CN106335067B - 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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- CN106335067B CN106335067B CN201610890825.4A CN201610890825A CN106335067B CN 106335067 B CN106335067 B CN 106335067B CN 201610890825 A CN201610890825 A CN 201610890825A CN 106335067 B CN106335067 B CN 106335067B
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- cleaning robot
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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
Abstract
The invention discloses a sweeping and mopping integrated cleaning robot and a uniform wet mopping control method thereof, which solve the technical problem of nonuniform wet mopping of the existing sweeping and mopping type cleaning robot. The control part obtains the running speed of the sweeping and mopping integrated cleaning robot based on the motion information after obtaining the motion information of the sweeping and mopping integrated cleaning robot, obtains the on-off duration and/or frequency of the electrifying current supplied to the water control electromagnetic valve through the electrifying contact based on the running speed, and supplies power to the electrifying contact according to the on-off duration and/or frequency, so that a passage between the vent hole and the electromagnetic valve connecting port is on or off based on the on-off duration and/or frequency, the control of the water seepage duration and/or frequency of the water tank based on the motion information is realized, different water seepage amounts are adjusted according to the running speed, the incomplete wet mopping when the running speed is high is avoided, the water accumulation when the running speed is low is avoided, and the purpose of uniform wet mopping is achieved.
Description
Technical Field
The invention belongs to the technical field of sweeping robots, and particularly relates to a sweeping and mopping integrated cleaning robot and a uniform wet mopping control method thereof.
Background
The floor cleaning robot can automatically complete floor cleaning work in a room by means of certain artificial intelligence, and is a common household appliance for office workers or modern families.
At present, a part of sweeping robots are also designed with a mopping function, and the sweeping robots are provided with water tanks to complete sweeping and mopping at one time in a front sweeping and rear mopping mode.
However, the existing sweeping and mopping integrated cleaning robot generally controls water outlet of the water tank through an electronic switch, the electronic switch is turned on in the sweeping process to enable water to seep out of the water tank, and the electronic switch is turned off after sweeping is finished so as to turn off the water outlet, but the control mode has the following problems: the electronic switch controls the water outlet mode, the water outlet speed is uniform, but the running speed of the sweeping robot is changed by the ground environment and the condition of obstacles, so that when the sweeping robot is stopped or the speed is too slow, the water outlet speed is relatively too high, water stains in a corresponding area after mopping is finished are excessive, and when the running speed of an open area is high, the water outlet speed is relatively slow, and the mopping of the corresponding area is incomplete; above, the technical problem of uneven wet mopping is caused.
Disclosure of Invention
The application provides a sweeping and mopping integrated cleaning robot and an even wet mopping control method thereof, and solves the technical problem that the existing sweeping and mopping integrated cleaning robot is uneven in wet mopping.
In order to solve the technical problems, the application adopts the following technical scheme:
the sweeping and mopping integrated cleaning robot comprises a robot body and a water tank; the water tank is hung on the lower part of the machine body; the machine body internally comprises a control part; the bottom of the water tank is provided with a water seepage port; the water control electromagnetic valve is also included; the water control electromagnetic valve comprises a power-on contact, a vent hole and an electromagnetic valve connecting port communicated with the vent hole; a water tank air vent is formed in the water tank; the electromagnetic valve connecting port is connected with the water tank air vent through a connecting pipe; the power-on contact of the water control electromagnetic valve is connected with the control part in the machine body through a connecting wire; the control part is used for acquiring motion information of the sweeping and mopping integrated cleaning robot, obtaining the running speed of the sweeping and mopping integrated cleaning robot based on the motion information, controlling the on-off duration and/or frequency of the electrifying current supplied to the water control electromagnetic valve through the electrifying contact based on the running speed, and enabling the air vent and a passage between the electromagnetic valve connecting ports to be on or off based on the on-off duration and/or frequency, so that the water seepage duration and/or frequency of the water tank are controlled based on the motion information.
Further, the control part is acquireing sweep behind the motion information who drags integral type cleaning machines people, still be based on the motion information is judged sweep the direction of motion of dragging integral type cleaning machines people, if sweep and drag integral type cleaning machines people for the motion of retreating, then control does not pass through the circular telegram contact gives the power supply of accuse water solenoid valve, so that the air vent with route disconnection between the solenoid valve connector realizes that the water tank stops the infiltration.
Further, the control part is acquireing sweep behind the motion information who drags integral type cleaning machines people, still be based on the motion information is judged sweep the motion state of dragging integral type cleaning machines people, if sweep and hold in the palm the integral type cleaning machines people for the off-state, then control does not pass through the circular telegram contact gives the power supply of accuse water solenoid valve, so that the air vent with route disconnection between the solenoid valve connector realizes that the water tank stops the infiltration.
Further, the sweeping and mopping integrated cleaning robot also comprises a coded disc; the control part acquires the rotating speed of the code wheel and acquires the motion information of the sweeping and mopping integrated cleaning robot based on the rotating speed.
Further, the sweeping and mopping integrated cleaning robot further comprises a motion detection sensor; the motion detection sensor is a Hall element, a grating, a gyroscope and/or a laser scanner and is used for acquiring motion information of the sweeping and mopping integrated cleaning robot and sending the acquired motion information to the control part.
The sweeping and mopping integrated cleaning robot comprises a body, a water tank and a water control electromagnetic valve; the water tank is hung on the lower part of the machine body; the bottom of the water tank is provided with a water seepage port; the water control electromagnetic valve comprises a power-on contact, a vent hole and an electromagnetic valve connecting port communicated with the vent hole; a water tank air vent is formed in the water tank; the electromagnetic valve connecting port is connected with the water tank air vent through a connecting pipe; the control method for uniformly wetting the sweeping and mopping integrated cleaning robot comprises the following steps: acquiring motion information of the sweeping and mopping integrated cleaning robot; obtaining the running speed of the sweeping and mopping integrated cleaning robot based on the motion information; obtaining the on-off duration and/or frequency of the electrifying current supplied to the water control electromagnetic valve through the electrifying contact on the basis of the running speed; and supplying power to the electrifying contact according to the on-off duration and/or the frequency, so that the passage between the vent hole and the electromagnetic valve connecting port is on or off based on the on-off duration and/or the frequency, and the water seepage duration and/or the frequency of the water tank are controlled based on the motion information.
Further, after obtaining the motion information of the sweeping and mopping integrated cleaning robot, the method further comprises: judging the movement direction of the sweeping and mopping integrated cleaning robot based on the movement information; if the sweeping and mopping integrated cleaning robot moves backwards, the water control electromagnetic valve is not powered by the power-on contact, so that a passage between the air vent and the electromagnetic valve connecting port is disconnected, and the water tank stops water seepage.
Further, after obtaining the motion information of the sweeping and mopping integrated cleaning robot, the method further comprises: judging the motion state of the sweeping and mopping integrated cleaning robot based on the motion information; if the sweeping and supporting integrated cleaning robot is in a stop state, the water control electromagnetic valve is not powered by the power-on contact, so that a passage between the air vent and the electromagnetic valve connecting port is disconnected, and the water tank stops water seepage.
Further, the sweeping and mopping integrated cleaning robot comprises a coded disc; then the acquiring of the motion information of the sweeping and mopping integrated cleaning robot is specifically as follows: acquiring the rotating speed of the code disc; and obtaining the motion information of the sweeping and mopping integrated cleaning robot based on the rotating speed of the coded disc.
Further, the sweeping and mopping integrated cleaning robot comprises a motion sensor; then, the acquiring of the motion information of the sweeping and mopping integrated cleaning robot is specifically as follows: acquiring sensing information of the motion sensor; obtaining motion information of the sweeping and mopping integrated cleaning robot based on the induction information; wherein the motion sensor is a Hall element, a grating, a gyroscope and/or a laser scanner.
Compared with the prior art, the application has the advantages and positive effects that: in the sweeping and mopping integrated cleaning robot and the uniform wet mopping control method thereof, a vent hole of a water tank of the robot is connected with a solenoid valve connector of a water control solenoid valve, the solenoid valve connector and a vent hole of the water control solenoid valve are provided with a passage, the water control solenoid valve realizes the communication between the water tank and air by controlling the on-off of the passage, when the water tank is communicated with gas, the water tank seeps water outwards through a seepage hole, when the water tank is cut off from the gas, the water tank stops seeping water, based on the above, in the embodiment of the application, the on-off duration and/or frequency of the water control solenoid valve are controlled and adjusted by the motion information of the sweeping and mopping integrated cleaning robot, different seepage amounts are realized based on the difference of the on-off duration and/or frequency, the water amount of the water tank seeping water outwards for mopping is different according to the difference of the motion information, and the technical effect of uniform wet mopping can be realized although the water amount is different, for example, when the robot moves forwards for sweeping, the on-off duration and/or frequency of the water control electromagnetic valve are/is adjusted according to the difference of the running speeds, when the moving speed is high, the power-on duration is lengthened, the power-off duration is reduced, and/or the on-off frequency is increased to improve the water seepage amount, and when the moving speed is low, the on-off duration is reduced, the power-off duration is increased, and/or the on-off frequency is reduced to reduce the water seepage amount, so that the technical problems that the floor is not thoroughly swept when the sweeping speed is high, the residual water stain is excessive when the sweeping speed is low and the like are avoided, and the uniform wet mopping is realized; when the robot stops or retreats, the water control electromagnetic valve is controlled to be electrified to cut off a passage between the vent hole and the electromagnetic valve connecting port, outward water seepage is stopped, and the phenomenon of water accumulation caused by the fact that the robot continues to seep outward when the robot stops or retreats is avoided.
Other features and advantages of the present application will become more apparent from the detailed description of the embodiments of the present application when taken in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a structural view of a sweeping and mopping integrated cleaning robot proposed by the present application;
fig. 2 is a flowchart of a method for controlling uniform wet mopping of the sweeping and mopping integrated cleaning robot.
Detailed Description
The following describes embodiments of the present application in further detail with reference to the accompanying drawings.
The application aims to provide a sweeping and mopping integrated cleaning robot and an even wet mopping control method thereof, and solves the technical problem that the existing sweeping and mopping integrated cleaning robot is uneven in wet mopping.
As shown in fig. 1, the sweeping and mopping integrated cleaning robot provided by the present application includes a body 11, a water tank 12 and a water control solenoid valve 13; the water tank 12 is hung on the lower part of the machine body 11; the body 11 includes a control section (not shown in the drawings); the bottom of the water tank 12 is provided with a water seepage port; the water control electromagnetic valve 13 is arranged at the upper side end of the water tank 12; a water tank air vent 14 is formed at the upper side end of the water tank 12; the water control electromagnetic valve comprises an electrifying contact 131, a vent hole 132 and an electromagnetic valve connecting port 133 communicated with the vent hole; the electromagnetic valve connecting port 133 is connected with the water tank air vent 14 through a connecting pipe; the power-on contact 131 of the water control solenoid valve 13 is connected to a control unit inside the body through a connection wire.
The control part is used for acquiring the motion information of the sweeping and mopping integrated type cleaning robot, obtaining the running speed of the sweeping and mopping integrated type cleaning robot based on the motion information, and controlling the on-off duration and/or frequency of the electrifying current supplied to the water-controlling electromagnetic valve 13 through the electrifying contact 131 based on the running speed, so that the passage between the vent hole 132 and the electromagnetic valve connecting port 133 is on or off based on the on-off duration and/or frequency, and the water seepage duration and/or frequency of the water tank are controlled based on the motion information.
In this application, the air vent 14 of the water tank 12 of the sweeping and mopping integrated cleaning robot is connected to the solenoid valve connecting port 133 of the water control solenoid valve 13, the solenoid valve connecting port 133 and the air vent 132 of the water control solenoid valve have a passage (not shown in the figure), the water control solenoid valve 13 realizes the communication between the water tank 12 and the air by controlling the on-off of the passage, when the water tank 12 is communicated with the air, the water tank 12 seeps water through the water seepage port, and when the water tank 12 is cut off the passage with the air, the water tank 12 stops seeping water.
In practical application, if the number of obstacles is large in a room, the cleaning robot can be continuously started, accelerated, decelerated, stopped or backed up, when the cleaning robot is accelerated or decelerated, if the water tank discharges water at a constant speed, the water discharge in the acceleration process is necessarily relatively slow, so that the result of incomplete mopping is caused, and the water discharge in the deceleration process is relatively fast, so that the result of water accumulation is caused because the water discharge is relatively excessive.
Based on the above, in the embodiment of the application, the on-off duration and/or frequency of the water control electromagnetic valve are controlled and adjusted through the motion information of the sweeping and mopping integrated cleaning robot, different water seepage amounts are realized based on the on-off duration and/or frequency, so that the water amount of the water tank for seeping water outwards for mopping the floor is different according to different motion information, and the technical effect of uniform wet mopping although the water outflow amount is not uniform is achieved.
For example, when the robot moves forwards for sweeping, the on-off duration and/or frequency of the water control electromagnetic valve are/is adjusted according to the difference of the running speeds, when the moving speed is high, the power-on duration is lengthened, the power-off duration is reduced, and/or the on-off frequency is increased to improve the water seepage amount, and when the moving speed is low, the on-off duration is reduced, the power-off duration is increased, and/or the on-off frequency is reduced to reduce the water seepage amount, so that the technical problems that the floor is not thoroughly swept when the sweeping speed is high, the residual water stain is excessive when the sweeping speed is low and the like are solved, and the uniform wet mopping is realized.
The motion information here includes, but is not limited to, the running speed, the moving direction, the moving state, and the like of the sweep-and-drag type cleaning robot.
For example, the control unit obtains the motion information of the cleaning robot, analyzes the motion direction of the cleaning robot, and determines whether the motion direction of the cleaning robot is forward, longitudinal, or backward, and controls the water control solenoid valve 13 not to be supplied with power through the power contact 131 so that the passage between the vent hole 132 and the solenoid valve connection port 133 is disconnected to stop the water tank from leaking water if the cleaning robot is backward.
For another example, the control unit obtains the motion information of the cleaning robot integrated with the mop, analyzes whether the motion state of the cleaning robot integrated with the mop is motion or stop, and controls the water control solenoid valve 13 not to be supplied with power through the power contact 131 so that the passage between the vent hole 132 and the solenoid valve connection port 133 is disconnected to stop the water tank from leaking when the cleaning robot integrated with the mop is in the stop state.
In the above way, when the robot stops or retreats, the water control electromagnetic valve is controlled to be electrified to cut off the passage between the vent hole and the electromagnetic valve connecting port, so that outward water seepage is stopped, and the phenomenon of water accumulation caused by continuous outward water seepage when the robot stops or retreats is avoided.
In the embodiment of the application, the acquisition of the operation information can be measured and calculated by establishing a moving coordinate system, can be acquired by using a motion detection sensor, and even can be acquired based on the running state of a code wheel of the robot.
For example, the sweeping and mopping integrated cleaning robot comprises a code disc, and the code disc is usually arranged on a main shaft of a driving motor of the cleaning robot; the control part can acquire the rotating speed of the code disc and calculate the movement information of the cleaning robot based on the rotating speed, and the movement information comprises the steps of calculating the running direction of the cleaning robot according to the rotating direction of the code disc, calculating the running speed and the movement state according to the rotating speed and the like.
For another example, a motion detection sensor is provided in a sweeping-and-mopping integrated type cleaning robot; the motion detection sensors are hall elements, gratings, gyroscopes and/or laser scanners, and can acquire motion information of the cleaning robot and transmit the acquired motion information to the control unit, and the control unit analyzes information such as an operation speed, a motion direction and a motion state according to the motion information.
The application also provides a sweeping and mopping integrated cleaning robot uniform wet mopping control method, which is applied to the sweeping and mopping integrated cleaning robot, and achieves the technical effect of uniform wet mopping, as shown in fig. 2, the method comprises the following steps:
step S21: and acquiring the motion information of the sweeping and mopping integrated cleaning robot.
As described above, the acquisition of the motion information can be measured by establishing a moving coordinate system, can be acquired using a motion detection sensor, and can even be acquired based on the operating state of the code wheel of the robot itself.
Step S22: and obtaining the running speed of the sweeping and mopping integrated cleaning robot based on the motion information.
Step S23: the on-off duration and/or frequency of the energizing current supplied to the water control solenoid valve through the energizing contact is obtained based on the operating speed.
In practical application, the on-off duration and/or frequency of the electrifying current of the water control electromagnetic valve are set with set parameters corresponding to different running speeds, and can be searched, for the situation with higher running speed, the on-off duration, the on-off frequency and the on-off duration are corresponding, and for the situation with lower running speed, the on-off duration, the on-off frequency and the on-off frequency are corresponding.
Step S24: the energized contacts are energized according to an on-off duration and/or frequency.
When the water tank is powered on, the air vent is communicated with a passage between the electromagnetic valve connecting ports, the water tank is communicated with air, water in the water tank seeps out of the water tank through the water seepage port and is used for wet mopping, when the water tank is powered off, the passage between the air vent and the electromagnetic valve connecting ports is interrupted, and seepage of water in the water tank is stopped, so that on the basis of on-off time length and/or frequency on-off, the water seepage time length and/or frequency of the water tank are controlled on the basis of motion information, and when the water seepage time length and/or frequency are different, the water seepage amount is also different. Therefore, the duration and/or the frequency of the on-off time and/or the frequency of the water control electromagnetic valve are controlled and adjusted through the motion information of the sweeping and mopping integrated cleaning robot, different water seepage amounts are realized based on the duration and/or the frequency of the on-off time, the water quantity of the water tank for seeping water outwards for mopping the floor is different according to the difference of the motion information, and the technical effect that the mopping can be uniformly and wetly performed although the water outlet amount is not uniform is achieved.
In the sweeping and mopping integrated cleaning robot uniform wet mopping control method provided by the embodiment of the application, after the motion information of the sweeping and mopping integrated cleaning robot is acquired, the motion direction or the motion state of the sweeping and mopping integrated cleaning robot is further judged based on the motion information, if the sweeping and mopping integrated cleaning robot moves or stops for retreating, the control is not performed on the power supply of the water control electromagnetic valve through the power-on contact, so that the passage between the air vent and the electromagnetic valve connector is disconnected, the water tank stops seeping water, the realization is that when the robot stops or retreats, the water control electromagnetic valve is powered on to cut off the air vent and the passage between the electromagnetic valve connectors stops seeping water, and the phenomenon that the robot continues to seep water to cause seeper water when stopping or retreating is avoided.
The movement information of the sweeping and mopping integrated cleaning robot is obtained by obtaining the rotating speed of a code disc and based on the rotating speed of the code disc; alternatively, a motion sensor including, for example, a hall element, a grating, a gyroscope, and/or a laser scanner is provided on the sweep-and-drag integrated cleaning robot, and the motion sensor acquires sensing information by acquiring the sensing information of the motion sensor, and obtains the sensing information based on the sensing information.
In the sweeping and mopping integrated cleaning robot and the uniform wet mopping control method thereof, the cleaning robot can sweep and mop the floor simultaneously, the water seepage amount of the water tank can be changed by changing the on-off time and/or frequency of the water control electromagnetic valve based on the motion information, the purpose of uniform wet mopping is achieved, and the cleaning effect is improved.
It should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art should also make changes, modifications, additions or substitutions within the spirit and scope of the present invention.
Claims (10)
1. A sweeping and mopping integrated cleaning robot comprises a robot body and a water tank; the water tank is hung on the lower part of the machine body; the machine body internally comprises a control part; the bottom of the water tank is provided with a water seepage port; it is characterized by also comprising a water control electromagnetic valve; the water control electromagnetic valve comprises a power-on contact, a vent hole and an electromagnetic valve connecting port communicated with the vent hole;
a water tank air vent is formed in the water tank; the electromagnetic valve connecting port is connected with the water tank air vent through a connecting pipe; the power-on contact of the water control electromagnetic valve is connected with the control part in the machine body through a connecting wire;
the control part is used for acquiring motion information of the sweeping and mopping integrated cleaning robot, obtaining the running speed of the sweeping and mopping integrated cleaning robot based on the motion information, controlling the on-off duration and/or frequency of the electrifying current supplied to the water control electromagnetic valve through the electrifying contact based on the running speed, and enabling the air vent and a passage between the electromagnetic valve connecting ports to be on or off based on the on-off duration and/or frequency, so that the water seepage duration and/or frequency of the water tank are controlled based on the motion information.
2. The cleaning robot as claimed in claim 1, wherein the control unit determines the movement direction of the cleaning robot based on the movement information after acquiring the movement information of the cleaning robot, and controls the water control solenoid valve not to be powered through the power-on contact if the cleaning robot moves backward, so that the vent is disconnected from the solenoid valve connection port, and the water tank stops water seepage.
3. The cleaning robot as claimed in claim 1, wherein the control unit determines the movement status of the cleaning robot based on the movement information after acquiring the movement information of the cleaning robot, and controls the water control solenoid valve not to be powered through the power-on contact if the cleaning robot is in a stop status, so that the vent is disconnected from the solenoid valve connection port, and the water tank stops water seepage.
4. The integrated sweeping and mopping cleaning robot of claim 1, further comprising a code wheel; the control part acquires the rotating speed of the code wheel and acquires the motion information of the sweeping and mopping integrated cleaning robot based on the rotating speed.
5. The sweep-and-mop integrated cleaning robot as claimed in claim 1, further comprising a motion detection sensor;
the motion detection sensor is a Hall element, a grating, a gyroscope and/or a laser scanner and is used for acquiring motion information of the sweeping and mopping integrated cleaning robot and sending the acquired motion information to the control part.
6. A sweeping and mopping integrated cleaning robot uniform wet mopping control method is characterized in that the sweeping and mopping integrated cleaning robot comprises a robot body, a water tank and a water control electromagnetic valve; the water tank is hung on the lower part of the machine body; the bottom of the water tank is provided with a water seepage port; the water control electromagnetic valve comprises a power-on contact, a vent hole and an electromagnetic valve connecting port communicated with the vent hole; a water tank air vent is formed in the water tank; the electromagnetic valve connecting port is connected with the water tank air vent through a connecting pipe; the method is characterized in that the control method for uniformly wetting the sweeping and mopping integrated cleaning robot comprises the following steps:
acquiring motion information of the sweeping and mopping integrated cleaning robot;
obtaining the running speed of the sweeping and mopping integrated cleaning robot based on the motion information;
obtaining the on-off duration and/or frequency of the electrifying current supplied to the water control electromagnetic valve through the electrifying contact on the basis of the running speed;
and supplying power to the electrifying contact according to the on-off duration and/or the frequency, so that the passage between the vent hole and the electromagnetic valve connecting port is on or off based on the on-off duration and/or the frequency, and the water seepage duration and/or the frequency of the water tank are controlled based on the motion information.
7. The method of claim 6, wherein after obtaining the motion information of the cleaning robot, the method further comprises:
judging the movement direction of the sweeping and mopping integrated cleaning robot based on the movement information;
if the sweeping and mopping integrated cleaning robot moves backwards, the water control electromagnetic valve is not powered by the power-on contact, so that a passage between the air vent and the electromagnetic valve connecting port is disconnected, and the water tank stops water seepage.
8. The method of claim 6, wherein after obtaining the motion information of the cleaning robot, the method further comprises:
judging the motion state of the sweeping and mopping integrated cleaning robot based on the motion information;
if the sweeping and mopping integrated cleaning robot is in a stop state, the water control electromagnetic valve is not powered by the control through the power-on contact, so that a passage between the air vent and the electromagnetic valve connecting port is disconnected, and the water tank stops water seepage.
9. The method as claimed in claim 6, wherein the cleaning robot comprises a code disc; then the acquiring of the motion information of the sweeping and mopping integrated cleaning robot is specifically as follows:
acquiring the rotating speed of the code disc;
and obtaining the motion information of the sweeping and mopping integrated cleaning robot based on the rotating speed of the coded disc.
10. The method as claimed in claim 6, wherein the cleaning robot comprises a motion sensor; then the acquiring of the motion information of the sweeping and mopping integrated cleaning robot is specifically as follows:
acquiring sensing information of the motion sensor;
obtaining motion information of the sweeping and mopping integrated cleaning robot based on the induction information;
wherein the motion sensor is a Hall element, a grating, a gyroscope and/or a laser scanner.
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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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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. |