CN106335067A - Sweeping and mopping integrated cleaning robot and uniform wet-mopping control method thereof - Google Patents
Sweeping and mopping integrated cleaning robot and uniform wet-mopping control method thereof Download PDFInfo
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- CN106335067A CN106335067A CN201610890825.4A CN201610890825A CN106335067A CN 106335067 A CN106335067 A CN 106335067A CN 201610890825 A CN201610890825 A CN 201610890825A CN 106335067 A CN106335067 A CN 106335067A
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- integral type
- clean robot
- sweeping
- type clean
- movable information
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a sweeping and mopping integrated cleaning robot and a uniform wet-mopping control method thereof to solve the technical problem that an existing sweeping and mopping type cleaning robot is non-uniform in wet mopping. After obtaining motion information of the sweeping and mopping integrated cleaning robot, a control part obtains the operating speed of the sweeping and mopping integrated cleaning robot based on the motion information and the on-off duration and/or frequency of working current supplied to a water control solenoid valve through electric contacts based on the operating speed, and supplies electricity to the electric contacts according to the on-off duration and/or frequency, so that a path between a vent hole and the solenoid valve is connected or disconnected based on the on-off duration and/or frequency, the water seepage duration and/or frequency of a water tank can be achieved based on the motion information, different water seepage quantities are adjusted according to the operating speed, incomplete wet mopping is avoided when the operating speed is high, water accumulation is avoided when the operating speed is low, and the purpose of uniform wet mopping is achieved.
Description
Technical field
The invention belongs to sweeping robot technical field, specifically, it is to be related to one kind and sweep drag integral type clean robot
And its uniformly wet drag control method.
Background technology
Sweeping robot due to floor cleaning work automatically can be completed in room by certain artificial intelligence, now
Slowly become the conventional electrical home appliances of working clan or Modern Family.
At present, part sweeping robot is also devised with the function that mops floor, and this sweeping robot carries water tank, above to sweep
The form that ground mops floor below disposably completes to sweep the floor and mop floor.
But existing this sweeping drags integral type clean robot, typically all pass through an electrical switch and control going out of water tank
Water, during sweeping the floor open electrical switch so that water is oozed out from water tank, and sweep the floor terminate after control electrical switch close from
And close water outlet, but this control mode, there is problems in that this electrical switch controls the mode of water outlet, goes out water speed equal
Even, but the speed of service of sweeping robot can be varied from by ground environment and the situation of barrier, and this causes in machine of sweeping the floor
When people pauses or speed is excessively slow, it is relatively too fast to go out water speed, and corresponding region can be caused water stain excessive after the completion of mopping floor, and
When the open area speed of service is very fast, it is relatively slow to go out water speed, corresponding region can be caused to mop floor not thorough；More than, cause
It is wet to drag uneven technical problem.
Content of the invention
This application provides one kind sweep drag integral type clean robot and its uniformly wet drag control method, solve existing sweeping
The wet of towed clean robot presence drags uneven technical problem.
For solving above-mentioned technical problem, the application employs the following technical solutions and is achieved:
Proposition one kind is swept and is dragged integral type clean robot, including fuselage and water tank；Described water tank is mounted on the bottom of described fuselage；
Control unit is included in described fuselage；Described water tank bottom offers seepage mouth；Also include controlling water solenoid valve；Described control water solenoid valve
Including energising contact, passage and the electromagnetic valve connector communicating with described passage；Water tank ventilation is offered on described water tank
Mouthful；Described electromagnetic valve connector is connected with described water tank blow vent by connecting tube；The energising contact of described control water solenoid valve leads to
The control unit crossing connecting line with described fuselage interior is connected；Described control unit, drags integral type cleaning machine for sweeping described in obtaining
The movable information of people, and based on described movable information obtain described in sweep the speed of service dragging integral type clean robot, based on institute
State the speed of service and control the break-make duration of electrical current and/or frequency by described energising contact supply described control water solenoid valve
Rate so that the path between described passage and described electromagnetic valve connector be based on described break-make duration and/or frequency lead to or
Disconnected, realize controlling infiltration duration and/or the frequency of described water tank based on described movable information.
Further, described control unit, after sweeping the movable information dragging integral type clean robot described in obtaining, is also based on
Described movable information sweeps the direction of motion dragging integral type clean robot, if described sweeping drags integral type clean robot described in judging
For setback, then control and do not powered to described control water solenoid valve by described energising contact, so that described passage and institute
The path stated between electromagnetic valve connector disconnects, and realizes water tank and stops infiltration.
Further, described control unit, after sweeping the movable information dragging integral type clean robot described in obtaining, is also based on
Described movable information sweeps, described in judging, the kinestate dragging integral type clean robot, if described sweep support integral type clean robot
For halted state, then control and do not powered to described control water solenoid valve by described energising contact, so that described passage and institute
The path stated between electromagnetic valve connector disconnects, and realizes water tank and stops infiltration.
Further, described sweeping drags integral type clean robot also to include code-disc；Described control unit obtains described code-disc
Rotating speed, and sweep, based on described in rotating speed acquisition, the movable information dragging integral type clean robot.
Further, described sweeping drags integral type clean robot also to include motion detection sensor；Described motion detection passes
Sensor is Hall element, grating, gyroscope and/or laser scanner, drags integral type clean robot for sweeping described in obtaining
Movable information, and the movable information of acquisition is sent to described control unit.
Propose one kind and sweep to drag that integral type clean robot is uniformly wet to drag control method, described sweeping drags integral type clean robot
Including fuselage, water tank and control water solenoid valve；Described water tank is mounted on the bottom of described fuselage；Described water tank bottom offers infiltration
Mouthful；Described control water solenoid valve includes be energized contact, passage and the electromagnetic valve connector communicating with described passage；Described water tank
On offer water tank blow vent；Described electromagnetic valve connector is connected with described water tank blow vent by connecting tube；Described sweeping drags one
Body formula clean robot is uniformly wet to drag control method to include: sweeps the movable information dragging integral type clean robot described in acquisition；Base
Sweep, described in obtaining in described movable information, the speed of service dragging integral type clean robot；Passed through based on the described speed of service
The break-make duration of electrical current of described energising contact supply described control water solenoid valve and/or frequency；According to described break-make duration
And/or frequency powers to described energising contact, so that the path between described passage and described electromagnetic valve connector is based on
Described break-make duration and/or frequency on-off, realize controlling infiltration duration and/or the frequency of described water tank based on described movable information
Rate.
Further, after sweeping the movable information dragging integral type clean robot described in obtaining, methods described also includes: base
Sweep, described in judging in described movable information, the direction of motion dragging integral type clean robot；If described sweeping drags integral type cleaning machine
Artificial setback, then controlled and do not powered to described control water solenoid valve by described energising contact so that described passage with
Path between described electromagnetic valve connector disconnects, and realizes water tank and stops infiltration.
Further, after sweeping the movable information dragging integral type clean robot described in obtaining, methods described also includes: base
Sweep, described in judging in described movable information, the kinestate dragging integral type clean robot；If described sweep support integral type cleaning machine
Artificial halted state, then controlled and do not powered to described control water solenoid valve by described energising contact so that described passage with
Path between described electromagnetic valve connector disconnects, and realizes water tank and stops infiltration.
Further, described sweeping drags integral type clean robot to include code-disc；Then sweep described in described acquisition and drag integral type
The movable information of clean robot, particularly as follows: obtain the rotating speed of described code-disc；Sweep described in rotating speed acquisition based on described code-disc and drag
The movable information of integral type clean robot.
Further, described sweeping drags integral type clean robot to include motion sensor；Then sweep described in described acquisition
Drag the movable information of integral type clean robot, particularly as follows: obtaining the induction information of described motion sensor；Based on described sensing
The movable information dragging integral type clean robot is swept described in information acquisition；Wherein, described motion sensor is Hall element, light
Grid, gyroscope and/or laser scanner.
Compared with prior art, the advantage of the application and good effect are: integral type cleaner is dragged in sweeping that the application proposes
Device people and its uniformly wet drag in control method, the electromagnetic valve connector of the blow vent of the water tank of robot and control water solenoid valve is even
Connect, and electromagnetic valve connector and the passage of control water solenoid valve have a path, control water solenoid valve by the break-make of control access Lai
Realize communicating of water tank and air, when water tank is communicated with gas, water tank is outwards seeped water by seepage mouth, cuts with gas in water tank
During open close road, water tank stops infiltration, based on this, in the embodiment of the present application, drags the integral type clean robot fortune of itself by sweeping
Controlling to adjust break-make duration and/or the frequency of water solenoid valve, the difference based on break-make duration and/or frequency is Lai real for dynamic information
Existing different water percolating capacities, so that water tank outwards seeps water also different according to the difference of movable information for the water yield that mops floor, do
Though to water yield different can the uniform wet technique effect dragging, for example, robot move ahead sweep drag when, according to the speed of service
Difference adjusting the control break-make duration of water solenoid valve and/or frequency, when movement velocity is fast, lengthen energization period, reduce disconnected
Electric duration and/or increase break-make frequency to improve water percolating capacity, and when movement velocity is slow, when reducing a logical point duration, increasing power-off
Long and/or reduce break-make frequency to reduce water percolating capacity, it is to avoid to mop floor when speed of sweeping the floor is fast thoroughly and speed of sweeping the floor is slow
When remain the water stain technical problem such as excessive, accomplish uniformly wet dragging；When robot stops or retreats, control water solenoid valve is controlled to lead to
Path passage and described electromagnetic valve connector between be electrically cut off, stop outwards seeping water, it is to avoid robot stop or after
Continue outwards infiltration when moving back and cause seeping phenomenon.
After the detailed description of the application embodiment is read in conjunction with the accompanying, other features of the application and advantage will become more
Plus it is clear.
Brief description
Fig. 1 sweeps, for what the application proposed, the structure chart dragging integral type clean robot；
Fig. 2 drags the integral type clean robot uniformly wet flow chart dragging control method for sweeping of proposing of the application.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the application is described in more detail.
The application aim to provide one kind sweep drag integral type clean robot and its uniformly wet drag control method, solve existing
Sweep the wet of towed clean robot presence and drag uneven technical problem.
As shown in figure 1, sweeping of the application proposition drags integral type clean robot to include fuselage 11, water tank 12 and control water power magnetic
Valve 13；Water tank 12 is mounted on the bottom of fuselage 11；Control unit (not shown) is included in fuselage 11；Water tank 12 bottom offers
Seepage mouth；Control water solenoid valve 13 is installed on the upside of water tank 12；The upside of water tank 12 offers water tank blow vent 14；Control water
Electromagnetic valve includes be energized contact 131, passage 132 and the electromagnetic valve connector 133 communicating with passage；Electromagnetic valve connector
133 are connected with water tank blow vent 14 by connecting tube；Connecting line and fuselage interior are passed through in the energising contact 131 of control water solenoid valve 13
Control unit connect.
Control unit is used for obtaining sweeps the movable information dragging integral type clean robot, and obtains sweeping based on movable information and drag one
The speed of service of body formula clean robot, is controlled by the logical of contact 131 supply control water solenoid valve 13 that be energized based on the speed of service
The break-make duration of electric current and/or frequency, so that the path between passage 132 and electromagnetic valve connector 133 is based on break-make
Duration and/or frequency on-off, realize controlling infiltration duration and/or the frequency of water tank based on movable information.
In the application, sweep the blow vent 14 of the water tank 12 dragging integral type clean robot and the electromagnetic valve of control water solenoid valve 13
Connector 133 connects, and electromagnetic valve connector 133 and the passage 132 of control water solenoid valve have path (not shown), control
Water solenoid valve 13 realizes communicating of water tank 12 and air, when water tank 12 is communicated, water with gas by the break-make of control access
Case 12 is outwards seeped water by seepage mouth, and when water tank 12 is with gas cut-out path, water tank 12 stops infiltration.
In practical application, if barrier is relatively more within doors, clean robot can constantly start, accelerates, slows down, stop
Stop or fall back, when clean robot accelerates or slows down, if water tank at the uniform velocity water outlet, water outlet in accelerator certainly will be caused
Relatively too slow, thus causing the halfway result that mops floor, and water outlet is relatively too fast in moderating process, thus can be because going out aqueous phase
To excessive and cause the result of hydrops.
Based on above-mentioned, in the embodiment of the present application, the integral type clean robot movable information of itself is dragged to control by sweeping
Adjust the control break-make duration of water solenoid valve and/or frequency, the difference based on break-make duration and/or frequency is realizing different infiltrations
Amount so that water tank outwards seep water also different according to the difference of movable information for the water yield that mops floor, although accomplishing water yield
Uneven but being capable of the uniform wet technique effect dragging.
For example, robot move ahead sweep drag when, the difference according to the speed of service come adjust control water solenoid valve break-make duration
And/or frequency, when movement velocity is fast, lengthens energization period, minimizing power-off duration and/or increase break-make frequency and oozed with improving
The water yield, and when movement velocity is slow, reduces logical point duration, increase power-off duration and/or reduce break-make frequency to reduce infiltration
Amount, it is to avoid mop floor when speed of sweeping the floor is fast remain the water stain technical problem such as excessive thoroughly and when speed of sweeping the floor is slow, accomplish
Uniformly wet drag.
Here movable information including but not limited to sweep drag the speed of service of integral type clean robot, the direction of motion,
Kinestate etc..
For example, after control unit sweeps the movable information dragging integral type clean robot in acquisition, therefrom parse to sweep and drag one
The direction of motion of formula clean robot, and judge to sweep and drag the direction of motion of integral type clean robot to be forward travel, longitudinally transport
Move or setback, if sweep dragging the artificial setback of integral type cleaning machine, controlling and not passing through to be energized contact 131 to control
Water solenoid valve 13 is powered, so that the path between passage 132 and electromagnetic valve connector 133 disconnects, realizes water tank and stops oozing
Water.
Again for example, after control unit sweeps the movable information dragging integral type clean robot in acquisition, therefrom parse to sweep and drag one
The kinestate of body formula clean robot is to move also to be off, if sweeping the support artificial halted state of integral type cleaning machine, controls
System is not passed through energising contact 131 and is powered to control water solenoid valve 13, so that between passage 132 and electromagnetic valve connector 133
Path disconnects, and realizes water tank and stops infiltration.
More than, it is accomplished that when robot stops or retreats, control control water solenoid valve energising cut-out passage and institute
State the path between electromagnetic valve connector, stop outwards seeping water, it is to avoid robot continues in stopping or retrogressing outwards to seep water
Cause seeping phenomenon.
In the embodiment of the present application, the acquisition of operation information can be calculated by setting up moving coordinate system, it is possible to use motion
Detection sensor is obtaining it might even be possible to the operating condition of code-disc based on robot itself obtains.
For example, sweeping drags integral type clean robot all to include code-disc, and code-disc is typically mounted on the driving of clean robot
On electric machine main shaft；Control unit can obtain the rotating speed of code-disc, and be calculated based on rotating speed to sweep and drag integral type clean robot
Movable information, calculates the traffic direction of clean robot including the rotation direction according to code-disc, is calculated according to velocity of rotation and runs
Speed and kinestate etc..
Again for example, drag setting motion detection sensor in integral type clean robot sweeping；Motion detection sensor is suddenly
That element, grating, gyroscope and/or laser scanner, these sensors can obtain sweeps the fortune dragging integral type clean robot
Dynamic information, and the movable information of acquisition is sent to control unit, control unit parses the speed of service, motion further according to movable information
The information such as direction, kinestate.
The application also proposes one kind and sweeps to drag that integral type clean robot is uniformly wet to drag control method, is applied to set forth above
Sweep and drag in integral type clean robot, realize the uniformly wet technique effect dragging, as shown in Fig. 2 the method comprises the steps:
Step s21: obtain and sweep the movable information dragging integral type clean robot.
As it was previously stated, the acquisition of movable information can be calculated by setting up moving coordinate system, it is possible to use motion detection passes
Sensor is obtaining it might even be possible to the operating condition of code-disc based on robot itself obtains.
Step s22: obtain sweeping the speed of service dragging integral type clean robot based on movable information.
Step s23: when obtaining the break-make by the electrical current of the contact supply control water solenoid valve that is energized based on the speed of service
Length and/or frequency.
In actual applications, the break-make duration of electrical current of control water solenoid valve and/frequency, the corresponding no speed of service
The parameter being provided with setting can be searched, and for speed of service situation faster, corresponding energization period length, energising frequency are fast, disconnected
Length when electric, and for the slower situation of the speed of service, corresponding energization period is short, power-off duration length, energising frequency are slow etc..
Step s24: power to energising contact according to break-make duration and/or frequency.
Communication between passage and electromagnetic valve connector during energising, water tank is communicated with air, then the water in water tank
Ooze out water tank by seepage mouth to drag for wet, during power-off, the path between passage and electromagnetic valve connector interrupts, in water tank
Water retention only oozes out, and therefore, based on break-make duration and/or frequency on-off, is accomplished that and controls oozing of water tank based on movable information
Water duration and/or frequency, infiltration duration and/or frequency are different, then water percolating capacity is also different.Hereby it is achieved that be to drag one by sweeping
The body formula clean robot movable information of itself controlling to adjust break-make duration and/or the frequency of water solenoid valve, thus being based on
The difference of break-make duration and/or frequency come to realize different water percolating capacities so that water tank outwards seep water for the water yield that mops floor according to
The difference of movable information is also different, although accomplish that water yield is uneven being capable of the uniform wet technique effect dragging.
Sweeping that the embodiment of the present application proposes drags that integral type clean robot is uniformly wet to be dragged in control method, sweeps in acquisition and drags one
After the movable information of body formula clean robot, it is based further on movable information and judges to sweep the motion side dragging integral type clean robot
To or kinestate, if sweep dragging the artificial setback of integral type cleaning machine or halted state, controlling do not pass through energising touch
Point is powered to control water solenoid valve, so that the path between passage and electromagnetic valve connector disconnects, realizes water tank and stops infiltration,
It is accomplished that when robot stops or retreats, control control water solenoid valve energising cut-out passage and described electromagnetic valve connector
Between path, stop outwards seeping water, it is to avoid robot continues in stopping or retrogressing outwards to seep water and causes seeping phenomenon.
Obtain and sweep the movable information dragging integral type clean robot, can be by obtaining the rotating speed of code-disc, based on code-disc
Rotating speed is obtaining；Or, sweep drag on integral type clean robot setting include such as Hall element, grating, gyroscope and/or
The motion sensor of laser scanner, by obtaining the induction information of motion sensor, is obtained based on induction information.
What above-mentioned the application proposed sweep drag integral type clean robot and its uniformly wet drag in control method, clean robot
Can sweep the floor simultaneously and mop floor, the break-make duration of control water solenoid valve can be changed based on movable information and/or frequency changes water
The water percolating capacity of case, reaches the uniformly wet purpose dragged, improves cleaning effect.
It should be noted that described above is not limitation of the present invention, the present invention is also not limited to the example above,
Change, remodeling, interpolation or replacement that those skilled in the art are made in the essential scope of the present invention, also should
Belong to protection scope of the present invention.
Claims (10)
1. one kind is swept and is dragged integral type clean robot, including fuselage and water tank；Described water tank is mounted on the bottom of described fuselage；Institute
State and in fuselage, include control unit；Described water tank bottom offers seepage mouth；It is characterized in that, also include controlling water solenoid valve；Described
Control water solenoid valve includes be energized contact, passage and the electromagnetic valve connector communicating with described passage；
Water tank blow vent is offered on described water tank；Described electromagnetic valve connector passes through connecting tube with described water tank blow vent even
Connect；The energising contact of described control water solenoid valve is connected with the control unit of described fuselage interior by connecting line；
Described control unit, for sweeping the movable information dragging integral type clean robot described in obtaining, and is based on described movable information
Sweep the speed of service dragging integral type clean robot described in obtaining, controlled based on the described speed of service and supplied by described energising contact
Break-make duration to the electrical current of described control water solenoid valve and/or frequency, so that described passage is with described electromagnetic valve even
Path between interface is based on described break-make duration and/or frequency on-off, realizes controlling described water based on described movable information
The infiltration duration of case and/or frequency.
2. according to claim 1 sweeping drags integral type clean robot it is characterised in that described control unit is described in acquisition
Sweep after dragging the movable information of integral type clean robot, be also based on described movable information judge described in sweep and drag integral type cleaning machine
The direction of motion of people, if described sweeping drags the artificial setback of integral type cleaning machine, control not by described energising contact to
Described control water solenoid valve is powered, so that the path between described passage and described electromagnetic valve connector disconnects, realizes water tank
Stop infiltration.
3. according to claim 1 sweeping drags integral type clean robot it is characterised in that described control unit is described in acquisition
Sweep after dragging the movable information of integral type clean robot, be also based on described movable information judge described in sweep and drag integral type cleaning machine
The kinestate of people, if described sweep support the artificial halted state of integral type cleaning machine, control not by described energising contact to
Described control water solenoid valve is powered, so that the path between described passage and described electromagnetic valve connector disconnects, realizes water tank
Stop infiltration.
4. according to claim 1 sweeping drags integral type clean robot it is characterised in that described sweeping drags integral type cleaner
Device people also includes code-disc；Described control unit obtains the rotating speed of described code-disc, and drags integral type to clean based on sweeping described in rotating speed acquisition
The movable information of robot.
5. according to claim 1 sweeping drags integral type clean robot it is characterised in that described sweeping drags integral type cleaner
Device people also includes motion detection sensor；
Described motion detection sensor is Hall element, grating, gyroscope and/or laser scanner, drags for sweeping described in obtaining
The movable information of integral type clean robot, and the movable information of acquisition is sent to described control unit.
6. one kind is swept and is dragged that integral type clean robot is uniformly wet to drag control method, and described sweeping drags integral type clean robot to include machine
Body, water tank and control water solenoid valve；Described water tank is mounted on the bottom of described fuselage；Described water tank bottom offers seepage mouth；Institute
State control water solenoid valve and include be energized contact, passage and the electromagnetic valve connector communicating with described passage；Open on described water tank
It is provided with water tank blow vent；Described electromagnetic valve connector is connected with described water tank blow vent by connecting tube；It is characterized in that, institute
State to sweep and drag that integral type clean robot is uniformly wet to drag control method to include:
The movable information dragging integral type clean robot is swept described in acquisition；
Based on described movable information obtain described in sweep the speed of service dragging integral type clean robot；
When obtaining the break-make by the electrical current of described energising contact supply described control water solenoid valve based on the described speed of service
Length and/or frequency；
Powered to described energising contact according to described break-make duration and/or frequency, so that described passage and described electromagnetic valve
Path between connector is based on described break-make duration and/or frequency on-off, realizes described based on described movable information control
The infiltration duration of water tank and/or frequency.
7. according to claim 6 sweeping drags that integral type clean robot is uniformly wet to drag control method it is characterised in that obtaining
Sweep described in taking after dragging the movable information of integral type clean robot, methods described also includes:
Sweep the direction of motion dragging integral type clean robot based on described in the judgement of described movable information；
If described sweeping drags the artificial setback of integral type cleaning machine, control not by described energising contact to described control water power
Solenoid valve, so that the path between described passage and described electromagnetic valve connector disconnects, realizes water tank and stops infiltration.
8. according to claim 6 sweeping drags that integral type clean robot is uniformly wet to drag control method it is characterised in that obtaining
Sweep described in taking after dragging the movable information of integral type clean robot, methods described also includes:
Sweep the kinestate dragging integral type clean robot based on described in the judgement of described movable information；
If described sweep the support artificial halted state of integral type cleaning machine, control not by described energising contact to described control water power
Solenoid valve, so that the path between described passage and described electromagnetic valve connector disconnects, realizes water tank and stops infiltration.
9. according to claim 6 sweeping drags that integral type clean robot is uniformly wet to drag control method it is characterised in that described
Sweep and drag integral type clean robot to include code-disc；Then sweep, described in described acquisition, the movable information dragging integral type clean robot,
Particularly as follows:
Obtain the rotating speed of described code-disc；
Rotating speed based on described code-disc sweeps, described in obtaining, the movable information dragging integral type clean robot.
10. according to claim 6 sweeping drags that integral type clean robot is uniformly wet to drag control method it is characterised in that institute
Stating to sweep drags integral type clean robot to include motion sensor；Then sweep described in described acquisition and drag integral type clean robot
Movable information, particularly as follows:
Obtain the induction information of described motion sensor；
Sweep the movable information dragging integral type clean robot based on described in the acquisition of described induction information；
Wherein, described motion sensor is Hall element, grating, gyroscope and/or laser scanner.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610890825.4A CN106335067B (en) | 2016-10-13 | 2016-10-13 | Sweeping and mopping integrated cleaning robot and uniform wet mopping control method thereof |
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| CN201610890825.4A CN106335067B (en) | 2016-10-13 | 2016-10-13 | Sweeping and mopping integrated cleaning robot and uniform wet mopping control method thereof |
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| CN106335067B CN106335067B (en) | 2022-04-26 |
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| CN108784548A (en) * | 2018-08-29 | 2018-11-13 | 珠海市微半导体有限公司 | A kind of cisten mechanism and clean robot |
| CN108784548B (en) * | 2018-08-29 | 2023-09-05 | 珠海一微半导体股份有限公司 | Water tank structure and cleaning robot |
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| WO2023236685A1 (en) * | 2022-06-09 | 2023-12-14 | 速感科技（北京）有限公司 | Mopping robot, water spraying control method and apparatus therefor, and readable storage medium |
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Address after: 266111 No. 127 Huizhiqiao Road, Qingdao High-tech Zone, Shandong Province C1-301, Science Park of Qingdao National University Applicant after: Qingdao Tabor Robot Technology Co.,Ltd. Address before: 266101 Haier Road, Laoshan District, Qingdao, Qingdao, Shandong Province, No. 1 Applicant before: QINGDAO TAB ROBOT TECHNOLOGY Co.,Ltd. |
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Address after: 266111 No. 127 Huizhiqiao Road, Qingdao High-tech Zone, Shandong Province C1-301, Science Park of Qingdao National University Patentee after: Haier Robotics (Qingdao) Co.,Ltd. Address before: 266111 No. 127 Huizhiqiao Road, Qingdao High-tech Zone, Shandong Province C1-301, Science Park of Qingdao National University Patentee before: Qingdao Tabor Robot Technology Co.,Ltd. |