CN109124487B - Floor sweeping robot and control method thereof - Google Patents
Floor sweeping robot and control method thereof Download PDFInfo
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- CN109124487B CN109124487B CN201810248808.XA CN201810248808A CN109124487B CN 109124487 B CN109124487 B CN 109124487B CN 201810248808 A CN201810248808 A CN 201810248808A CN 109124487 B CN109124487 B CN 109124487B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000002245 particle Substances 0.000 claims abstract description 44
- 239000000428 dust Substances 0.000 claims abstract description 33
- 238000001914 filtration Methods 0.000 claims abstract description 11
- 238000006243 chemical reaction Methods 0.000 claims description 19
- 239000011521 glass Substances 0.000 claims description 16
- 238000005507 spraying Methods 0.000 claims description 8
- 239000012535 impurity Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 238000011144 upstream manufacturing Methods 0.000 claims description 4
- 238000007664 blowing Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 229920000742 Cotton Polymers 0.000 claims description 2
- 238000007599 discharging Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 229910001220 stainless steel Inorganic materials 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 2
- 239000008187 granular material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000013618 particulate matter Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000000149 argon plasma sintering Methods 0.000 description 1
- 230000008033 biological extinction Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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Classifications
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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
- A47L11/40—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
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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
- A47L11/4027—Filtering or separating contaminants or debris
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Abstract
The invention relates to a sweeping robot and a control method thereof, and belongs to the technical field of sweeping robots. The sweeping robot provided by the invention can monitor whether large-particle sundries are sucked in real time on line, and send the large-particle sundries into the coarse filter screen for filtering and removing, so that the large-particle sundries are prevented from directly colliding with the precise filter screen; meanwhile, when no large-particle sundries exist, the gas is only filtered by the precision filter screen, so that the smaller filtering resistance can be effectively kept; moreover, the operation of the internal photoelectric system is not affected by the disorder of the internal air, and the condition that the lens of the photoelectric system is not polluted by dust can be effectively avoided.
Description
Technical Field
The invention relates to a sweeping robot and a control method thereof, and belongs to the technical field of sweeping robots.
Background
The sweeping robot is a wireless robot, and is generally shaped like a disc. The machine body is often a movable device of an automatic technology, the inside of the machine body is a vacuum dust collection device with a dust collection box, when the sweeping robot is started, the device can be matched with the machine body of the robot to set a preset path, and then the sweeping robot can repeatedly walk on the indoor ground to clean various wastes on the path. The sweeping robot also has an automatic turning function, and when the sweeping robot touches a wall or an obstacle, the sweeping robot can automatically turn to carry out sweeping work along different routes.
The internal working mode of the sweeping robot mainly comprises an air passage, air suction equipment, a filter screen and the like. The air suction equipment sucks air on the ground from the air passage, brings dust and sundries into the air passage, and discharges the air out of the machine after being filtered by the filter screen. In order to prevent the discharged air from being contaminated with dust, it is necessary to improve the filtering accuracy of the filter.
Usually in the work of robot of sweeping the floor, if meet the great particulate matter on ground and be inhaled the back, because great granule can have the impact force, it is held back by precision filter, can produce the impact damage to the surface morphology of filter screen, uses the back for a long time, can lead to precision filter's filter fineness to descend fast, can constantly reduce to the effect of holding back of the dust in the air, makes the dust volume in the gas vent of robot of sweeping the floor constantly rise, leads to the space in the room dirty. If the coarse filter screen is directly installed in front of the fine filter screen, the problem of overhigh filtering resistance exists in the sweeping robot during gas filtering.
Disclosure of Invention
The purpose of the invention is: the sweeping robot can analyze the particle size of the entering air on line in real time, and avoid the impact of large-particle impurities on a precise filter screen; meanwhile, the lens of the photoelectric sensing unit can be prevented from being shielded by dust in the air passage, so that the running stability of the machine is improved.
First aspect of the invention:
a sweeping robot comprises a shell, wherein the bottom of the shell is provided with an air inlet used for inputting air positioned on one side of the ground into the sweeping robot; the air inlet is communicated with an air passage inside the shell; the shell is also provided with an air outlet communicated with the air passage; the shell is provided with a dust collecting groove cover plate used for taking out and putting in the dust collecting groove;
a light source is arranged on one side of the air passage, a photoelectric conversion unit is arranged on the other side of the air passage in the irradiation direction of the light source, and a glass plate is arranged on the surface of the photoelectric conversion unit to protect the lens; the rotating wheel is arranged in the upstream direction of the air passage on the same side as the glass plate, an arc-shaped first guide plate is arranged outside the rotating wheel, and air can be discharged into the air passage from a gap between the first guide plate and the rotating wheel after the rotating wheel rotates; the other side of the air passage in the downstream direction of the photoelectric conversion unit is provided with a gas nozzle, the spraying direction of the gas nozzle faces the air passage, and the gas nozzle is connected with the pressure air storage tank; an arc-shaped second guide plate is arranged on the air passage in the downstream direction of the glass plate; the gas discharge direction of the first guide plate faces to the upper surface of the second guide plate, and the gas spraying direction of the gas spray head faces to the lower surface of the second guide plate; an air flow channel is arranged on the downstream side of the second guide plate and used for containing gas tangentially flowing out of the second guide plate; a coarse filter screen is also arranged in the air flow passage, and the other end of the air flow passage is communicated with a gap formed between the rotating wheel and the first guide plate; the tail end of the air passage is connected with the air outlet through a fan;
still including central control unit for the condition of the particle size in the entering air of analysis photoelectric conversion unit collection, when the particle diameter of particulate matter is greater than the threshold value, the affirmation has large granule debris to get into the air flue, and at this moment, central control unit sends out the instruction and makes the solenoid valve open, and the high-pressure gas in the pressure gas receiver is spout from the gas shower nozzle.
The lower parts of the coarse filter screen and the precise filter screen are communicated with the dust collecting groove.
The inlet end of the pressure pump is communicated with the downstream side air channel of the precision filter screen, and the outlet end of the pressure pump is communicated with the pressure air storage tank; the pressure gas storage tank is internally provided with a pressure sensor, the pressure sensor is connected with the central control unit, and when the central control unit detects that the pressure in the pressure gas storage tank is lower than a first threshold value, the central control unit commands the pressurization pump to start working so as to recover the pressure in the pressure gas storage tank to be higher than a second threshold value; the second threshold is greater than the first threshold.
The material of the coarse filter screen is a stainless steel wire mesh; the material of the precise filter screen is a PP cotton filter element.
Second aspect of the invention:
a control method of a sweeping robot comprises the following steps:
i) sucking air from the bottom of the sweeping robot to suck dust on the ground into an air passage;
ii) filtering the gas sucked in the gas passage by adopting a precision filter screen, and discharging the filtered gas from an air outlet on the shell;
iii) carrying out online particle size detection on the sucked gas in the air passage through the light source and the photoelectric conversion unit, blowing the particles away from the air passage through lateral air blowing of the air passage when the average particle size of the particles is larger than a threshold value, filtering out large particles through a coarse filter screen, and returning the filtered gas to the air passage;
iv) air generated after the rotating wheel rotates tangentially flows out of the first guide plate, the tangential direction of the air flows towards one side of the second guide plate, and the spraying direction of the air spray head flows towards the other side of the second guide plate;
v) monitoring the gas pressure in a pressure gas storage tank connected with the gas nozzle, and when the pressure is too low, pressurizing and injecting air filtered by the precision filter screen into the pressure gas storage tank so as to maintain the pressure in the pressure gas storage tank.
After the sweeping robot works, the dust collecting groove cover plate is opened, and dust is removed from the dust collecting groove.
Advantageous effects
The sweeping robot provided by the invention can monitor whether large-particle sundries are sucked in real time on line, and send the large-particle sundries into the coarse filter screen for filtering and removing, so that the large-particle sundries are prevented from directly colliding with the precise filter screen; meanwhile, when no large-particle sundries exist, the gas is only filtered by the precision filter screen, so that the smaller filtering resistance can be effectively kept; moreover, the operation of the internal photoelectric system is not affected by the disorder of the internal air, and the condition that the lens of the photoelectric system is not polluted by dust can be effectively avoided.
Drawings
Fig. 1 is an overall structural view of a sweeping robot provided by the invention;
fig. 2 is a partial structure diagram of an air duct of the sweeping robot provided by the invention.
Wherein, 1, a shell; 2. an air inlet; 3. an airway; 4. a dust collection groove cover plate; 5. an air outlet; 6. a dust collection groove; 7. a light source; 8. a glass plate; 9. a photoelectric conversion unit; 10. a gas shower; 11. an electromagnetic valve; 12. a pressure gas storage tank; 13. a pressure pump; 14. a fan; 15. a precise filter screen; 16. a second baffle; 17. a first baffle; 18. an air flow passage; 19. coarse filtration; 20. a rotating wheel.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, ordinal terms such as "first," "second," "third," etc., used in the claims and the specification are used to modify a claim term without necessarily implying any order of precedence, or order of any claim prior to or with respect to another claim or the order in which method steps are performed. However, merely used as a label to distinguish one element of a claim having a particular name from another element having the same name (rather than being sequentially owned), to distinguish the elements of the claim. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element with the element interposed therebetween. Unless explicitly stated to the contrary, the terms "comprising" and "having" are to be understood as meaning the inclusion of the listed elements, but not the exclusion of any other elements. The words "include," "have," or any other variation thereof, as used herein, are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present invention, the term "upstream" and the like refer to the direction of the gas source sucked by the sweeping robot; similarly, "downstream" and the like refer to the direction of gas discharge.
The sweeping robot provided by the invention is structurally shown in figure 1 and comprises a shell 1, wherein the bottom of the shell 1 is provided with an air inlet 2 for inputting air positioned on one side of the ground into the sweeping robot; the air inlet 2 is communicated with an air passage 3 in the shell 1; the shell 1 is also provided with an air outlet communicated with the air passage 3; the housing 1 is provided with a dust collecting groove cover plate 4 for taking out and putting in the dust collecting groove 6.
The internal air passage structure of the sweeping robot is shown in fig. 2, a light source 7 is arranged on one side of an air passage 3, a photoelectric conversion unit 9 is arranged on the other side of the air passage 3 in the irradiation direction of the light source 7, and a glass plate 8 is arranged on the surface of the photoelectric conversion unit 9 to protect a lens; the rotating wheel 20 is arranged in the upstream direction of the air channel 3 on the same side with the glass plate 8, the arc-shaped first guide plate 17 is arranged outside the rotating wheel 20, and the rotating wheel 20 can discharge air into the air channel 3 from the gap between the first guide plate 17 and the rotating wheel 20 after rotating; a gas nozzle 10 is arranged on the other side of the gas passage 3 in the downstream direction of the photoelectric conversion unit 9, the spraying direction of the gas nozzle is towards the gas passage 3, and the gas nozzle 10 is connected with a pressure gas storage tank 12; an arc-shaped second guide plate 16 is arranged on the air flue 3 in the downstream direction of the glass plate 8; the gas discharge direction of the first guide plate 17 faces to the upper surface of the second guide plate 16, and the gas spraying direction of the gas nozzle 10 faces to the lower surface of the second guide plate 16; an air flow passage 18 is further arranged at the downstream side of the second guide plate 16, and the air flow passage 18 is used for containing the gas tangentially flowing out of the second guide plate 16; a coarse filter 19 is further arranged in the air flow passage 18, and the other end of the air flow passage 18 is communicated with a gap formed between the rotating wheel 20 and the first guide plate 17; the end of the air duct 3 is connected to the air outlet by a fan 14.
When the sweeping robot works, firstly, the air is sucked through the fan 14, so that the air inlet 2 at the bottom surface of the front end of the sweeping robot performs surface air suction, sundries are sucked into the air passage 3 and intercepted by the precise filter screen 15 in the air passage 3, and the filtered air is discharged out of the machine from the air outlet 5.
Meanwhile, the light emitted from the light source 7 to the photoelectric conversion unit 9 is analyzed on line by the photoelectric conversion unit 9 to obtain the particle size of the particles; the sweeping robot also comprises a circuit control module: the central control unit is used for analyzing the size of particles in the inlet air collected by the photoelectric conversion unit 9, when the particle size of the particles is larger than a threshold value, the situation that large-particle impurities enter the air passage is determined, at the moment, the central control unit sends an instruction to open the electromagnetic valve 11, high-pressure gas in the pressure gas storage tank 12 is sprayed out from the gas nozzle 10, the large particles are blown away from the moving direction of the air passage 3, and due to the fact that the air flow passage 18 is further arranged on the downstream side of the glass plate 8, the large-particle impurities can be intercepted by the coarse filter screen 19 after entering the air flow passage 18, and cannot collide with the precision filter. The photoelectric conversion unit 9 is used for detecting the light signal emitted by the light source, and changes the light signal into the particle size value, and the optical method of the online particle size used herein can be referred to the prior art documents CN104390897A, CN106198325A, CN102410974A, CN105424557A, CN106018197A, CN101029863A, CN101509931A, CN105334147A, research and development of online particle size detection system (the university of zhejiang, the study of the university, the trivia, 2004), and the light transmission extinction method of online measurement of particle size (the optical instrument in 1998 period 01; liu tieng, zhang zheng wei, zheng gang, small cai). The main principle is as follows: the laser is processed and then emitted to an air channel carrying particles in parallel, a particle group to be measured in a measuring area generates light scattering under the irradiation of the laser, the intensity and the spatial distribution of the scattered light are related to the size and the concentration of the particle group to be measured, the scattered light of the particle group is received by a Fourier lens, the scattering spectrum of the particle group is received by an annular photoelectric detector on the back focal plane of the lens and converted into a current signal, the current signal is sent to a single chip microcomputer system after signal processing and AD conversion, the single chip microcomputer analyzes and calculates the acquired data, and the data processing is carried out according to a Fraunhofer diffraction theory, and then the statistical data and the distribution curve of the particle size are displayed.
Because in the use, the air that gas shower nozzle 10 spun can lead to the air of 8 front ends of glass boards to produce the vortex, and the air that normally gets into in spun air and the air flue moves relatively, can make inside dust diffuse, and some dust can be attached to on glass board 8, lead to photoelectric sensing system's sensitivity and accuracy to take place to descend. Therefore, by the rotation of the rotating wheel 20, the air is subjected to the steady flow of the first guiding plate 17 and then forms an air curtain to pass through the front of the glass plate 8, and the dust of the turbulent air in the air channel 3 is not attached to the glass plate 8; as shown in fig. 2, at the same time, after the second air deflector 16 is installed, since the air tangentially flowing out from the first air deflector 17 directly flows to the upper surface of the second air deflector 16 and the air sprayed from the air nozzle 10 is sprayed to the lower surface of the second air deflector 16, the two air streams cannot directly intersect with each other, so that the mutual collision of the air in the air passage is further avoided, and the pollution of the glass sheet by dust is reduced.
The other end of the air flow passage 18 is connected to a gap formed between the rotary wheel 20 and the first guide plate 17, so that the air passing through the coarse filter 19 flows out of the first guide plate 17 and then is continuously filtered by the fine filter 15.
In one embodiment, both the coarse screen 19 and the fine screen 15 are in communication with the dust chute 6 below. The dust can be taken out conveniently.
In one embodiment, the device also comprises a pressure pump 13, wherein the inlet end of the pressure pump 13 is communicated with the air channel at the downstream side of the precision filter screen 15, and the outlet end of the pressure pump 13 is communicated with the pressure air storage tank 12; a pressure sensor is arranged in the pressure reservoir 12 and is connected to the central control unit, which commands the pressure pump 13 to start operation when the central control unit detects that the pressure in the pressure reservoir 12 is below a first threshold value, so that the pressure in the pressure reservoir 12 returns to above a second threshold value.
Claims (6)
1. A sweeping robot comprises a shell (1), wherein the bottom of the shell (1) is provided with an air inlet (2) for inputting air positioned on one side of the ground into the sweeping robot; the air inlet (2) is communicated with an air passage (3) in the shell (1); an air outlet communicated with the air passage (3) is also arranged on the shell (1); a dust collecting groove cover plate (4) is arranged on the shell (1) and is used for taking out and putting in a dust collecting groove (6); the device is characterized in that a light source (7) is arranged on one side of the air passage (3), a photoelectric conversion unit (9) is arranged on the other side of the air passage (3) in the irradiation direction of the light source (7), and a glass plate (8) is arranged on the surface of the photoelectric conversion unit (9); the rotating wheel (20) is arranged in the upstream direction of the air channel (3) on the same side with the glass plate (8), an arc-shaped first guide plate (17) is arranged outside the rotating wheel (20), and after the rotating wheel (20) rotates, air can be discharged into the air channel (3) from a gap between the first guide plate (17) and the rotating wheel (20); a gas nozzle (10) is arranged on the other side of the gas passage (3) in the downstream direction of the photoelectric conversion unit (9), the spraying direction of the gas nozzle faces the gas passage (3), and the gas nozzle (10) is connected with a pressure gas storage tank (12); an arc-shaped second guide plate (16) is arranged on the air passage (3) in the downstream direction of the glass plate (8); the gas discharge direction of the first guide plate (17) faces to the upper surface of the second guide plate (16), and the gas spraying direction of the gas nozzle (10) faces to the lower surface of the second guide plate (16); an air flow channel (18) is further arranged on the downstream side of the second guide plate (16), and the air flow channel (18) is used for containing the gas which flows out tangentially of the second guide plate (16); a coarse filter screen (19) is further arranged in the air flow channel (18), and the other end of the air flow channel (18) is communicated with a gap formed between the rotating wheel (20) and the first guide plate (17); the tail end of the air passage (3) is connected with the air outlet through a fan (14); the air purifier also comprises a central control unit which is used for analyzing the size of particles in the inlet air collected by the photoelectric conversion unit (9), when the particle size of the particles is larger than a threshold value, large-particle impurities are determined to enter an air passage, at the moment, the central control unit sends an instruction to open the electromagnetic valve (11), and high-pressure air in the pressure air storage tank (12) is sprayed out from the air nozzle (10).
2. A sweeping robot according to claim 1, characterized in that the lower part of the coarse filter screen (19) and/or the fine filter screen (15) is communicated with the dust collecting groove (6).
3. The sweeping robot according to claim 2, characterized in that the robot further comprises a pressure pump (13), the inlet end of the pressure pump (13) is communicated with the downstream side air passage of the precision filter screen (15), and the outlet end of the pressure pump (13) is communicated with the pressure air storage tank (12); a pressure sensor is arranged in the pressure gas storage tank (12), the pressure sensor is connected with a central control unit, and when the central control unit detects that the pressure in the pressure gas storage tank (12) is lower than a first threshold value, the central control unit commands a pressurizing pump (13) to start working, so that the pressure in the pressure gas storage tank (12) is restored to be higher than a second threshold value; the second threshold is greater than the first threshold.
4. The sweeping robot according to claim 1, characterized in that the material of the coarse screen (19) is stainless steel wire mesh; the material of the precise filter screen (15) is a PP cotton filter element.
5. The control method of the sweeping robot based on claim 3, characterized by comprising the following steps:
i) air suction is carried out from the bottom of the sweeping robot, and dust on the ground is sucked into the air passage (3);
ii) filtering the gas sucked in the air passage (3) by using a precision filter screen (15), and discharging the filtered gas from an air outlet (5) on the shell (1);
iii) the inhaled gas is subjected to online particle size detection in the air passage (3) through the light source (7) and the photoelectric conversion unit (9), when the average particle size of the particles is larger than a threshold value, the particles are blown away from the air passage through lateral blowing of the air passage (3), large particles are filtered through a coarse filter screen (15), and the filtered gas returns to the air passage (3);
iv) air generated after the rotating wheel (20) rotates tangentially flows out from the first guide plate (17), the tangential direction faces one side of the second guide plate (16), and the spraying direction of the gas spray nozzle (10) faces the other side of the second guide plate (16);
v) monitoring the gas pressure in a pressure gas storage tank (12) connected with the gas nozzle (10), and when the pressure is too low, pressurizing and injecting air filtered by a precision filter screen (15) into the pressure gas storage tank (12) so as to maintain the pressure in the pressure gas storage tank (12).
6. The control method of the sweeping robot according to claim 5, characterized in that after the sweeping robot finishes working, the dust collecting groove cover plate (4) is opened to remove dust from the dust collecting groove (6).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710460609.0A CN107126157A (en) | 2017-06-18 | 2017-06-18 | A kind of sweeping robot and its control method |
| CN2017104606090 | 2017-06-18 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109124487A CN109124487A (en) | 2019-01-04 |
| CN109124487B true CN109124487B (en) | 2020-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710460609.0A Withdrawn CN107126157A (en) | 2017-06-18 | 2017-06-18 | A kind of sweeping robot and its control method |
| CN201810248808.XA Active CN109124487B (en) | 2017-06-18 | 2018-03-25 | Floor sweeping robot and control method thereof |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710460609.0A Withdrawn CN107126157A (en) | 2017-06-18 | 2017-06-18 | A kind of sweeping robot and its control method |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108031202A (en) * | 2017-11-08 | 2018-05-15 | 天津东方奇运汽车制造有限公司 | Road cleaning vehicle Winter-summer dual purpose filtration apparatus |
| CN111227719A (en) * | 2020-02-25 | 2020-06-05 | 珠海市一微半导体有限公司 | A structure and robot of sweeping floor for preventing robot of sweeping floor raise dust |
| CN113287982B (en) * | 2021-05-14 | 2022-12-30 | 深圳市普渡科技有限公司 | Robot main brush device, control method and sweeping robot |
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| WO2017034198A1 (en) * | 2015-08-24 | 2017-03-02 | Lg Electronics Inc. | Robot cleaner |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10092152B2 (en) * | 2015-04-07 | 2018-10-09 | Tennant Company | Sweeper with a skirt assembly |
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2017
- 2017-06-18 CN CN201710460609.0A patent/CN107126157A/en not_active Withdrawn
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2018
- 2018-03-25 CN CN201810248808.XA patent/CN109124487B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2269348Y (en) * | 1996-09-16 | 1997-12-03 | 郭绍君 | Electronic display automobile brake water spray device |
| CN201617760U (en) * | 2009-02-06 | 2010-11-03 | 夏普株式会社 | Hand drying device |
| CN202740957U (en) * | 2012-09-10 | 2013-02-20 | 戴若夫 | Indoor air purification and dust removal system capable of automatically detecting and controlling dust concentration |
| WO2017034198A1 (en) * | 2015-08-24 | 2017-03-02 | Lg Electronics Inc. | Robot cleaner |
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| CN109124487A (en) | 2019-01-04 |
| CN107126157A (en) | 2017-09-05 |
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