CN107137022B - Intelligent cleaning robot system - Google Patents
Intelligent cleaning robot system Download PDFInfo
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- CN107137022B CN107137022B CN201710456095.1A CN201710456095A CN107137022B CN 107137022 B CN107137022 B CN 107137022B CN 201710456095 A CN201710456095 A CN 201710456095A CN 107137022 B CN107137022 B CN 107137022B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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Abstract
The invention provides an intelligent cleaning robot system which comprises a robot, a control unit, a walking unit and a cleaning unit, wherein the control unit is electrically connected with the walking unit and the cleaning unit respectively, when the robot is in a rotary dragging mode, the installation positions of a water accumulator and a rolling cloth correspond to a dust box and a glue brush respectively, the water accumulator comprises a water cleaner and a sewage device, the sewage device collects sewage generated by rotation of the rolling cloth through a dust suction port, and a dirt detection module is arranged in the sewage device. The intelligent cleaning robot system provided by the invention can detect the dirt degree of a specific area and perform focused cleaning, and the cleaning mode comprises reciprocating cleaning or spiral cleaning or mop-like cleaning, so that the integral cleaning effect is good.
Description
Technical Field
The invention belongs to the field of intelligent cleaning equipment, and particularly relates to an intelligent cleaning robot system.
Background
The sweeping robot is also called an intelligent automatic dust collector or a robot dust collector, is popular among more and more families due to the effects of automatic cleaning and the like, and particularly for busy office workers, the intelligent sweeping robot is a magic device which can liberate people from rare holiday life.
A sweeping robot product on the market has three basic cleaning functions of sweeping, sucking and dragging, wherein the sweeping function is the basic function of the sweeping robot, garbage on the ground is collected into a dust box through a dust collection port through side sweeping and middle sweeping, and meanwhile, a fan rotates at a high speed to enable part of the garbage to pass through the dust box of the dust collection port. As for the floor mopping function, a water tank and a cleaning cloth are generally arranged behind a driving wheel at the bottom of the floor sweeping robot, and the cleaning cloth wipes the floor along with the travel of the robot according to a preset path plan, so that the floor mopping function of the floor sweeping robot is realized.
However, for cleaning the ground in a specific environment, effective cleaning cannot be achieved only by using a rag which is not closely attached to the ground, and a part of an area with high degree of dirt cannot be cleaned.
Therefore, although the existing sweeping robot has the function of mopping the floor, the effective cleaning effect on the floor cannot be realized, the mopping effect is far worse than that of manual mopping, and the experience of consumers is poor. In addition, what is more important is that the intelligent degree of the sweeping robot is too low, the dirty degree of the ground cannot be identified, and the ground cannot be cleaned effectively in a targeted manner by 'one-look-same-kernel'.
Disclosure of Invention
In order to solve the technical problems, the intelligent cleaning robot system provided by the invention is additionally provided with the water accumulator and the cloth rolling device, so that the floor mopping effect is effectively improved, and the technical problem that the cleaning effect of the conventional cleaning robot is poor is solved.
In addition, the intelligent cleaning robot system provided by the invention is provided with a dirt detection module arranged in the sewage device, the dirt degree of a specific area is detected, and the cleaning mode is mainly cleaning, and the cleaning mode comprises reciprocating type cleaning or spiral type cleaning or mop-like type cleaning, so that the integral cleaning effect is good.
In order to achieve the purposes and advantages, the invention provides the technical scheme as follows:
intelligent cleaning machines people system, including robot, the control unit, walking unit and clean unit, the control unit is connected with walking unit, clean unit electricity respectively, wherein: the robot comprises a top cover and a chassis, wherein a concave part is formed in the upper surface of the top cover, and a dust suction port is formed in the chassis; the walking unit comprises a driving wheel and at least one group of universal wheels which are arranged on the lower surface of the chassis, and the control unit drives the walking unit to move forwards, backwards or turn according to a signal fed back by the detection unit; the cleaning unit comprises a dust box and a rubber brush, when the robot is in a cleaning mode, the dust box is arranged at the concave part and forms a matching relation with the concave part, and the rubber brush is fixed on the lower surface of the chassis at the lower part of the dust suction port; the robot is characterized in that the cleaning unit further comprises a water storage device and a rolling cloth, and when the robot is in a rotary dragging mode, the installation positions of the water storage device and the rolling cloth respectively correspond to the dust box and the glue brush; the water accumulator comprises a water cleaner and a sewage device, the sewage device collects sewage generated by cloth rolling rotation through a dust suction port, and a dirt detection module is arranged inside the sewage device.
Furthermore, the dirt detection module is electrically connected with the comparison and judgment module, the comparison and judgment module compares a signal value fed back by the dirt detection module with a preset value, and transmits a comparison result to the control unit.
Further, the dirt detection module feeds back a signal value X' to the comparison and judgment module every 1-5 seconds to be compared with a preset value X, and the control unit records the starting position and the ending position (A, B) of the robot in the time period; after X 'is compared with X, when X' is greater than X, namely the real-time dirt degree is higher than the preset dirt degree, the control unit controls the robot to enter a key cleaning mode aiming at the (A, B) position area, wherein the key cleaning mode comprises reciprocating type cleaning or spiral type cleaning or mop type cleaning.
Further, the reciprocating sweeping comprises the following steps: firstly, when the real-time dirt degree is higher than the preset dirt degree, the robot rotates 180 degrees in situ at the position B and moves reversely to the position A according to the original walking route; secondly, the robot rotates 180 degrees in situ at the position A, moves to the position B according to the original walking route and direction, compares the real-time dirty degree values of the sections (A and B) with the preset value, and finishes reciprocating cleaning of the sections (A and B) when X' is less than X, namely the real-time dirty degree is lower than the preset dirty degree, and the robot continues to work; and thirdly, when the X' is larger than the X, namely the real-time pollution degree is higher than the preset pollution degree, repeating the step one.
The mop-like type cleaning comprises the following steps: when the real-time dirt degree is higher than the preset dirt degree, the robot rotates 180 degrees in situ at a position B, moves backwards to the position A according to the original walking route, and performs preset operation of a forward distance L and a backward distance S on the robot in the direction, wherein L is larger than S; the robot rotates 180 degrees in situ at the position A, moves to the position B according to the original walking route and direction, and performs preset operation of a forward distance L ' and a backward distance S ' in the direction, wherein the real-time dirty degree value of the section (A, B) is compared with the preset value again when the distance L ' is greater than S ', and when the distance X ' is less than X, namely the real-time dirty degree is lower than the preset dirty degree, the reciprocating cleaning of the section (A, B) is finished, and the robot continues to work; and thirdly, when the real-time dirty degree is higher than the preset dirty degree, repeating the first step.
Further, the device also comprises a storage unit used for storing the comparison result transmitted by the comparison judgment module to the control unit, and the storage unit periodically transmits the set of the comparison result to the data processing unit.
Further, the storage unit sends the set of comparison results to the data processing unit through the wireless network module.
Further, the data processing unit compares and analyzes the sets of comparison results sent by the plurality of groups of different storage units, and sends the analysis results to each bound intelligent mobile device through the wireless network module in a ranking mode.
Has the advantages that:
the intelligent cleaning robot system changes the assembly position and the corresponding size of the original water tank, the water accumulator is arranged in the concave part, the capacity of the water tank is increased, the endurance time of the robot is prolonged, and the obstacle crossing capability of the robot is obviously enhanced compared with the externally hung water tank arranged on the bottom shell.
Secondly, the intelligent cleaning robot system changes the structure that the original cleaning cloth is adhered to the external water tank, adopts the form of rotating and rolling cloth, and ensures that the contact force of the cleaning cloth and the ground is larger, and the dirt removing capability of the cleaning cloth is obviously enhanced.
The intelligent cleaning robot system provided by the invention has the working sequence that cleaning is carried out firstly and then rotary mopping is carried out, namely, drying is carried out firstly and then wetting is carried out, the drying and the wetting are separated relatively, the cleaning effect is good, and meanwhile, the cleaning of the rolling brush and the rolling cloth can be ensured to the maximum extent.
The intelligent cleaning robot system provided by the invention has the advantages that the dirt detection module arranged in the sewage device can detect the dirt degree of a specific area and perform focused cleaning, the cleaning mode comprises reciprocating cleaning or spiral cleaning or mop-like cleaning, and the integral cleaning effect is good.
According to the intelligent cleaning robot system, the storage unit sends the set of comparison results to the data processing unit through the wireless network module, the dirt degree of the household floor in a certain area can be analyzed from a big data layer, the analysis results are sent to each bound intelligent mobile device through the wireless network module in a ranking mode, interestingness is increased, and meanwhile a robot owner can be urged to clean the floor for multiple times, so that the cleaning degree of the floor is improved.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a diagram of the walking state of the present invention, wherein the direction of the arrow is the direction of the robot;
FIG. 4 is an exploded view of the present invention;
FIG. 5 is a partial schematic view of the present invention;
FIG. 6 is a schematic view of a diverter;
FIG. 7 is a schematic view of a connection structure of a diverter and a rolling cloth;
FIG. 8 is a cross-sectional view of the roller arrangement;
FIG. 9 is a schematic view of a cloth rolling assembly;
FIG. 10 is a schematic view of a tumbler assembly;
FIG. 11 is a schematic view of a cloth rolling assembly;
FIG. 12 is a partial cross-sectional view of a reservoir;
FIG. 13 is a logic diagram of an emphasized cleaning mode;
FIG. 14 is a block diagram of floor soil detection logic;
FIG. 15 is a schematic diagram of a reciprocating sweep wherein the solid line is separated from the curved line for the sake of clarity;
FIG. 16 is a schematic view of a mopping-like sweeping operation, with distinctions shown, separating the solid line from the curved line;
FIG. 17 is an assembly view of the present invention in spin-drag mode;
FIG. 18 is an assembly view of the present invention in cleaning mode.
Detailed Description
An object of the present invention is to provide a technical solution for interchanging the dust box 40 and the water reservoir 40 ', compared with the water tank in the prior art, the water capacity of the water reservoir 40' is greatly increased, and the mopping endurance time of the sweeping robot is prolonged.
Another object of the present invention is to provide a cloth roll 41' and a spin-mop mode, which can effectively clean the dirt on the floor by changing the conventional flat type mop.
Another object of the present invention is to provide a method for operating an intelligent cleaning robot, which is different from a conventional method in which cleaning and mopping are performed simultaneously, and thus cleaning efficiency is low.
Still another object of the present invention is to provide a contamination detecting module 5 disposed inside the sewage treatment apparatus 401', which can detect the degree of contamination in a specific area and perform an intensive cleaning, wherein the cleaning method includes a reciprocating cleaning, a spiral cleaning or a mop-like cleaning.
Referring to the attached drawings 1-18, the specific technical scheme provided by the invention is as follows:
intelligent cleaning robot system, including robot 1, the control unit 2, walking unit 3 and cleaning unit 4, the control unit 2 is connected with walking unit 3, cleaning unit 4 electricity respectively, and the control unit 2 drives walking unit 3 according to route planning or instruction and advances, and the control unit 2 control cleaning unit 4 opens to wait that the workspace cleans the mode, drags the mode etc. soon.
The robot 1 includes a top cover 10 and a chassis 11, wherein a concave portion 100 is formed on the upper surface of the top cover 10, the upper end of the concave portion 100 is covered by a flip cover 200 fixedly connected to the top cover, and one end of the flip cover 200 is fixed to the top cover 10 or the flip cover 200 can rotate around a fixed shaft to expose or cover the concave portion 100. One end of the flip cover 200 is fixed on the top cover 10, which belongs to the common scheme in the prior art, and has the advantages of easy operation, simple structure and higher space requirement, and when the flip cover 200 is opened, the dust box 40 or the water reservoir 40' or the hand is easy to scratch the flip cover 200. When the flip cover 200 can rotate around the fixed shaft to expose or cover the recess 100, the structure is simple, the operation difficulty is low, and the occupied space is small.
The walking unit 3 comprises a driving wheel 30 and at least one group of universal wheels 31 which are arranged on the lower surface of the chassis 11, and the control unit 2 drives the walking unit 3 to move forwards, backwards or turn according to the signals fed back by the detection unit. When the robot 1 is equipped with two sets of universal wheels 31, the two sets of universal wheels 31 are symmetrically disposed at the front and rear ends of the driving wheel 30 in the traveling direction of the robot 1. The front position of the robot 1 is provided with a collision structure 500 and a wall detection module 600, when the robot 1 collides with an obstacle, the collision structure 500 can protect the robot 1 from being damaged by the collision, and the wall detection module 600 can detect the obstacle in the working space, and the control unit 2 drives the walking unit 3 to perform corresponding braking by feeding back a corresponding signal to the control unit 2. The bottom of the robot 1 is provided with a plurality of cliff detection modules (not shown in the figure), so that the robot 1 is prevented from falling from stairs or similar structures, and the danger caused by the falling of the robot 1 in reality is overcome.
When the robot is in a cleaning mode, the dust box 40 is mounted at the recessed portion 100 to form a matching relationship with the recessed portion 100, the chassis 11 is provided with a dust suction opening 110, the glue brush 41 is fixed on the lower surface of the chassis 11 at the lower portion of the dust suction opening 110, and the matching relationship between the glue brush 41 and the dust suction opening 110 ensures that garbage particles driven by the rotation of the glue brush 41 enter the dust box 40 through the dust suction opening 110.
The cleaning unit 4 further comprises a water reservoir 40 'and a cloth roller 41', and when the robot 1 is in the spin-drag mode, the installation positions of the water reservoir 40 'and the cloth roller 41' correspond to the dust box 40 and the glue brush 41, respectively. The rolling cloth 41 ' comprises a cleaning cloth 410 ' and a support frame 411 ', the support frame 411 ' is of a cylindrical structure, the cleaning cloth 410 ' is completely or partially coated on an arc-shaped curved surface of the support frame 411 ', the support frame 411 ' is of an annular hollow structure, and the cleaning cloth 410 ' is fixed with the support frame 411 ' through annular connectors 420 ' arranged at two edges of the support frame 411 '. The cleaning cloth 410 'can be wound on the support frame 411' in a spiral manner, or can be sleeved on the support frame 411 'in a sleeve manner, or the cleaning cloth 410' is divided into a plurality of groups of cleaning cloth blocks and is fixed on the support frame 411 'through the limit on the support frame 411'.
An electromagnetic water pump 5000 is arranged at the joint of the water storage device 40 ' and the water channel 4000, the electromagnetic water pump 5000 controls the water outlet amount of the water storage device 40 ' according to the actual requirements of the rotary dragging of the robot 1, a flow divider 6000 is arranged near the dust suction opening 110 of the water channel 4000, the flow divider 6000 comprises a plurality of water distribution holes 7000, and the water distribution holes 7000 are uniformly arranged at the upper part of the rolling cloth 41 '.
The arrangement of the rolling cloth 41' changes the original mopping mode of the robot 1, and the cleaning is effectively carried out on key dirty areas, so that the quantity of the cleaning is high, and the cleaning effect is good.
The control method of the intelligent cleaning robot provided by the invention comprises two working modes, wherein: when the robot 1 is in the cleaning mode, the control unit 2 drives the traveling unit 3 to travel according to the preset path plan, the fan 43 is in the open state, and the garbage is sucked into the dust box 40 through the dust suction port 110; when the robot 1 is in the spin-dragging mode, the fan 43 is in a closed state, the water reservoir 40 'and the rolling cloth 41' are both installed at corresponding positions, and the control unit 2 drives the traveling unit 3 to travel according to a preset path plan. When the robot 1 is in the mode of dragging soon, the fan 43 is closed, because of the dust absorption mouth 110 is sheltered from by the lateral wall of water storage device 40 ', the water storage device 40 ' replaces the dirt box 40 to install in corresponding position, and the fan 43 can't absorb the rubbish granule through the interior region of dirt box 40, dust absorption mouth 110 this moment, and in addition, the fan 43 is closed and can effectively reduce the noise that the robot 1 sent when dragging the ground, reduces the electric quantity consumption, improves duration.
When the rotary mop is in a rotary mop mode, the water storage device 40 'and the rolling cloth 41' are ensured to be in place, otherwise, the normal work cannot be carried out, and the specific scheme is as follows: the water reservoir 40 'and/or the rolling cloth 41' are/is provided with an in-place detection device (not shown in the figure), and the in-place detection device comprises a microswitch, a Hall sensor, an infrared sensor and the like.
Firstly, when the water storage device 40 'and/or the rolling cloth 41' are not in place, the in-place detection device feeds back a signal A to the control unit 2, the control unit 2 sends an alarm instruction to the voice unit 50, the voice unit 50 sends out an out-of-place prompt, and when the water storage device 40 'and the rolling cloth 41' are in place, the robot 1 starts a rotary dragging mode;
or when the water storage device 40 'and/or the rolling cloth 41' are/is not in place, the in-place detection device feeds back a signal A to the control unit 2, and the control unit 2 controls the robot 1 to stop working; when the water reservoir 40 'and the rolling cloth 41' are both in place, the in-place detection device feeds back a signal B to the control unit 2, and the robot 1 continues to work.
The feedback signal A, B includes a mechanical signal, a level signal, and a dummy signal.
When the residual water amount in the water accumulator 40' is lower than the preset value, the voice unit 50 sends out a water shortage prompt and/or the control unit 2 sends out a water shortage prompt to the associated intelligent mobile equipment through the network module; when the residual water amount in the water reservoir 40' is higher than the preset value, the robot 1 resumes working. When the residual water in the water storage device 40 'is lower than the preset value, water should be injected into the water storage device 40' in time, otherwise the rotating and dragging effect is affected. The water level detection device is arranged in the water accumulator 40' to monitor the water quantity in real time, and when the residual water quantity is too small, the control unit 2 controls the electromagnetic water pump 5000 to stop rotating to avoid idling.
The water reservoir 40 'comprises a water cleaner 400' and a sewage device 401 ', the sewage device 401' collects sewage generated by the rotation of the rolling cloth 41 'through the dust suction port 110, and the sewage device 401' is internally provided with a pollution detection module 5. Can produce partial sewage along with the mode of dragging soon of robot 1 in the workspace, and the reasonable recovery of this partial sewage is to dragging the clean effect of mode wholly greatly influence soon, among this technical scheme, sets up the sewage ware 401' that is used for collecting sewage. When the rolling cloth 41 ' rotates, the sewage enters the sewage treatment apparatus 401 ' through the dust suction port 110 in accordance with the rotating direction of the rolling cloth 41 '. The dirty detection module 5 is arranged in the sewage device 401' to focus on cleaning a sewage generation area, improve the overall cleaning effect of rotary dragging and effectively monitor the dirty degree of a working space.
The contamination detection module 5 feeds back a signal value X' to the control unit 2 every 1-5 seconds; comparing X' with a preset value X, and recording the start and end positions (A, B) of the robot 1 in the time period by the control unit 2; when X' is more than or equal to X, namely the real-time dirt degree is higher than the preset dirt degree, the control unit 2 controls the robot 1 to enter a key cleaning mode aiming at the (A, B) position area, and the key cleaning mode comprises reciprocating cleaning or spiral cleaning or floor-like cleaning; and when X' is less than X, namely the real-time contamination degree is lower than the preset contamination degree, the robot continues to work.
The reciprocating type sweeping comprises the following steps:
firstly, when the real-time dirt degree is higher than the preset dirt degree, the robot 1 rotates 180 degrees in situ at the position B and moves reversely to the position A according to the original walking route;
the robot 1 rotates 180 degrees in situ at the position A, moves to the position B according to the original walking route and direction, compares the real-time dirty degree values of the sections (A and B) with the preset value again, and when X' is less than X, namely the real-time dirty degree is lower than the preset dirty degree, the key cleaning mode of the sections (A and B) is finished, and the robot 1 continues to work;
and thirdly, when the X' is not less than X, namely the real-time pollution degree is higher than the preset pollution degree, repeating the steps.
The spiral cleaning takes the distance between the A and the B as the maximum diameter, and the spiral cleaning moves inwards in a spiral mode until the real-time dirt degree is lower than the preset dirt degree, and the robot 1 continues to work.
The mop-like type cleaning comprises the following steps:
firstly, when the real-time dirt degree is higher than the preset dirt degree, the robot 1 rotates 180 degrees in situ at the position B, moves backwards to the position A according to the original walking route, and performs preset operation of an advancing distance L and a retreating distance S on the robot 1 in the direction, wherein L is larger than S;
the robot 1 rotates 180 degrees in situ at the position A, moves to the position B according to the original walking route and direction, and performs preset operation of a forward distance L ' and a backward distance S ' in the direction, wherein the real-time contamination degree value of the section (A, B) is compared with the preset value again when the distance L ' is greater than S ', and when the distance X ' is less than X, namely the real-time contamination degree is lower than the preset contamination degree, the key cleaning mode of the section (A, B) is finished, and the robot 1 continues to work;
and thirdly, when the X' is not less than X, namely the real-time pollution degree is higher than the preset pollution degree, repeating the step I.
And the storage unit 7 is used for storing the comparison result transmitted by the comparison judgment module 6 to the control unit 2, and the storage unit 7 periodically transmits the set of the comparison result to the data processing unit 8. The storage unit 7 sends the set of comparison results to the data processing unit 8 through the wireless network module. The data processing unit 7 belongs to a cloud server, and the storage unit 7 can also realize data transmission with the data processing unit 8 through other similar modes such as Bluetooth or infrared and the like.
The data processing unit 8 compares and analyzes the sets of comparison results sent by the plurality of groups of different storage units 7, and sends the analysis results to each bound intelligent mobile device 9 through the wireless network module in a ranking mode. The data processing unit 8 sends the analysis result to the bound intelligent mobile device 9 in a ranking mode, so that a user can timely know the household health condition in a certain area, interestingness is increased, and meanwhile the function of exciting the user to pay attention to ground cleaning is achieved to a certain degree.
The data processing unit 8 may be set up in a local area network or in the internet. In addition, corresponding incentives may be set for top ranked users. The incentive providing main body can be an accessory of the intelligent cleaning robot or corresponding cash value, the popularization of the intelligent cleaning robot can be accelerated through the incentive mode, people pay more attention to the importance of floor cleaning, diseases caused by dirty and messy floors are avoided, and particularly for families with infants, the floor cleaning influences the morbidity of partial diseases to a great extent.
In the technical solution of the present invention, it should be understood that the directions and positional relationships indicated by "upper", "lower", "left", "right", "inside", etc. are based on the directions and positional relationships shown in the drawings of the specification, and are only for convenience and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "less than", "greater than" and "greater than" are used for descriptive purposes only and are described in terms of a particular shape of a designated device or element for purposes of understanding and description only and are not to be construed as limiting the invention.
Although embodiments of the present invention have been shown and described above, the above embodiments are illustrative, and not to be construed as limiting the present invention, and those skilled in the art can make changes, modifications, substitutions and alterations to the above embodiments without departing from the spirit and scope of the present invention.
Claims (6)
1. Intelligent cleaning machines people system, including robot, the control unit, walking unit and clean unit, the control unit is connected with walking unit, clean unit electricity respectively, wherein: the robot comprises a top cover and a chassis, wherein a concave part is formed in the upper surface of the top cover, and a dust suction port is formed in the chassis; the walking unit comprises a driving wheel and at least one group of universal wheels which are arranged on the lower surface of the chassis, and the control unit drives the walking unit to move forwards, backwards or turn according to a signal fed back by the detection unit; the cleaning unit comprises a dust box and a rubber brush, when the robot is in a cleaning mode, the dust box is arranged at the concave part and forms a matching relation with the concave part, and the rubber brush is fixed on the lower surface of the chassis at the lower part of the dust suction port; the robot is characterized in that the cleaning unit further comprises a water storage device and a rolling cloth, and when the robot is in a rotary dragging mode, the installation positions of the water storage device and the rolling cloth respectively correspond to the dust box and the glue brush;
the water storage device is connected with the water channel, and the water channel is provided with a flow divider near the dust suction port;
when the robot is in a rotary dragging mode, the water storage device is arranged at a corresponding position instead of the dust box, the side wall of the water storage device shields the dust suction port, and the fan cannot suck garbage particles through the dust suction port at the moment;
wherein: when the robot is in a cleaning mode, the control unit drives the walking unit to move according to a preset path plan, the fan is in an open state, and garbage is sucked into the dust box through the dust suction port;
wherein: when the robot is in a rotary dragging mode, the fan is in a closed state, the water accumulator and the rolling cloth are arranged at corresponding positions, the control unit drives the walking unit to advance according to a preset path plan, the fan is closed, the dust suction port is shielded by the side wall of the water accumulator, the water accumulator replaces the dust box and is arranged at the corresponding position, and at the moment, the fan cannot suck garbage particles through the inner area of the dust box and the dust suction port;
wherein: when the robot is in the spin-dragging mode, the water accumulator and/or the cloth rolling position are/is provided with the in-place detection device, when the water accumulator and/or the cloth rolling position are/is not in the in-place detection device, the in-place detection device feeds back signals to the control unit, the control unit sends an alarm instruction to the voice unit, the voice unit sends out an out-of-place prompt, and when the water accumulator and the cloth rolling position are/is in the in-place detection device, the robot starts the spin-dragging mode; or when the water accumulator and/or the cloth rolling device are not in place, the in-place detection device feeds back a signal A to the control unit, and the control unit controls the robot to stop working; when the water accumulator and the cloth rolling are in place, the in-place detection device feeds back a signal to the control unit, and the robot continues to work;
the water accumulator comprises a water cleaner and a sewage device, the sewage device collects sewage generated by cloth rolling rotation through a dust suction port, a dirt detection module is arranged in the sewage device and is electrically connected with a comparison judgment module, the dirt detection module detects the dirt degree of a specific area, the comparison judgment module compares a signal value fed back by the dirt detection module with a preset value and transmits a comparison result to the control unit to carry out a key cleaning mode, and the key cleaning mode comprises reciprocating cleaning or spiral cleaning or mop-like cleaning;
the dirt detection module feeds a signal value X' back to the comparison and judgment module every 1-5 seconds to be compared with a preset value X, and the control unit records the starting position and the ending position (A, B) of the robot in the time period; and after comparing X 'with X, when X' is more than or equal to X, namely the real-time contamination degree is higher than the preset contamination degree, the control unit controls the robot to enter a key cleaning mode aiming at the (A, B) position area.
2. The intelligent cleaning robot system of claim 1, wherein the reciprocating sweeping comprises the steps of:
firstly, when the real-time dirt degree is higher than the preset dirt degree, the robot rotates 180 degrees in situ at the position B and moves reversely to the position A according to the original walking route;
secondly, the robot rotates 180 degrees in situ at the position A, moves to the position B according to the original walking route and direction, compares the real-time dirty degree values of the sections (A and B) with the preset value, and finishes reciprocating cleaning of the sections (A and B) when X' is less than X, namely the real-time dirty degree is lower than the preset dirty degree, and the robot continues to work;
and thirdly, when the real-time dirty degree is higher than the preset dirty degree, repeating the first step.
3. The intelligent cleaning robot system of claim 1, wherein the mop-like sweeping comprises the steps of:
when the real-time dirt degree is higher than the preset dirt degree, the robot rotates 180 degrees in situ at a position B, moves backwards to the position A according to the original walking route, and performs preset operation of a forward distance L and a backward distance S on the robot in the direction, wherein L is larger than S;
the robot rotates 180 degrees in situ at the position A, moves to the position B according to the original walking route and direction, and performs preset operation of a forward distance L ' and a backward distance S ' in the direction, wherein the real-time dirty degree value of the section (A, B) is compared with the preset value again when the distance L ' is greater than S ', and when the distance X ' is less than X, namely the real-time dirty degree is lower than the preset dirty degree, the reciprocating cleaning of the section (A, B) is finished, and the robot continues to work;
and thirdly, when the X' is larger than the X, namely the real-time pollution degree is higher than the preset pollution degree, repeating the step one.
4. The intelligent cleaning robot system according to claim 1, further comprising a storage unit for storing the comparison result transmitted from the comparison determination module to the control unit, the storage unit periodically transmitting the set of comparison results to the data processing unit.
5. The intelligent cleaning robot system of claim 4, wherein the storage unit sends the set of comparison results to the data processing unit through a wireless network module.
6. The intelligent cleaning robot system of claim 4, wherein the data processing unit performs comparative analysis on the sets of comparison results sent by the plurality of different storage units, and sends the analysis results to each bound intelligent mobile device through the wireless network module in a ranking manner.
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| CN201710456095.1A CN107137022B (en) | 2017-06-16 | 2017-06-16 | Intelligent cleaning robot system |
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