information to the user to replace the mop before performing wet mopping or dry mopping, or at least controls the robot to replace the mop. After receiving a message that the mop needs to be replaced from the robot vacuum cleaner or app, the user can replace it manually or control the mop or floor cleaning module to be automatically replaced. Since the mop is removably mounted on the floor mopping module, only the mop can be replaced when replacing it. After finishing dry mopping, the robot vacuum cleaner automatically returns to the base station to replace a new mop, and can also perform wet mopping after replacing the new mop. When a dry mopping mop is used for wet mopping, the mop is always contaminated. Therefore, if the dry mopping mop is directly wetted, the dirt (dust and hair) in the dry mopping mop will adhere to the surface to be wet mopped. This can cause secondary pollution and reduce the cleaning efficiency of wet mopping. Therefore, by replacing the mop of the robot vacuum cleaner when switching mopping modes, it is possible to ensure that the robot vacuum cleaner achieves an optimal cleaning effect when working in a new cleaning mode.

In one embodiment of the present invention, the robot cleaner sufficiently wets the mop through a means described later before performing wet mopping, so that the water injected into the mop at the start of the wet mopping mode completely penetrates into the mop within a short period of time. The wet area can be increased and the cleaning efficiency at the start of the robot vacuum cleaner's wet mopping can be improved. In the process of the robot vacuum cleaner normally performing the wet mopping task, the liquid supply device can deliver liquid to the floor mopping module according to the preset power and preset time, so the robot vacuum cleaner normally operates the liquid supply device before starting wet mopping. The power to deliver liquid can be increased when working. In other words, before starting the wet mopping operation, the liquid can be delivered to the liquid supply device with a power greater than the preset power, and after a certain period of time, the power can be reduced to the power during normal operation. Similarly, liquid may be delivered to the liquid supply device for a time greater than a preset time, and after a certain period of time, the delivery time may be reduced to the normal operation time.

In another embodiment of the present invention, before starting mopping, the robot vacuum cleaner can be controlled to wet the mop by traveling along a preset path. For example, by controlling the robot vacuum cleaner to move forward, backward, or change direction according to the program so that the liquid delivered to the mop and accumulated is completely absorbed, the purpose of widely wetting the mop can be achieved. After the robot vacuum cleaner is equipped with a mop and is raised by the floor mopping module and travels to the starting position, it can wet the mop by traveling back and forth near the starting point. After sufficiently wetting the mop, the robot vacuum cleaner can be controlled to travel to the starting position of wet mopping, and wet mopping can be started from this starting position. By sufficiently moistening the mop before mopping, the robot vacuum cleaner can overcome the disadvantage of poor cleaning effectiveness when the mop is wetted only near the location of water penetration.

In one embodiment of the present invention, when the robot vacuum cleaner completes all floor mopping tasks for the work area, the control module may send information to the user to detach the cleaning member, or at least control the robot cleaner to detach the cleaning member. there is. When the robot vacuum cleaner completes the floor-wiping task for the work area that the user wants to clean, mop detachment information can be sent to the user, or the robot cleaner can be controlled to detach the mop or floor-wiping module. Additionally, information about waiting for mop replacement can be sent to the user, or the mop or floor scrubbing module can be replaced. According to the method of this embodiment, it is possible to ensure that there are no contaminated old mops in the robot vacuum cleaner after all floor cleaning work is completed, thereby preventing the formation of mold and bad smells due to not disposing of old mops in time. . Furthermore, by recovering the detached cleaning member, it is possible to prevent old mops detached from the ground or the base station floor plate from contaminating the user's home. Specifically, mop detachment information may be sent to the user through a signal transmission module, the user may be notified that the mop must be detached through an instruction unit mounted on the body, or the robot cleaner may automatically return to the base station to detach the mop. there is. When a user removes an old mop from a robot vacuum cleaner by hand, he or she can discard the old mop directly or attach a new mop to the robot vacuum cleaner. When controlling the robot vacuum cleaner to automatically attach and detach the mop, the robot vacuum cleaner can return to the base station and detach the dirty mop. As shown in FIG. 1, the robot cleaner travels to the base station, removes and detaches the old mop at the first operating position 201, and then leaves the base station, and replaces the old mop with the mop replacement device of the base station 200 in the old mop groove 204. retrieved as Afterwards, the robot vacuum cleaner can enter the base station directly and wait, or it can wait by installing a new mop, but this is not limited to this in the present invention. Thereafter, when the amount of mops recovered in the old mop groove 204 reaches a certain amount, the user can intensively process the old mops.

In one usage scenario, when the user selects the default work mode of “First dry mop, then wet mop” through the app, the robot vacuum cleaner first performs dry mopping and then wet mopping of the work area. After receiving the user's command, the robot cleaner first performs dry mopping on the work area, controls the liquid delivery device to be in the off state during the dry mopping process, and automatically automatically mops after completing dry mopping on the entire work area. You can return to the base station and replace the mop. After replacing the mop, the floor mopping module drives to the starting point in an elevated state and controls the robot vacuum cleaner to start the wet mopping process. After driving to the starting point, the floor mopping module is lowered and the liquid is delivered through the liquid delivery device to achieve wet mopping. Before starting mopping, the mop can be sufficiently wetted by increasing the liquid delivery power of the liquid delivery device and controlling the robot vacuum cleaner to advance or retreat near the starting point. When the mop is sufficiently wet, the robot vacuum cleaner returns to the starting point and begins mopping. When the wet mopping work for the entire work area is completed, the robot cleaner is controlled to return to the base station, remove the old mop, install a new mop, and wait.

In an embodiment of the present invention, when the robot vacuum cleaner is in a preset state described later in the wet mopping mode, the control module may restrict the liquid supply device from delivering liquid to the floor mopping module. Accordingly, in existing technology, when the robot vacuum cleaner does not have electricity or is stuck somewhere and cannot move, the problem of the mop being damaged due to constant water supply from the tank or the floor being damaged due to a lot of water accumulating on the ground can be solved. It can achieve the purpose of protecting the floor from liquid, and improving the floor cleaning effect. Restricting the liquid supply device from delivering liquid to the floor mopping module may be to stop the liquid supply device from delivering liquid to the floor mopping module, and may cause the liquid supply device to deliver less liquid to the floor mopping module than the liquid it delivers in mopping mode. It may be to deliver a small amount of liquid.

In an embodiment of the present invention, when the robot vacuum cleaner detects that an abnormality has occurred in the wet mopping mode, the control module restricts the liquid supply device from delivering liquid to the floor mopping module.

In one embodiment of the invention, the control module may restrict the liquid delivery device from delivering liquid to the floor mopping module if the robot vacuum cleaner is stuck or stuck, or if the controller fails. For example, it may be stuck in an obstacle or the drive wheel may be stuck in a concave area.

In another embodiment of the present invention, the robot vacuum cleaner may further include a mop detection device 90 electrically connected to the control module, and the mop detection device 90 may be used before or after the robot vacuum cleaner performs the floor cleaning task. This is to detect whether a mop is mounted on the robot vacuum cleaner during the floor mopping process. If a mop is not attached, the control module restricts the liquid supply from delivering liquid to the mop, and if the robot vacuum cleaner is equipped with a mop, it starts mopping the floor. The mop and the floor cleaning board may be connected by magnetic connection, and in this embodiment, the mop detection device 90 may be a Hall sensor.

In an embodiment of the present invention, in the case of the wet mopping mode, if the floor mopping module of the robot vacuum cleaner is not at the floor mopping height within a preset time period, the control module restricts the liquid supply device from delivering liquid to the floor mopping module.

In one embodiment of the invention, the robot vacuum cleaner further includes lifting means, wherein the control module controls the lifting means to move the floor mopping module from a first position relative to the work surface to a second position when performing a floor mopping task. raise it up In the wet mopping mode, if the floor mopping module is in an elevated state within a preset time period, the liquid supply device restricts delivery of liquid to the floor mopping module. The preset time zone may be defined by the user or may be preset in the app system, but the present invention is not limited to this.

Specifically, the control module controls the lifting means in at least one of (but not limited to) a state in which the robot cleaner returns to the base station and replaces the floor mopping module, and a state in which the robot cleaner is in a standby state and temporarily stops wiping the floor. The floor mopping module can be raised from a first position relative to the work surface to a second position. If the robot vacuum cleaner is stuck or stuck during the floor mopping process, the floor mopping module rises from the first position with respect to the work surface to the second position and limits the liquid supply to prevent the floor from being damaged by the floor mopping module. You can control the means.

In one embodiment of the invention, when the robot vacuum cleaner detects that the work surface is not in the process of working, the control module controls the lifting means to raise the floor mopping module from a first position with respect to the work surface to a second position, thereby Let it pass through the non-working surface. If the floor mopping module is in an elevated state within a preset time period while the robot vacuum cleaner is passing over a non-working surface, the liquid supply device restricts delivery of liquid to the floor mopping module. Furthermore, when the robot vacuum cleaner passes the non-working surface, the control module controls the lifting means such that the floor mopping module lowers from the second position relative to the working surface to the first position and the liquid supply device delivers liquid to the floor mopping module. .

The non-working surface shown in FIGS. 13 to 16 is a carpet, and when the robot cleaner detects the carpet 35 while mopping the floor at the first position 34 relative to the ground, the control module causes the floor mopping module 40 to The lifting means is controlled to rise from a first position 34 relative to the ground to a second position 36 to allow the robot vacuum cleaner to pass over the carpet. In the process of the robot cleaner passing through the carpet, the floor mopping module 40 is always in an upward state, and the liquid supply device stops delivering liquid to the floor mopping module, so that the mop is not contaminated by the floor and the carpet is wet by the mop. You can prevent losing. When the robot cleaner passes the carpet, the control module controls the lifting means to lower the floor mopping module from the second position 36 to the first position 34, and the liquid supply device delivers liquid to the floor mopping module. It restores the robot vacuum cleaner so that it can perform the floor cleaning task normally.

In another embodiment of the invention, when the robot cleaner replaces the mop or floor mopping module in mopping mode, the control module restricts the liquid supply device from delivering liquid to the floor mopping module.

In another embodiment of the present invention, when the robot cleaner is in at least one of dry mopping mode, returning to the base station to charge, and charging state, all or all of the robot cleaner is lifted by the user or raised against an obstacle. Because some of the traveling elements are off the ground, the control module can stop the liquid supply device from delivering liquid to the floor mopping module.

In an embodiment of the present invention, when the above-mentioned abnormality or rising state or the state in which some elements are separated from the ground are released during the wet mopping process (controller failure, etc. is recovered, the robot vacuum cleaner returns to the ground), the control module supplies liquid. The device is controlled to restore the supply of liquid to the floor mopping module.

In this embodiment, the robot vacuum cleaner can secure the floor-wiping effect by controlling the liquid delivered from the liquid supply device to the floor-wiping module according to the floor-wiping state detected by at least one sensor described later.

In an embodiment of the present invention, the robot cleaner may further include a humidity detection device, and controls the liquid supply device to deliver liquid to the floor mopping module according to the floor mopping state detected by the humidity detection device. The floor scrubbing condition includes, but is not limited to, at least one of mop humidity, ground humidity, and environmental humidity. Specific usage scenarios are as described below.

In one embodiment, the humidity detection device may include a mop humidity sensor, and the control module controls the liquid delivered by the liquid supply device according to the mop humidity detected by the mop humidity sensor. Preferably, the mop humidity sensor may be, for example, a capacitor sensor and/or a current sensor and may be mounted under the body. The current floor mopping status is monitored according to the mop humidity detected by the mop humidity sensor, and the mop humidity is transmitted to the control module. The control module transmits the liquid delivery device according to the mop humidity detected by the mop humidity sensor. Control the amount of liquid. Specifically, if the mop humidity is greater than the preset threshold, the liquid delivery device is controlled to deliver the liquid at a rate less than the current liquid delivery speed. Conversely, if the mop humidity is less than the preset threshold, the liquid delivery device is controlled to deliver the liquid at a rate smaller than the current liquid delivery speed. Controls to deliver liquid at a greater speed. The preset threshold may be set by the user according to the current ground condition, and the preset thresholds of different areas may be different.

In another embodiment, the humidity detection device may include an environmental humidity detection device and may control the liquid delivered by the liquid supply device according to the environmental humidity detected by the environmental humidity detection device. Here, the environmental humidity detection device may control the liquid delivered by the liquid supply device according to the environmental humidity detected locally and/or remotely. The environmental humidity detection device may be an air humidity sensor or a humidity meter mounted on the robot vacuum cleaner, and the air humidity sensor or humidity meter is mounted at a certain distance away from the water source of the robot cleaner, so that the liquid in the robot cleaner is stored in the environmental humidity. It can be prevented from affecting the measurement results of the detection device. Therefore, the environmental humidity of the robot vacuum cleaner can be detected more accurately, and the liquid delivered by the liquid supply device can be controlled according to the detected environmental humidity. Robot vacuum cleaners can also detect environmental humidity through remote methods. At this time, the robot vacuum cleaner is connected to the network through cellular or wifi, receives weather information from the server, and controls the amount of liquid delivered by the liquid delivery device according to the received weather information. If the environmental humidity is greater than the preset threshold, the liquid delivery device is controlled to deliver liquid at a rate less than the current liquid delivery speed. Conversely, if the environmental humidity is less than the preset threshold, the liquid delivery device is controlled to deliver liquid at a speed greater than the current liquid delivery speed. Controls delivery of liquid. The preset threshold may be set by the user according to the current ground condition, and the preset thresholds of different areas may be different.

In other embodiments, the humidity detection device may include a ground humidity sensor, such as a vision sensor and/or a radar sensor. The control module can control the liquid delivered by the liquid supply device according to the ground humidity detected by the ground humidity sensor, and update the humidity value of the area in real time in the floor cleaning app according to the detected ground humidity. The ground humidity sensor can control the liquid delivered by the liquid supply device depending on the level of ground humidity or dryness detected. In general, a robot vacuum cleaner can clean the floor along a preset driving path. However, if it detects that the ground in some area is dry, the robot vacuum cleaner may spray more liquid or increase the work time, and continue cleaning this area until the ground condition detected by the ground sensor satisfies the preset cleanliness requirements. Perform. Alternatively, upon detecting that some area of the ground is moist, the liquid delivery device may reduce the amount of liquid it delivers or stop delivering the liquid. For example, when a robot vacuum cleaner passes the same area in a short period of time, waste of liquid can be prevented by controlling the liquid delivered by the liquid delivery device to reduce or stop, and also prevent the robot vacuum cleaner from slipping while running. This phenomenon can be prevented. In one specific application scenario, when the robot vacuum cleaner finishes mopping the floor in some area, it turns around and drives back to some location in this area. Continuing to supply liquid will create a lot of liquid on the ground, causing the robot vacuum cleaner to slip. Otherwise, it may result in waste of liquid. Therefore, when the robot cleaner repeatedly travels the same area within a short period of time, the liquid delivery device can be controlled to stop supplying liquid.

In one embodiment of the present invention, the robot vacuum cleaner may further include a ground sensor such as a vision sensor and/or a radar sensor. By detecting the ground condition using the ground sensor and transmitting the detected ground condition to the control module, the control module can control the liquid delivered by the liquid supply device. Specifically, the ground condition may include ground material, etc. Ground sensors can detect material on the work surface. For example, in the case of floors or tiles, the control module can control the amount of liquid that the liquid delivery device delivers to the floor cleaning module according to the ground condition detected by the ground sensor. When the ground material is wood, the robot vacuum cleaner can control the liquid delivery amount of the liquid delivery device to appropriately reduce the amount of water supplied to the mop, thereby preventing damage to the wooden floor due to excessive volume. In one embodiment, the ground sensor includes a vision sensor, and the control module can determine the material of the work surface according to the ground image acquired by the vision sensor. In another embodiment, the ground sensor may include a radar sensor, and the control module may determine the type of work surface according to the detection results of the radar sensor.

In one embodiment, the robot vacuum cleaner may further include a signal transmission device, and the signal transmission device may detect the current floor wiping state (which may include mop humidity, ground humidity, environmental humidity, etc.) detected by the humidity detection device, or the ground The ground condition detected by the sensor can be sent to the user. For example, the user can read the ground humidity of the current area through the display on the body of the robot vacuum cleaner, and can also read the ground humidity of the current area in the floor cleaning app according to the ground humidity sent to the user by the signal transmitting device. If the user determines that the amount of liquid needs to be increased or decreased, a corresponding signal can be transmitted to the robot cleaner, and the control module can control the liquid delivered by the liquid supply device according to the user's commands. Through the above method, the user's experience with the robot vacuum cleaner can be improved by intelligently controlling the delivery of liquid from the liquid supply device of the robot vacuum cleaner to the floor mopping module.

Furthermore, in one embodiment of the present invention, the robot vacuum cleaner may include navigation means. The user can mark an area on the map of the robot vacuum cleaner's work area created by the navigation tool and set the liquid state that the robot vacuum cleaner should adopt in each area. Therefore, the control module can control the liquid reservoir to deliver the corresponding liquid in each area according to the liquid state, and also control the liquid supply status of the current area according to the ground humidity of the current area updated in real time by the ground humidity sensor. It can also be determined whether it satisfies the user's needs. If the user's request is not met, the liquid can be supplied continuously, and if the user's request is met, the floor mopping operation for the current area can be stopped. The navigation means used in this embodiment may include at least one of an ultrasonic sensor, an optical sensor (including LDS, etc.), a UWB sensor, and an inertial navigation system, but is not limited thereto.

In one embodiment of the present invention, the robot cleaner may further include a liquid level monitoring device installed in the liquid reservoir. In one embodiment, when the liquid level monitoring device detects that the liquid level in the liquid reservoir is less than a preset threshold, a message indicating that the liquid level in the robot vacuum cleaner is insufficient may be sent to the user. The message may include the time available for dispensing the liquid remaining in the robot vacuum cleaner at the current liquid dispensing speed. The user may not respond after receiving the message, may control the robot cleaner to temporarily stop working, may lower the liquid delivery speed, or may add liquid to the robot vacuum cleaner.

In another embodiment, the robot cleaner may further include an indicator device such as a light emitting indicator device (LED, etc.) or a vocal indicator device. The indicating device may indicate whether the amount of liquid in the robot cleaner is sufficient or may indicate whether the robot cleaner is equipped with a liquid reservoir. If the liquid level is low, the indicating device will say “Sir, the liquid level is low. You can send a voice message saying “Please give me water.” Since the state of the indicating device is different when the liquid amount is not less than the preset threshold and when it is less than the preset threshold, the user can monitor the liquid level in the liquid reservoir by observing the state of the indicating device. By notifying the user that the amount of liquid is insufficient, it is possible to prevent the cleaning effect from decreasing due to a lack of liquid and improve the floor mopping effect of the robot vacuum cleaner.

Furthermore, the robot vacuum cleaner may further include at least two liquid reservoirs symmetrically installed on both sides of the body. Different types of liquids are put into two liquid reservoirs, and the control module controls the liquid reservoirs to work synchronously or asynchronously with the corresponding liquid delivery device, thereby achieving the purpose of cleaning different types of stains. Of course, the robot vacuum cleaner may also include two or more (three, four, etc.) liquid reservoirs, and these different liquid reservoirs may contain the same or different types of liquid according to actual demand, and the present invention does not limit this.

The robot vacuum cleaner may include a ground sensor such as a vision sensor. By detecting the ground condition by the ground sensor and transmitting the ground condition to the control module, the control module can control the amount and type of liquid delivered by the two liquid reservoirs, respectively. The ground condition may include ground material and/or ground stain type. The ground sensor can control the amount of liquid each of the two liquid reservoirs delivers to the mop, depending on the ground material detected and whether the ground stain is oil or dirt. Here, the amount of liquid being delivered can be zero, i.e. using only one of the liquid reservoirs. In general, a robot vacuum cleaner can clean the floor along a preset driving path. However, if the ground in some areas is dry and greasy, the robot vacuum cleaner may discharge more liquid or increase the work time. If the ground condition detected by the ground sensor satisfies the preset cleaning request, cleaning of this area will be performed. Stop work. In this embodiment, the robot cleaner can each control the liquid that two liquid reservoirs deliver to the floor cleaning module, and if the ground condition detected by the ground sensor satisfies a preset cleaning request, it performs cleaning work on this area. Stop.

The robot vacuum cleaner may further include a navigation means. Since the user can mark an area on the map of the robot vacuum cleaner's work area created by the navigation means and set the liquid delivery amount and liquid type that the robot cleaner should adopt in each area, the control module operates according to the liquid delivery amount and liquid type. The liquid delivery device can be controlled to deliver the corresponding amount and type of liquid in each area.

The robot vacuum cleaner may further include a signal transmission device capable of sending the mop humidity detected by the humidity sensor or the ground condition detected by the ground sensor to the user. Users can read the current floor mopping status through the display on the body of the robot vacuum cleaner, or they can read the current floor mopping status from the floor mopping app. For example, if the user determines that the amount of liquid needs to be increased or decreased, the corresponding signal can be transmitted to the robot vacuum cleaner, and the control module adjusts the amount and type of liquid delivered by the liquid supply device according to the user's command. You can control it. The command can be sent through a floor cleaning app, or the user can directly enter it into the human-machine interface of the robot vacuum cleaner. Through the above method, the user's experience with the robot vacuum cleaner can be improved by intelligently controlling the floor mopping humidity and liquid type of the robot vacuum cleaner. Furthermore, the robot cleaner may further include a liquid level monitoring device installed in each of the two liquid reservoirs. The liquid level monitoring device is for detecting whether the liquid level in the liquid reservoir is less than a preset threshold, and may each include two liquid level monitoring devices and a corresponding indicator device for indicating the liquid level status.

Hereinafter, description will be given through specific embodiments each having two liquid reservoirs.

Figures 5 and 6 both show two liquid reservoirs. In the present invention, the terms “first” and “second” in front of each device are only used to distinguish the two devices from each other and have no other special meaning. For example, the first tube and the second tube described below are both tubes and refer to two different tubes. In addition, although the present invention has been described as having two liquid reservoirs, it may also have two or more liquid reservoirs. In this case, since the principle is the same, no further explanation is given in the present invention.

Figure 5 shows a configuration with two liquid delivery devices and two liquid reservoirs. The first liquid reservoir 511 is interconnected with the first liquid delivery device 501 through a first tube 521, and the second liquid reservoir 512 is connected to the second liquid reservoir 501 through a second tube 522. It is interconnected with the delivery device 502, and the first liquid delivery device 501 and the second liquid delivery device 502 are each electrically connected to the control module. The control module controls the first liquid delivery device 501 or the second liquid delivery device 502 to deliver liquid to the mop simultaneously or separately, or the first liquid delivery device 501 or the second liquid delivery device 502, according to the current floor mopping demand. 2 The liquid delivery device 502 may control the amount of liquid delivered to the mop simultaneously or separately to ensure a floor mopping effect. For example, clear water is stored in the first liquid reservoir 511, and cleaning liquid is stored in the second liquid reservoir 512. When the ground sensor detects that only dust is present on the ground, the control module activates the first liquid delivery device 501 and flows from the first liquid reservoir 511 through the first tube 521 to the first liquid delivery device ( 501) to deliver clear water. Accordingly, the first liquid delivery device 501 delivers clear water to the mop and removes dust, etc. from the ground with the clear water. If the ground sensor detects that grease is also present on the ground, the control module activates the first liquid delivery device 501 and simultaneously activates the second liquid delivery device 502. That is, clear water is delivered from the first liquid reservoir 511 to the first liquid delivery device 501 through the first tube 521, and at the same time, the second tube 522 is delivered from the second liquid reservoir 512. The second liquid delivery device 502 delivers the cleaning liquid to the roll. Accordingly, the second liquid delivery device 502 delivers the cleaning liquid to the mop. Since the concentration of the cleaning liquid is high, the working time of the second liquid delivery device 502 can be made smaller than a preset threshold. If the second liquid reservoir 512 already stores clear water mixed with a cleaning liquid at an appropriate concentration, and the ground sensor detects that oil stains are also present on the ground, only the second liquid delivery device 502 is activated. You can remove grease, etc. from the ground with clear water mixed with a cleaning solution at the appropriate concentration. If the mop humidity detected by the humidity detection device is greater than the preset threshold, the first liquid reservoir 511 is controlled to deliver clear water at a rate smaller than the current liquid delivery speed. If the user sets an area that needs to be cleaned multiple times with cleaning liquid on the map created on the robot vacuum cleaner, the robot vacuum cleaner repeatedly cleans this area. If the ground sensor detects that there is a lot of grease in an area, the robot vacuum cleaner can repeatedly clean this area.

Figure 6 shows one liquid delivery device and two liquid reservoirs. The third liquid reservoir 513 is interconnected with the third liquid delivery device 503 through a third tube 523, and the fourth liquid reservoir 514 is connected to the third liquid reservoir 503 through a fourth tube 524. It is interconnected with the transmission device 503. In one embodiment, the first valve 531 is installed only in the fourth tube 524, and the first valve 531 is opened and closed by the control module so that the liquid in the fourth liquid reservoir 514 is changed to the third liquid. Controlling the flow to the delivery device 503, the control module selects whether to open the first valve 531 depending on the current floor mopping demand. For example, clear water is stored in the third liquid reservoir 513, and cleaning liquid is stored in the fourth liquid reservoir 514. When the ground sensor detects that only dust is present on the ground, the control module activates the third liquid delivery device 503 and flows from the third liquid reservoir 513 through the third tube 523 to the third liquid delivery device. Deliver clear water to (503). When the ground sensor detects the presence of grease on the ground, the control module opens the first valve 531 to allow the cleaning liquid stored in the fourth liquid reservoir 514 to flow to the third liquid delivery device 503. . That is, clear water is delivered from the third liquid reservoir 513 to the third liquid delivery device 503 through the third tube 523, and at the same time, the fourth tube 524 is delivered from the fourth liquid reservoir 514. The cleaning liquid is then delivered to the third liquid delivery device 503. Accordingly, the third liquid delivery device 503 delivers clear water containing the cleaning liquid to the mop. Because the concentration of the cleaning liquid is high, the working time of the first valve can be made smaller than a certain preset threshold to achieve the purpose of cleaning different types of stains. In another embodiment, the fourth tube 524 is equipped with a first valve 531, and similar to the first valve 531, the third tube 523 is equipped with a second valve (not shown). . The first valve 531 and the second valve are opened and closed by the control module and cause the liquid in the fourth liquid reservoir 514 and the third liquid reservoir 513 to flow to the third liquid delivery device 503, The control module selects whether to open the first valve 531 and the second valve (not shown) according to the current floor scrubbing demand. For example, clear water is stored in the third liquid reservoir 513, and clear water mixed with a cleaning solution of an appropriate concentration is stored in the fourth liquid reservoir 514. When the ground sensor detects that only dust exists on the ground, the control module operates the third liquid delivery device 503 by opening only the second valve (not shown), and releases the third liquid from the third liquid reservoir 513. Clear water is delivered to the third liquid delivery device 503 through the tube 523, and dust, etc. on the ground is removed with the clear water. When the ground sensor detects that grease is also present on the ground, the control module opens the first valve 531 to allow clear water mixed with the cleaning liquid of appropriate concentration stored in the fourth liquid reservoir 514 to be supplied to the third liquid. Let it flow to the delivery device 503. That is, clear water mixed with a cleaning solution of appropriate concentration is delivered from the fourth liquid reservoir 514 through the fourth tube 524 to the third liquid delivery device 503, and this clear water removes grease, etc. from the ground. It achieves the purpose of cleaning different types of stains by removing them.

As described above, some embodiments of the present invention have been described in detail through the above examples, but it should be understood that this is not intended to limit the scope of the claims of the present invention. Anyone skilled in the art can make slight modifications and improvements to the present invention without departing from the spirit of the present invention, and such modifications and improvements also fall within the scope of the present invention. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims (24)

Work while driving around the work area,
body;
Travel means for supporting the body and allowing the robot cleaner to travel on a work surface of the work area;
A power module that provides driving and work driving force to the robot vacuum cleaner;
a floor mopping module mounted on the body to perform a preset floor mopping task and capable of mounting a cleaning member; and
A control module that is electrically connected to the power module and controls the power module to implement automatic driving and automatic operation of the robot cleaner,
means of elevation; and
It further includes a liquid supply device electrically connected to the control module, and when a preset state is satisfied in the wet mopping mode, the control module controls the lifting means to operate the floor mopping module to perform a floor mopping task. rising from a first position relative to the work surface to a second position, and restricting the liquid supply device from delivering liquid to the floor mopping module, wherein the preset state is an abnormal state in which the robot vacuum cleaner is stuck or stuck. Contains,
The control module is configured to operate the floor mopping module on the work surface in at least one of the following cases: when the robot vacuum cleaner returns to the base station and replaces the floor mopping module, when the robot vacuum cleaner is in a standby state, and when the robot vacuum cleaner is trapped or hung. A robot vacuum cleaner, characterized in that the lifting means is controlled to rise from a first position to a second position. According to paragraph 1,
It further includes a mop detection device electrically connected to the control module, wherein the mop detection device detects whether the cleaning member is mounted on the robot cleaner, and detects whether the cleaning member is mounted on the robot cleaner by the mop detection device. If it is detected that it is not mounted on the robot cleaner, the control module restricts the liquid supply device from delivering liquid to the floor mopping module. According to paragraph 1,
In the wet mopping mode, when the floor mopping module of the robot vacuum cleaner detects that the floor mopping height is not within a preset time period, the control module restricts the liquid supply device from delivering liquid to the floor mopping module. A robot vacuum cleaner that uses . According to paragraph 3,
A robot vacuum cleaner characterized in that, when detecting that the floor mopping module is in a rising state within a preset time period in the wet mopping mode, the liquid supply device restricts delivery of liquid to the floor mopping module. delete According to clause 4,
Upon detecting that it is not a work surface, the control module causes the robot vacuum cleaner to move over the non-work surface by controlling the lifting means to raise the floor mopping module from a first position relative to the work surface to a second position, A robot vacuum cleaner characterized in that, when detecting that the floor mopping module is in a rising state within a preset time period, the liquid supply device restricts delivery of liquid to the floor mopping module. According to clause 6,
Upon detecting that the robot vacuum cleaner has crossed the non-working surface, the control module controls the lifting means to lower the floor mopping module from a second position relative to the working surface to a first position, and the liquid supply device A robot vacuum cleaner characterized by delivering liquid to a floor mopping module. According to paragraph 1,
In the wet mopping mode, when the robot cleaner replaces at least the cleaning member, the control module restricts the liquid supply device from delivering liquid to the floor mopping module. According to paragraph 1,
When a preset condition is satisfied, the control module restricts the liquid supply device so as not to deliver liquid to the floor mopping module,
A robot cleaner, wherein the control module controls the liquid supply device to stop delivering liquid to the floor mopping module when a preset condition is satisfied. a floor mopping module that performs a preset floor mopping task; In the control method of a robot vacuum cleaner including a lifting means,
Controlling the robot vacuum cleaner to work in wet mopping mode;
When the preset condition is satisfied, raising the floor mopping module from a first position to a second position with respect to the work surface when performing a floor mopping operation through the raising means and delivering liquid to the floor mopping module. It includes a step of limiting,
The preset state includes an abnormal state in which the robot vacuum cleaner is trapped or hung,
The lifting means is configured to move the floor mopping module to the work surface in at least one of the following cases: when the robot vacuum cleaner returns to the base station and replaces the floor mopping module, when the robot vacuum cleaner is in a standby state, and when the robot vacuum cleaner is trapped or hung. A control method for a robot vacuum cleaner, characterized in that it raises from the first position to the second position. According to clause 10,
A method of controlling a robot vacuum cleaner, wherein limiting liquid delivery to the floor mopping module includes stopping liquid delivery to the floor mopping module. According to clause 10,
A control method for a robot vacuum cleaner, wherein restricting delivery of liquid to the floor mopping module when a preset state is satisfied includes controlling delivery of liquid to the floor mopping module when a preset state is not satisfied. . delete delete delete delete delete delete delete delete delete delete delete delete