CN109222769A - Water system, method of supplying water and the sweeping robot of sweeping robot - Google Patents
Water system, method of supplying water and the sweeping robot of sweeping robot Download PDFInfo
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- CN109222769A CN109222769A CN201811278068.0A CN201811278068A CN109222769A CN 109222769 A CN109222769 A CN 109222769A CN 201811278068 A CN201811278068 A CN 201811278068A CN 109222769 A CN109222769 A CN 109222769A
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- sweeping robot
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- water tank
- floor
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 195
- 238000010408 sweeping Methods 0.000 title claims abstract description 121
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000008595 infiltration Effects 0.000 claims abstract description 14
- 238000001764 infiltration Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims description 18
- 230000000717 retained effect Effects 0.000 claims description 7
- 238000005406 washing Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 239000008400 supply water Substances 0.000 description 7
- 238000012790 confirmation Methods 0.000 description 6
- 239000002184 metal Substances 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000007788 roughening Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000002209 hydrophobic effect Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 235000012149 noodles Nutrition 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
-
- 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
-
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
-
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
-
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
The invention discloses a kind of water system of sweeping robot, method of supplying water and sweeping robots, belong to cleaner technology field, solve the problems, such as that interior water yield is difficult to control at work, carpet ponding for water system in the prior art.Above-mentioned water system includes water tank, column, upright post sleeve, runner, infiltration item, electromagnet, Power Supply Assembly, information acquisition unit and controller；Upright post sleeve runs through water tank, and the side wall of upright post sleeve is equipped with multiple weep holes, and upright post sleeve is set in upright post sleeve and can be attracted with electromagnet, and electromagnet is set on water tank and is electrically connected with Power Supply Assembly；Floor type signal, the sweeping robot that information acquisition unit is used to acquire in front of sweeping robot jolt signal and speed signal；Controller is used for the signal acquired according to information acquisition unit, judges that sweeping robot traveling on carpet or floor, controls closing or opening for Power Supply Assembly.Above-mentioned water system can be used for supplying water for the rag of sweeping robot.
Description
Technical field
The present invention relates to a kind of dust catcher more particularly to a kind of water system of sweeping robot, method of supplying water and sweep the floor
Robot.
Background technique
As sweeping robot is attached to the appearance of water tank rag, mopping floor becomes increasingly easier.
Existing sweeping robot is mostly automatic outletting water tank, at work between in, water speed is all random out, it is difficult to
Control is unable to satisfy the requirement of the different water yields under varying environment and medium, to influence cleaning effect.
In addition, currently, the sweeping robot with water tank can carry out dust suction to ground during the work time and wiping is grasped
Make.When sweeping robot cleans on to carpet, since the roughening of carpet is very big, cause sweeping robot in carpet
On travel speed it is very slow, especially that shag carpet, the travel speed of sweeping robot is just very slower.In such situation
Under, the water in water tank is easy to accumulate on carpet by rag, to impact to carpet.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of water system of sweeping robot, method of supplying water and sweeping the floor
Robot solves the problems, such as that interior water yield is difficult to control at work, carpet ponding for water system in the prior art.
The purpose of the present invention is mainly achieved through the following technical solutions:
The present invention provides a kind of water systems of sweeping robot, including water tank, column, upright post sleeve, runner, infiltration
Item, electromagnet, Power Supply Assembly, information acquisition unit and controller；Upright post sleeve runs through water tank, and the side wall of upright post sleeve is equipped with multiple dredge
Water hole, upright post sleeve are set in upright post sleeve and can be attracted with electromagnet, and electromagnet is set on water tank and is electrically connected with Power Supply Assembly；Letter
Floor type signal, the sweeping robot that breath acquisition unit is used to acquire in front of sweeping robot jolt signal and speed signal；
Controller is used for the signal acquired according to information acquisition unit, judges sweeping robot traveling on carpet or floor, output is controlled
Signal control Power Supply Assembly processed closes or opens.
In a kind of possible design, multiple weep holes are arranged along the axis direction of upright post sleeve, and spring is equipped at the top of column,
Column can be attracted by spring with electromagnet.
In a kind of possible design, along the direction of water tank bottom to top, the diameter of weep hole is gradually increased.
In a kind of possible design, water system further includes pulsating pump；The water inlet of pulsating pump is connect with runner, water outlet
Mouth is connect with water tank；Pulsating pump is also connect with controller signals, and controller can control pulsating pump and inhale the water retained in runner
In recovery tank.
In a kind of possible design, inside protrusion is arranged in the bottom end of upright post sleeve, and column is placed in protrusion；Alternatively,
The shape of upright post sleeve inner wall is taper.
In a kind of possible design, information acquisition unit includes floor type anticipation sensor, vibrating sensor and wheel
Fast sensor；Floor type anticipation sensor is mounted on the chassis of sweeping robot ontology, and is located at the front of water tank, is used for
Prejudge whether ground in front of the traveling of sweeping robot includes carpet；Vibrating sensor is installed on the chassis of sweeping robot,
For acquiring the signal that jolts of sweeping robot ontology；Wheel speed sensors are installed on the wheel of sweeping robot, for acquiring
The wheel speed variable signal of sweeping robot.
The present invention also provides a kind of method of supplying water of sweeping robot, using the water system of above-mentioned sweeping robot,
Method of supplying water includes the following steps:
Detect the floor type of sweeping robot traveling；
If it is floor, Power Supply Assembly unlatching is controlled, Power Supply Assembly is electromagnet power supply, and electromagnet generates magnetic field；It is vertical
Column is mobile to the direction of electromagnet under the influence of a magnetic field, and the water supply pipe between water tank and rag is connected to, and water tank is rag confession
Water；
If it is carpet, Power Supply Assembly power-off is controlled, electromagnet is separated with column, and water tank is not necessarily to as in rag water supply.
In a kind of possible design, by jolting signal detection and speed to the anticipation of front floor type, sweeping robot
Signal detection is spent, the floor type of sweeping robot traveling is obtained；Front floor type anticipation, for prejudging sweeping robot row
It whether include carpet into front ground；Sweeping robot jolts signal detection, for detecting in sweeping robot traveling process
Jolt signal；Speed signal detection, for detecting the speed in sweeping robot traveling.
In a kind of possible design, using with type detection function sensor or Image Acquisition analyzer carry out before
Square floor type anticipation.
The present invention also provides a kind of sweeping robots, the water system including ontology and above-mentioned sweeping robot, this
It is equipped with the storage area for accommodating water system in vivo, water system is located in storage area.
Compared with prior art, the present invention has the beneficial effect that:
A) water system of sweeping robot provided by the invention by the actuation of electromagnet and column and releases the control vertical
The up and down motion of column can control the on-off of water supply pipe between water tank and rag by the up and down motion of column, and structure is simple,
Precise control, and the water yield of water tank can be effectively controlled according to the actual situation, improve the cleaning effect of sweeping robot.
B) water system of sweeping robot provided by the invention, the ground that this automatic identification sweeping robot is advanced are ground
Blanket or floor, to control whether water tank is discharged；When advancing on floor, control water tank supplies water to runner, by infiltration item to smearing
Cloth supplies water, and wipes to floor；When advancing on carpet, controller controls Power Supply Assembly power-off, electromagnet power-off, with column
Separation, column move down under gravity, and the side wall of column is contacted with weep hole, are blocked weep hole by column,
So that the water in water tank may not flow into rag, is there is the phenomenon that ponding in reduction on carpet.
Other features and advantages of the present invention will illustrate in the following description, also, partial become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the structural schematic diagram of the water system of sweeping robot provided by the invention；
Fig. 2 is the partial schematic diagram of Fig. 1；
The position view of column Fig. 3 is does not supply water in the water system of sweeping robot provided by the invention when；
Fig. 4 is the position view of column when supplying water in the water system of sweeping robot provided by the invention；
Fig. 5 is the flow chart of method of supplying water in the embodiment of the present invention two；
Fig. 6 is the flow chart of another method of supplying water in the embodiment of the present invention two.
Appended drawing reference:
1- water tank；2- column；3- upright post sleeve；4- runner；5- infiltration item；6- electromagnet；7- Power Supply Assembly；8- rag；9-
Controller；10- elastic body；11- metal layer.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention.
Embodiment one
The water system for present embodiments providing a kind of sweeping robot, referring to Fig. 1 to Fig. 4, including water tank 1, column 2,
Upright post sleeve 3, runner 4, infiltration item 5, electromagnet 6, Power Supply Assembly 7, information acquisition unit and controller 9, wherein upright post sleeve 3 passes through
Water tank 1 is worn, the side wall of upright post sleeve 3 is equipped with multiple weep holes, and upright post sleeve 3 is set in upright post sleeve 3 and can be attracted with electromagnet 6, flows
Road 4 is located at the bottom of water tank 1, and 4 bottom of runner is equipped with water seepage hole, and infiltration item 5 is located at the bottom surface of runner 4, and electromagnet 6 is set to
It is electrically connected on water tank 1 or sweeping robot ontology and with Power Supply Assembly 7；Information acquisition unit is for acquiring in front of sweeping robot
Floor type signal, sweeping robot jolts signal and speed signal；What controller 9 was used to be acquired according to information acquisition unit
Signal judges sweeping robot traveling on carpet or floor, and output control signal control Power Supply Assembly 7 closes or opens；
When electromagnet 6 and sheet metal are attracted, water tank 1 passes sequentially through weep hole, runner 4 and infiltration item 5 and is connected to rag 8, supplies for rag 8
Water.
It should be noted that upright post sleeve 3 can run through water tank 1 along the vertical direction, it can also obliquely run through water tank 1.
When implementation, controller 9 successively prejudges result, signal detecting result of jolting and speed signal according to front floor type
Testing result successively judges that traveling front is advanced to carpet and on carpet including carpet, by existing floor obstacle detouring in order,
Confirmation sweeping robot is traveling on carpet；Controller 9 controls Power Supply Assembly 7 and powers off, and electromagnet 6 powers off, and separates with column 2,
Column 2 moves down under gravity, and the side wall of column 2 is contacted with weep hole, blocks weep hole by column 2, makes
The water obtained in water tank 1 may not flow into rag 8；Sweeping robot is in carpet traveling process, and controller 9 is successively according to front
Noodles type prejudges result, signal detecting result of jolting and speed signal testing result, successively judges to advance front in order not
It including carpet, is fallen by current carpet and is advanced to floor and on floor, confirmation sweeping robot is traveling on floor；Controller
It controls Power Supply Assembly 7 to be powered, electromagnet 6, which is powered, generates electromagnetic field, so that electromagnet 6 and column are attracted, column is moved upwards, and dredges
Water hole is separated with column 2, and the water in water tank 1 passes sequentially through weep hole, runner 4 and infiltration item 5 and flows into rag 8, and water tank 1 is to runner
4 supply water, and are supplied water by infiltration item 5 to rag 8, are wiped to floor.
Compared with prior art, the water system of sweeping robot provided in this embodiment passes through electromagnet 6 and column 2
Actuation and release the control the up and down motion of column 2, can be controlled by the up and down motion of column 2 and be supplied between water tank 1 and rag 8
The on-off of water lines, structure is simple, precise control, and can effectively control the water yield of water tank 1 according to the actual situation, and raising is swept
The cleaning effect of floor-washing robot.
In addition, above-mentioned water system, the ground that automatic identification sweeping robot is advanced is carpet or floor, to control water tank
Whether 1 be discharged；When advancing on floor, control water tank 1 to runner 4 supply water, by infiltration item 5 to rag 8 supply water, to floor into
Row wiping；When advancing on carpet, controller 9 controls Power Supply Assembly 7 and powers off, and electromagnet 6 powers off, and separates with column 2, column 2
It moves down under gravity, the side wall of column 2 is contacted with weep hole, is blocked weep hole by column 2, so that water tank
Water in 1 may not flow into rag 8, and the phenomenon that ponding is occurring in reduction on carpet.
For the structure of upright post sleeve 3, specifically, inside protrusion is can be set in the bottom end of upright post sleeve 3, and column 2 is placed
In in protrusion；Alternatively, the shape of 3 inner wall of upright post sleeve is taper, when column 2 is inserted into upright post sleeve 3, the side wall of upright post sleeve 3 can be right
Column 2 is supported.It is understood that in order to realize the sealing between column 2 and upright post sleeve 3, the shape of column 2 need with
The shape of 3 inner wall of upright post sleeve matches.
In order to keep the water yield of above-mentioned water system adjustable, multiple weep holes are arranged along the axis direction of upright post sleeve 3, column
2 tops are equipped with spring, and column 2 can be attracted by spring with electromagnet 6.In this way, by the power supply volume of control Power Supply Assembly 7, it can
To adjust the lifting height of column 2, so as to adjust the quantity of the weep hole isolated with column 2, so that above-mentioned water system
Water yield it is adjustable.
In view of the increase in water tank 1 with water depth, hydraulic pressure is bigger, under same diameter, positioned at the hydrophobic of 1 lower part of water tank
The water yield in hole can be greater than the water yield of the weep hole positioned at 1 top of water tank, therefore, in order to guarantee the water flow of multiple weep holes
Always, along the direction of 1 bottom of water tank to top, the diameter of weep hole is gradually increased.
For the structure of column 2, can be structure as a whole or separate structure.Illustratively, column 2 is structure as a whole,
It can be metal column, and the metal column of integral structure can be easy to process；Column 2 is separate structure, may include elastic sheet
Body 10 and metal layer 11 set on 10 top of elastic body, are set as separate structure for column 2, due to the density of elastic body 10
Lower than the density of metal layer 11, so that 2 mass of column of separate structure is less than 2 mass of column of integral structure, it is required
The suction-combining force of electromagnet is also smaller, meanwhile, it can be realized better seal between elastic body 10 and upright post sleeve 3.
It is worth noting that, some water can be also retained in runner 4 after water tank 1 stops being that rag 8 supplies water, it is therefore, above-mentioned
Water system can also include pulsating pump；The water inlet of pulsating pump is connect with runner 4, and water outlet is connect with water tank 1；Pulsating pump is also
It is connect with 9 signal of controller, controller 9 controls pulsating pump and sucks back the water retained in runner 4 in water tank 1.When controller 9 successively
Result, signal detecting result of jolting and speed signal testing result are prejudged according to front floor type, is successively judged in order
It advances to carpet and on carpet in front of advancing including carpet, by existing floor obstacle detouring, confirmation sweeping robot is traveling in carpet
On；Controller 9 controls Power Supply Assembly 7 and powers off, and electromagnet 6 powers off, and separates with column 2, and column 2 is under gravity to moving down
Dynamic, the side wall of column 2 is contacted with weep hole, is blocked weep hole by column 2, so that the water in water tank 1 may not flow into rag 8
In；Then, controller 9 controls pulsating pump and opens, and will suck back the water retained in runner 4 in water tank 1, to further reduce
Occurring the phenomenon that ponding on carpet.
It may include floor type anticipation sensor, vibrating sensing specifically for the structure of information acquisition unit
Device and wheel speed sensors；Wherein, floor type anticipation sensor is mounted on the chassis of sweeping robot ontology, and is located at water tank
Front, whether include carpet for prejudging ground in front of the traveling of sweeping robot；Vibrating sensor is installed on machine of sweeping the floor
On the chassis of people, for acquiring the signal that jolts of sweeping robot ontology；Wheel speed sensors are installed on the wheel of sweeping robot
On, for acquiring the wheel speed variable signal of sweeping robot.Illustratively, floor type anticipation sensor can be for type
The sensor or TOF picture pick-up device of detection function.
When information acquisition unit is TOF picture pick-up device, controller 9 detects according to TOF picture pick-up device and exports front packet
It includes carpet and determines signal, generate the first pre-warning signal, cached in controller 9；According to the wheel when sweeping robot by current
When on the obstacle detouring to carpet of floor, the signal that jolts that vibrating sensor is detected and exported generates the second pre-warning signal, in controller 9
Middle caching；The travel speed dropping signal for being detected and being exported according to wheel speed sensors generates third pre-warning signal, in controller 9
Middle caching；According to the first, second, and third pre-warning signal that sequence generates, controller 9, which generates water tank 1, to be stopped believing for water management
Number, it is output to Power Supply Assembly 7, Power Supply Assembly 7 powers off；And controller 9 is output a control signal to, controls pulsating pump for runner 4
The water of middle retention sucks back in water tank 1；And remove the first, second, and third pre-warning signal in caching；Sweeping robot continues
It advances on carpet, it does not include that carpet determines signal that controller 9, which detects according to TOF picture pick-up device and exports front, generates first
Pre-warning signal is released, is cached in controller 9；According to when the wheel of sweeping robot is fallen by current carpet to floor, vibration
The signal that jolts that dynamic sensor is detected and exported generates second and releases pre-warning signal, caches in controller 9；It is passed according to wheel speed
Sensor detects and exports sweeping robot travel speed rising signals, and travel speed is restored to its travel speed on floor,
It generates third and releases pre-warning signal, cached in controller 9；Early warning letter is released according to first, second, and third that sequence generates
Number, controller 9 generates water tank 1 for water management signal, is output to Power Supply Assembly 7, Power Supply Assembly 7 is powered；Water tank 1 is supplied to runner 4
Water is supplied water to rag 8 by infiltration item 5, is wiped to floor；And first, second, and third removed in caching releases
Pre-warning signal.
Embodiment two
The method of supplying water for present embodiments providing a kind of sweeping robot, the sweeping robot provided using embodiment one
Water system, above-mentioned method of supplying water include the following steps:
Detect the floor type of sweeping robot traveling；
If it is floor, Power Supply Assembly unlatching is controlled, Power Supply Assembly is electromagnet power supply, and electromagnet generates magnetic field；It is vertical
Column is mobile to the direction of electromagnet under the influence of a magnetic field, and the water supply pipe between water tank and rag is connected to, and water tank is rag confession
Water；
If it is carpet, Power Supply Assembly power-off is controlled, electromagnet is separated with column, and water tank is not necessarily to as in rag water supply.
Compared with prior art, the beneficial effect Yu embodiment one of the method for supplying water of sweeping robot provided in this embodiment
The beneficial effect of the water system of offer is essentially identical, will not repeat them here.
Specifically, the present embodiment is by believing jolt signal detection and speed of the anticipation of front floor type, sweeping robot
Number detection, obtain sweeping robot traveling floor type；
Front floor type is prejudged, its purpose is to prejudge whether sweeping robot traveling front ground includes ground
Blanket；
It jolts signal detection to sweeping robot, its purpose is to detect the letter that jolts in sweeping robot traveling process
Number；Judge that sweeping robot falls on floor from floor obstacle detouring to carpet, or under carpet.
Speed signal is detected, its purpose is to detect the speed in sweeping robot traveling；It is coarse due to carpet
Property compared to floor roughening it is much larger, cause travel speed of the sweeping robot on carpet very slow, especially that becomes mildewed
Carpet, the travel speed of sweeping robot are just very slower；By the velocity variations in detection floor-washing robot traveling, can determine whether to sweep the floor
Robot is advanced on carpet or floor.
Special, sensor or the Image Acquisition analyzer with type detection function can be used to predict sweeping robot
Whether front ground includes carpet.
A kind of specific mode uses Image Acquisition analyzer, such as TOF picture pick-up device, ground in front of shooting sweeping robot
Image, by known image recognition methods, whether anticipation front includes carpet.
A specific method of supplying water in the present embodiment, as shown in Figure 5, comprising the following steps:
Step S11, result, signal detecting result of jolting and speed signal detection knot are successively prejudged according to front floor type
Fruit successively judges that traveling front is advanced to carpet and on carpet including carpet, by existing floor obstacle detouring in order, and confirmation is swept
Floor-washing robot is traveling on carpet；
Step S12, control Power Supply Assembly power-off, water tank stops supplying water, and the water retained in runner is sucked back in water tank；
Step S13, sweeping robot successively prejudges result according to front floor type, jolts in carpet traveling process
Signal detecting result and speed signal testing result successively judge that traveling front does not include carpet, by current carpet in order
Under fall on floor and advance on floor, confirmation sweeping robot is traveling on floor；
Step S14, control Power Supply Assembly be powered, water tank to runner supply water, by infiltration item to rag supply water, to floor into
Row wiping.
The specific water tank control method of another in the present embodiment, as shown in Figure 6, comprising the following steps:
Step S21, in front of acquisition sweeping robot direction of travel image, image analysis is carried out, when determining to sweep the floor machine
When including carpet in front of people, generates and store the first pre-warning signal；
Step S22, it when the wheel of sweeping robot is by existing floor obstacle detouring to carpet, detects the signal that jolts, produces
It gives birth to and stores the second pre-warning signal；
Step S23, it detects sweeping robot travel speed dropping signal, generate and stores third pre-warning signal；
Step S24, after sequentially receiving the first, second, and third pre-warning signal, control Power Supply Assembly power-off, water tank stops supplying
Water, and the water retained in runner is sucked back in water tank；
Step S25, the first, second, and third pre-warning signal is removed；Continue to acquire direction of travel in front of sweeping robot
Image carries out image analysis, when determining not including carpet in front of sweeping robot, generates and stores the first releasing early warning letter
Number；
Step S26, it when the wheel of sweeping robot is fallen by current carpet onto floor, detects the signal that jolts, produces
It gives birth to and stores the second releasing pre-warning signal；
Step S27, sweeping robot travel speed rising signals are detected, and travel speed is restored to it in floor uplink
Into speed, generates and store third releasing pre-warning signal；
Step S28, after sequentially receiving the first, second, and third releasing pre-warning signal, control Power Supply Assembly is powered, and water tank is extensive
It is multiple to supply water to runner, it is supplied water by infiltration item to rag, floor is wiped, removed first, second, and third and release early warning
Signal.
Optionally, the sensor with type detection function can be used in S25 step S21, come before determining sweeping robot
Whether side includes carpet.
The present embodiment makes to sentence floor type by the continuous confirmation of three pre-warning signals and three releasing pre-warning signals
It is disconnected more accurate, prevent the mistake when advancing on carpet from supplying water, mistake stops supplying water when advancing on floor；
Stop the floor type supplying water disclosed in the present embodiment, comprises more than carpet, further include similar to carpet property
The braided fabric of the large area sensitive to ponding.
Embodiment three
A kind of sweeping robot is present embodiments provided, including the water system that ontology and embodiment one provide, ontology
The interior storage area being equipped with for accommodating water system, water system are located in storage area.
Compared with prior art, the water supply that the beneficial effect Yu embodiment one of sweeping robot provided in this embodiment provides
The beneficial effect of system is essentially identical, will not repeat them here.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of water system of sweeping robot, which is characterized in that including water tank, column, upright post sleeve, runner, infiltration item, electricity
Magnet, Power Supply Assembly, information acquisition unit and controller；The upright post sleeve runs through water tank, and the side wall of the upright post sleeve is equipped with more
A weep hole, the upright post sleeve are set in upright post sleeve and can be attracted with electromagnet, the electromagnet be set on water tank and with power supply
Component electrical connection；
Floor type signal, the sweeping robot that the information acquisition unit is used to acquire in front of sweeping robot jolt signal and
Speed signal；The controller is used for the signal that acquire according to information acquisition unit, judge sweeping robot travel in carpet or
On floor, output control signal control Power Supply Assembly is closed or opened.
2. the water system of sweeping robot according to claim 1, which is characterized in that multiple weep holes are along upright post sleeve
Axis direction arrangement, the column top are equipped with spring, and the column can be attracted by spring with electromagnet.
3. the water system of sweeping robot according to claim 2, which is characterized in that along the side of water tank bottom to top
To the diameter of the weep hole is gradually increased.
4. the water system of sweeping robot according to claim 1, which is characterized in that the water system further includes inhaling
Water pump；The water inlet of the pulsating pump is connect with runner, and water outlet is connect with water tank；The pulsating pump also connects with controller signals
It connects, the controller can control pulsating pump and suck back the water retained in runner in water tank.
5. the water system of sweeping robot according to claim 1, which is characterized in that the bottom end of the upright post sleeve is arranged
Inside protrusion, the column are placed in protrusion；
Alternatively, the shape of the upright post sleeve inner wall is taper.
6. according to claim 1 to the water system of sweeping robot described in 5, which is characterized in that the information acquisition unit
Including floor type anticipation sensor, vibrating sensor and wheel speed sensors；The floor type anticipation sensor, which is mounted on, to be swept
On the chassis of floor-washing robot ontology, and it is located at the front of water tank, whether is wrapped for ground in front of prejudging the traveling of sweeping robot
Include carpet；The vibrating sensor is installed on the chassis of sweeping robot, for acquiring the letter that jolts of sweeping robot ontology
Number；The wheel speed sensors are installed on the wheel of sweeping robot, for acquiring the wheel speed variable signal of sweeping robot.
7. a kind of method of supplying water of sweeping robot, which is characterized in that sweep the floor using as claimed in any one of claims 1 to 6
The water system of robot, the method for supplying water include the following steps:
Detect the floor type of sweeping robot traveling；
If it is floor, Power Supply Assembly unlatching is controlled, Power Supply Assembly is electromagnet power supply, and electromagnet generates magnetic field；Column exists
Mobile to the direction of electromagnet under the action of magnetic field, the water supply pipe between water tank and rag is connected to, and water tank is rag water supply；
If it is carpet, Power Supply Assembly power-off is controlled, electromagnet is separated with column, and water tank is not necessarily to as in rag water supply.
8. the method for supplying water of sweeping robot according to claim 7, which is characterized in that by pre- to front floor type
Sentence, sweeping robot jolt signal detection and speed signal detection, obtain sweeping robot traveling floor type；
Whether the front floor type anticipation includes carpet for prejudging sweeping robot traveling front ground；
The sweeping robot jolts signal detection, for detecting the signal that jolts in sweeping robot traveling process；
The speed signal detection, for detecting the speed in sweeping robot traveling.
9. the method for supplying water of sweeping robot according to claim 8, which is characterized in that using has the function of type detection
Sensor or Image Acquisition analyzer carry out front floor type anticipation.
10. a kind of sweeping robot, which is characterized in that machine of sweeping the floor including ontology and as described in any one of claim 1 to 6
The water system of people, the interior storage area being equipped with for accommodating water system of the ontology, the water system are located in storage area.
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| CN201811278068.0A CN109222769B (en) | 2018-10-30 | 2018-10-30 | Water supply system and water supply method of sweeping robot and sweeping robot |
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| CN201811278068.0A CN109222769B (en) | 2018-10-30 | 2018-10-30 | Water supply system and water supply method of sweeping robot and sweeping robot |
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Address after: 7-605, 6th floor, building 1, yard a, Guanghua Road, Chaoyang District, Beijing 100026 Applicant after: Beijing dog vacuum cleaner Group Co.,Ltd. Address before: 100101 6, 1 building, 169 Beiyuan Road, Chaoyang District, Beijing. Applicant before: PUPPY ELECTRONIC APPLIANCES INTERNET TECHNOLOGY (BEIJING) Co.,Ltd. |
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