CN109602356A - A kind of clean robot, intelligent method for supplementing water and moisturizing station - Google Patents
A kind of clean robot, intelligent method for supplementing water and moisturizing station Download PDFInfo
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- CN109602356A CN109602356A CN201910056541.9A CN201910056541A CN109602356A CN 109602356 A CN109602356 A CN 109602356A CN 201910056541 A CN201910056541 A CN 201910056541A CN 109602356 A CN109602356 A CN 109602356A
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- moisturizing
- station
- clean robot
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- water tank
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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
- A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
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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
- A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
- A47L13/42—Details
Abstract
The present invention is suitable for intelligent cleaning field, provides a kind of intelligent method for supplementing water of clean robot, method includes the following steps: the position at clean robot positioning moisturizing station；The current water in the robot in water tank is obtained in real time；Judge whether water tank is in exsiccosis；When water tank is in exsiccosis, control clean robot navigates to the position at moisturizing station to water tank moisturizing.The intelligent method for supplementing water of clean robot disclosed in the present application, moisturizing station is positioned when clean robot is cleaned, when water tank is in exsiccosis in clean robot, clean robot can carry out moisturizing by navigating to oriented moisturizing station, moisturizing is carried out so as to navigate to moisturizing station at the first time, not only make clean robot moisturizing flexible, but also effectively promotes clean working efficiency.
Description
Technical field
The invention belongs to intelligent cleaning field more particularly to a kind of clean robots, intelligent method for supplementing water and moisturizing station.
Background technique
Clean robot cleans indoor environment for intelligent navigation, and existing in existing clean robot has mopping function
Robot, generally require setting water tank maintain robot work, since the power of clean robot is generally smaller, if water
Case is too big will to cause the weight of clean robot to greatly increase, to influence the continuation of the journey of clean robot electric energy, and uses small water
Case then needs frequently to water tank moisturizing, however the clean robot in industry mostly uses slam real-time map generation technique, should
Technology is different from the digital map navigation in traditional GPS navigation technology, robot can not by import existing cartographic model again into
Row path planning can only generate in real time during traveling or update map.
In the prior art, moisturizing station usually fixed in the origin setting of clean robot, when clean robot needs
It wants control clean robot when moisturizing to return to origin moisturizing, leads to be difficult to the operating path of neatly planning robot, make
At unnecessary energy consumption, working efficiency is reduced.Therefore, how to control clean robot neatly arrive corresponding moisturizing station into
Row moisturizing will become this field technical problem urgently to be resolved.
Summary of the invention
The embodiment of the present invention provides a kind of intelligent method for supplementing water of clean robot, it is intended to which solving clean robot can not spirit
It is living to arrive the moisturizing of corresponding moisturizing station, lead to the problem that cleaning efficiency is lower.
The embodiments of the present invention are implemented as follows, and a kind of intelligent method for supplementing water of clean robot, the method comprising the steps of:
The position at clean robot positioning moisturizing station；
The current water in the clean robot in water tank is obtained in real time；
Judge whether the water tank is in exsiccosis；
When the water tank is in exsiccosis, controls the clean robot and navigate to the position at the moisturizing station to described
Water tank moisturizing.
Further, the position at clean robot positioning moisturizing station, comprising:
Real-time map is updated according to current scene locating for the clean robot；
Identify the current scene with the presence or absence of moisturizing station；
When the current scene is there are moisturizing station, the position at moisturizing station is recorded in the real-time map.
Further, when the water tank is in exsiccosis, comprising:
If record has the position at moisturizing station in the real-time map；
Moisturizing path is planned in real-time map；
The moisturizing station is navigated to the water tank moisturizing according to clean robot described in the moisturizing path clustering.
Further, when the water tank is in exsiccosis, comprising:
If the position at moisturizing station is not recorded in the real-time map；
The Programming Exploration path in real-time map；
The position at moisturizing station is found according to clean robot described in the exploration path clustering.
Further, when record has the position at multiple moisturizing stations in the real-time map, comprising:
The moisturizing path be multiple moisturizing stations at a distance from clean robot the smallest path.
Further, when record has the position at multiple moisturizing stations in the real-time map, comprising:
The moisturizing path is with the subsequent time target point of cleaning path in multiple moisturizing stations apart from the smallest path.
Further, after the control clean robot navigates to moisturizing station to the water tank moisturizing, comprising:
Judge whether the water tank adds water to full water state；
If so, control moisturizing station stops being the water tank moisturizing, and controls the clean robot and continue cleaning.
The embodiment of the invention also provides a kind of clean robots of intelligent moisturizing, are applied to intelligent method for supplementing water, described
Clean robot includes body and the water tank that is equipped on the body, the clean robot further include:
Water state monitoring module judges whether the water tank is in by the current water in water tank described in real-time measurement
Exsiccosis or full water state；
Moisturizing station navigation module, positions the position at the moisturizing station, and controls the clean robot and navigate to moisturizing station
Position so that the water tank is connected to each other with the moisturizing station；
Moisturizing executing agency starts moisturizing or stopping moisturizing to the water tank for executing the moisturizing station；
The water state monitoring module is connected with moisturizing station navigation module and moisturizing executing agency respectively.
The embodiment of the invention also provides a kind of moisturizing stations, are applied to intelligent method for supplementing water, the moisturizing station includes:
It can recognize feature, whether there is moisturizing station for clean robot identification current scene；
Moisturizing executing agency starts moisturizing or stopping moisturizing to water tank for executing moisturizing station.
Further, the moisturizing station further includes charging station, the moisturizing station and the charging station it is separately positioned or
It is wholely set.
The intelligent method for supplementing water of clean robot provided in an embodiment of the present invention the utility model has the advantages that
The embodiment of the present invention is due to the position using clean robot positioning moisturizing station, then according to the cleaning for implementing to obtain
The water of water tank is to determine whether water shortage in robot, and then controls clean robot and navigate to the position at moisturizing station and mend to water tank
Water.Therefore, when multiple moisturizing stations are set in cleaning ambient, moisturizing station is positioned when clean robot is cleaned, works as cleaning
When water tank is in exsiccosis in robot, clean robot can carry out moisturizing by navigating to oriented moisturizing station, thus
When can guarantee water shortage in robot water tank to be cleaned, moisturizing station can be navigate at the first time and carries out moisturizing, is not only effectively kept away
Exempt from clean robot and just position the case where moisturizing station carries out water-refilling operation again after water shortage, keeps clean robot moisturizing flexible, and
And effectively promote clean working efficiency.
Detailed description of the invention
Fig. 1 is a kind of intelligent method for supplementing water flow diagram of clean robot provided by the embodiments of the present application；
Fig. 2 is the flow diagram of step 100 provided by the embodiments of the present application；
Fig. 3 is S400 flow diagram provided by the embodiments of the present application；
Fig. 4 is another step S400 flow diagram provided by the embodiments of the present application；
Fig. 5 is the intelligent method for supplementing water flow diagram of another clean robot provided by the embodiments of the present application；
Fig. 6 is a kind of clean robot structural schematic diagram of intelligent moisturizing provided by the embodiments of the present application；
Fig. 7 provides a kind of moisturizing station for the embodiment of the present application.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Clean robot after water tank lacks water, needs timely moisturizing, just can guarantee cleaning efficiency when cleaning indoor sanitation,
In the prior art, often at the moisturizing station of origin setting fixation, therefore, no matter clearly clean robot is during cleaning,
Which position clean robot is located at, and is required to be moved to origin moisturizing, so as to cause unnecessary energy consumption is increased, reduces work
Make efficiency.
In disclosed embodiments, multiple moisturizing stations are set in cleaning ambient, when clean robot is cleaned
When need to find corresponding moisturizing station first, then start cleaning again, when water tank is in exsiccosis in clean robot
When, clean robot can carry out moisturizing by navigating to oriented moisturizing station, so as to guarantee robot water tank to be cleaned
When middle water shortage, moisturizing station can be navigate at the first time and carries out moisturizing, to guarantee cleaning efficiency.
Embodiment one
As shown in Figure 1, being a kind of intelligent method for supplementing water flow diagram of clean robot provided by the embodiments of the present application.
In the step s 100, the position at clean robot positioning moisturizing station.
In the embodiment of the present application, multiple moisturizing stations are set in cleaning ambient, it, can be in parlor, sleeping for example, by taking family as an example
Moisturizing station is respectively set in the positions such as room and kitchen, can moisturizing station moisturizing in the area when cleaning the health of different zones.It is right
In cleaning ambient in the cleaning ambients such as large-scale workshop, market, can be divided to multiple regions, corresponding moisturizing is set in each region
It stands, when clean robot is when sweeping the region, due to the limitation of clean robot slam technology, clean robot can only be scanned
When being moved to the next position, the map of a upper position is saved to historical map or atlas for map in presumptive area, in order to avoid
Water tank lacks water in cleaning process and can not find moisturizing station or need the case where mobile relatively long distance of robot is to moisturizing station, pass through
Y preferentially positions the position at moisturizing station, and when guaranteeing water tank lacks water, corresponding benefit can be quickly navigate in the region scanned
Water station moisturizing.
Therefore, it in clean robot intelligence method for supplementing water provided by the embodiments of the present application, is cleaned into the region
When, if not having moisturizing station in the region, clean robot needs first to navigate to the position at moisturizing station.Such as: by taking family as an example,
If not placing moisturizing station in kitchen, the case where kitchen and bedroom are provided with moisturizing station, if clean robot is first in kitchen
When carrying out cleaning, clean robot enters kitchen and opens position of the scanning less than moisturizing station after map, then clean robot
It needs in the advanced scanning in the positions such as kitchen, parlor and bedroom, when navigating to moisturizing station location, which is protected
It deposits, and then starts to execute cleaning task.
In step s 200, the current water in clean robot in water tank is obtained in real time.
After the position at moisturizing station is positioned, clean robot obtains the current water in the water tank of sweeping robot in real time.
When obtaining the current water in clean robot water tank in real time, can be realized by pressure sensor, pressure sensor passes through reality
When the monitoring water tank bottom or pressure born of side, realize detection to water current in water tank.Cleaning machine is obtained in real time
How much water in people in water tank can determine when moisturizing by water, further realize intelligent moisturizing.
In step S300, judge whether the water tank is in exsiccosis.
Judge water tank whether water shortage when, first threshold and second threshold can be set, wherein first threshold be greater than second
Threshold value, if current water, which is less than first threshold, is greater than second threshold, it is determined that the water in water tank is less, i.e., can by water shortage
Setting warning function is alarmed.If current water is less than second threshold, it is determined that water shortage in water tank needs moisturizing as early as possible.
If first threshold and second threshold may be configured as leading to using the current water in pressure sensor detection water tank
Water value after the conversion of over-voltage force value, naturally it is also possible to be pressure value.
In step S400, when water tank is in exsiccosis, control clean robot navigates to the position at moisturizing station to institute
State water tank moisturizing.
After water tank is in exsiccosis, clean robot stops cleaning, and clean robot is according to the position at the moisturizing station of positioning
It sets, navigates to the moisturizing of moisturizing station.Identification to moisturizing station can pass through infrared emission, coding characteristic identification, feature object identification etc.
Mode is realized.
After recognizing corresponding moisturizing station, control clean robot is moved to moisturizing station location moisturizing.It can be at moisturizing station
Water outlet connector is set, clean robot is moved to moisturizing station location, water tank inlet is connected with connector, transmission
Replenishment signal to connector, connector executes opening action, to realize the moisturizing movement of water tank.
Seen from the above description, in the embodiment of the present application, multiple moisturizing stations are set in cleaning ambient, in cleaning process
In or moisturizing before, clean the position that its several people positions moisturizing station, it is current in clean robot water tank by obtaining in real time
Water, judges whether water tank is in exsiccosis, if being in exsiccosis, controls the moisturizing of clean robot running fix
Station location moisturizing.Compared with prior art, clean robot does not need constantly to return to moisturizing at initial point position in moisturizing,
Moisturizing station is selected from all moisturizing station locations of positioning, can flexible planning path, promote working efficiency.
The embodiment of the present invention is due to the position using clean robot positioning moisturizing station, then according to the cleaning for implementing to obtain
The water of water tank is to determine whether water shortage in robot, and then controls clean robot and navigate to the position at moisturizing station and mend to water tank
Water.Therefore, when multiple moisturizing stations are set in cleaning ambient, moisturizing station is positioned when clean robot is cleaned, works as cleaning
When water tank is in exsiccosis in robot, clean robot can carry out moisturizing by navigating to oriented moisturizing station, thus
When can guarantee water shortage in robot water tank to be cleaned, moisturizing station can be navigate at the first time and carries out moisturizing, is not only effectively kept away
Exempt from clean robot and just position the case where moisturizing station carries out water-refilling operation again after water shortage, keeps clean robot moisturizing flexible, and
And effectively promote clean working efficiency.
Embodiment two
On the basis of example 1 referring to fig. 2, Fig. 2 is the flow diagram of step 100 provided by the embodiments of the present application.
In step s101, the current scene according to locating for the clean robot updates real-time map.
Clean robot can after powering, or cleaning prelocalization moisturizing station position.Clean robot is by sweeping
Current scene is retouched, the map in clean robot memory is updated storage.It, can basis after the real-time map for updating current scene
Real-time map plans cleaning route.When updating real-time map, current scene is scanned, scanning current scene can pass through infrared scan
It realizes.
In step s 102, identify the current scene with the presence or absence of moisturizing station.
Under the premise of updating real-time map, moisturizing station is identified, the identification to moisturizing station can pass through infrared emission, coding
The modes such as feature identification, feature object identification are realized.By taking feature object identifies as an example, clean robot is worked as by sensor scanning
Preceding cleaning ambient, then analyzes cleaning ambient information, and whether identification includes wherein preset feature object, wherein preset spy
Sign object is each moisturizing station, and it is different that feature is preset at different moisturizing stations.
In step s 103, when the current scene is there are moisturizing station, the position at moisturizing station is recorded in the real-time map
It sets.
After clean robot recognizes feature object, according to the relative position of feature object and robot, then obtain
Location information of the moisturizing station in map.According to the location information at moisturizing station in real-time map in the updated, moisturizing station is remembered
Record marks in real-time map.With the update of real-time map, the record at moisturizing station is also required to update.
Seen from the above description, in the embodiment of the present application, when multiple moisturizing stations are arranged in cleaning ring within the border, clean robot
The position for needing to position moisturizing station records the position at moisturizing station in the real-time map of update, when meeting water shortage, cleans machine
People positions the position at moisturizing station in time, and navigates to the moisturizing of moisturizing station, to reduce the energy consumption of moisturizing mobile over long distances, improves work
Make efficiency.
Embodiment three
On the basis of embodiment one and embodiment two, referring to Fig. 3, illustrate for S400 process provided by the embodiments of the present application
Figure.
In step S401, if record has the position at moisturizing station in real-time map.
In step S402, moisturizing path is planned in real-time map.
In example 2, therefore moisturizing station location record, label, are in water shortage shape at water tank in real-time map
When state needs moisturizing, need to select moisturizing station to carry out moisturizing, so, in the embodiment of the present application, by the position at all moisturizing stations,
Moisturizing path is planned in real-time map.When needing moisturizing, according to the current position of clean robot, selection is most reasonable to be mended
Water route.
In step S403, moisturizing station is navigated to the water tank moisturizing according to moisturizing path clustering clean robot.
After calculating moisturizing path, it is the smallest at a distance from clean robot that multiple moisturizing stations in moisturizing path may be selected
Path, alternatively, the subsequent time target point of cleaning path is apart from the smallest path in multiple moisturizing stations.
It therefore, can be by calculating moisturizing station and plot robot current location in moisturizing path when selecting moisturizing path
The distance between value and the distance between clean robot subsequent time target point (cleaning point) and moisturizing station in moisturizing path
Value selects the corresponding moisturizing station of minimum value in distance value to carry out moisturizing.
It in another embodiment, referring to fig. 4, is another step S400 process signal provided by the embodiments of the present application
Figure.
In step s 404, if not recording the position at moisturizing station in the real-time map.
In step S405, the Programming Exploration path in real-time map.
If clean robot, without discovery moisturizing station location, does not just have markd by identification in real-time map
Moisturizing station location finds moisturizing station at this time, it may be necessary to continue to explore, and therefore, it is necessary to the Programming Exploration paths in real-time map.Planning
When exploring path, it can will explore path and be overlapped with cleaning path；It can also explore around the periphery of cleaning ambient, then inwardly reduce
Range.
In step S406, the position at moisturizing station is found according to clean robot described in the exploration path clustering.
Exploration path can be by the current location of clean robot, comprehensive exploration is unfolded.If exploring path
It is overlapped with cleaning path, moisturizing station can be explored while cleaning during cleaning, it can also be before cleaning along clear
Moisturizing station is found in clean track search.
Seen from the above description, when water tank, which is in exsiccosis, needs moisturizing, need first to confirm in real-time map whether
Record has the position at moisturizing station, if so, then calculating optimal moisturizing path according to the position at moisturizing station, and moisturizing station is selected to mend
Water needs Programming Exploration path if not recording moisturizing station location, explores and navigates to moisturizing station benefit after finding moisturizing station again
Water.Therefore, in the embodiment of the present application, by moisturizing station location, last moisturizing path is calculated, and explore moisturizing path, controllably
Clean robot processed flexibly navigates to moisturizing station and carries out moisturizing.
Example IV
Referring to Fig. 5, for the intelligent method for supplementing water flow diagram of another clean robot provided by the embodiments of the present application.
In step S500, judge whether water tank adds water to full water state.
In step S600, if so, control moisturizing station stops being the water tank moisturizing, and clean robot continuation is controlled
Cleaning.
During water tank moisturizing, judge whether water tank adds water to full water state, prevents water from overflowing water tank.Judging water tank is
It is no be full water state when, by detect water whether reach third threshold value, it is determined whether be full water state, wherein third threshold value is big
In above-mentioned first threshold and second threshold.Third threshold value may be configured as the corresponding water of water tank 95%-98%, from monitoring water
Reach threshold value to stopping for during water tank moisturizing, moisturizing station remains as water tank moisturizing, therefore moisturizing station can be effectively prevent to respond the phase
Between, water tank is filled it up with by moisturizing station.
When monitoring that the water in water tank reaches third threshold value, sends and stop adding water signal to moisturizing station, moisturizing station is held
Row stops plus water operation, so that stopping is that water tank adds water.
Seen from the above description, in the intelligent method for supplementing water of clean robot provided by the above embodiment, real-time monitoring is clear
The water tank state of clean robot, if water shortage, it is determined that moisturizing station location navigates to the moisturizing of moisturizing station, and determining moisturizing station is
The corresponding moisturizing station in optimal moisturizing path, so as to reduce clean robot because being moved to the moisturizing station moisturizing at origin
To the unnecessary energy consumption of commander, while the time during moisturizing is reduced, promotes working efficiency.
The embodiment of the present application also provides a kind of clean robots of intelligent moisturizing, are applied to intelligence provided by the above embodiment
Energy method for supplementing water, including body and the water tank being equipped on body, as shown in fig. 6, being a kind of intelligence provided by the embodiments of the present application
The clean robot structural schematic diagram of energy moisturizing, clean robot further include:
Water state monitoring module judges whether water tank is in water shortage by the current water in water tank described in real-time measurement
State or full water state；Moisturizing station navigation module, positions the position at moisturizing station, and controls clean robot and navigate to moisturizing station
Position, so that water tank is connected to each other with the moisturizing station；Moisturizing executing agency starts moisturizing to water tank or stops for executing moisturizing station
Only moisturizing；Water state monitoring module is connected with moisturizing station navigation module and moisturizing executing agency respectively.
Water state monitoring module judges whether water tank is in exsiccosis by the current water in real-time measurement water tank
Or full water state, if being in exsiccosis, moisturizing station navigation module positions the position at moisturizing station, and moisturizing station navigation module exists
It in position fixing process, is positioned from the real-time map for being provided with multiple moisturizing stations, the position of control robot navigation to moisturizing station
It sets, is connected to each other water tank with moisturizing station, moisturizing executing agency, which executes, to be started moisturizing to water tank or stop moisturizing.It can by foregoing description
Know, the clean robot of intelligence moisturizing provided by the embodiments of the present application can be when water tank be in exsiccosis, by positioning moisturizing
Station location finds fast, easily moisturizing station and carries out moisturizing, to promote cleaning efficiency.
Referring to Fig. 7, the embodiment of the present application also provides a kind of moisturizing stations, applied to the intelligent moisturizing side in above-described embodiment
Method, moisturizing station include: recognizable feature, whether there is moisturizing station for clean robot identification current scene；Moisturizing executes machine
Structure starts moisturizing or stopping moisturizing to water tank for executing moisturizing station.Moisturizing station and charging station are separately positioned or are wholely set.
Moisturizing station includes that can recognize feature, and robot convenient for cleaning is in exsiccosis, by can recognize that feature location is mended
Water station, while robot convenient for cleaning identification moisturizing station and moisturizing station is recorded in real-time map, facilitate when needing moisturizing, carries out
Moisturizing path planning.Moisturizing station can be separately positioned with charging station or be wholely set, and position in cleaning ambient can be increased by being wholely set
The utilization rate of value.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of intelligent method for supplementing water of clean robot, which is characterized in that the method comprising the steps of:
The position at clean robot positioning moisturizing station；
The current water in the clean robot in water tank is obtained in real time；
Judge whether the water tank is in exsiccosis；
When the water tank is in exsiccosis, controls the clean robot and navigate to the position at the moisturizing station to the water tank
Moisturizing.
2. the intelligent method for supplementing water of clean robot as described in claim 1, which is characterized in that the clean robot positioning
The position at moisturizing station, comprising:
Real-time map is updated according to current scene locating for the clean robot；
Identify the current scene with the presence or absence of moisturizing station；
When the current scene is there are moisturizing station, the position at moisturizing station is recorded in the real-time map.
3. the intelligent method for supplementing water of clean robot as claimed in claim 2, which is characterized in that when the water tank is in water shortage
When state, comprising:
If record has the position at moisturizing station in the real-time map；
Moisturizing path is planned in real-time map；
The moisturizing station is navigated to the water tank moisturizing according to clean robot described in the moisturizing path clustering.
4. the intelligent method for supplementing water of clean robot as claimed in claim 2, which is characterized in that when the water tank is in water shortage
State, comprising:
If the position at moisturizing station is not recorded in the real-time map；
The Programming Exploration path in real-time map；
The position at moisturizing station is found according to clean robot described in the exploration path clustering.
5. the intelligent method for supplementing water of clean robot as claimed in claim 3, which is characterized in that remember when in the real-time map
When record has the position at multiple moisturizing stations, comprising:
The moisturizing path be multiple moisturizing stations at a distance from clean robot the smallest path.
6. the intelligent method for supplementing water of clean robot as claimed in claim 3, which is characterized in that remember when in the real-time map
When record has the position at multiple moisturizing stations, comprising:
The moisturizing path is with the subsequent time target point of cleaning path in multiple moisturizing stations apart from the smallest path.
7. the intelligent method for supplementing water of clean robot as described in claim 1, which is characterized in that the control clean robot
After moisturizing station is navigated to the water tank moisturizing, comprising:
Judge whether the water tank adds water to full water state；
If so, control moisturizing station stops being the water tank moisturizing, and controls the clean robot and continue cleaning.
8. it is a kind of intelligence moisturizing clean robot, applied to as in claim 1 to 7 arbitrarily as described in intelligent method for supplementing water,
The clean robot includes body and the water tank that is equipped on the body, which is characterized in that the clean robot also wraps
It includes:
Water state monitoring module judges whether the water tank is in water shortage by the current water in water tank described in real-time measurement
State or full water state；
Moisturizing station navigation module, positions the position at the moisturizing station, and controls the position that the clean robot navigates to moisturizing station
It sets, so that the water tank is connected to each other with the moisturizing station；
Moisturizing executing agency starts moisturizing or stopping moisturizing to the water tank for executing the moisturizing station；
The water state monitoring module is connected with moisturizing station navigation module and moisturizing executing agency respectively.
9. a kind of moisturizing station, applied to the intelligent method for supplementing water as described in any in claim 1 to 7, which is characterized in that described
Moisturizing station includes:
It can recognize feature, whether there is moisturizing station for clean robot identification current scene；
Moisturizing executing agency starts moisturizing or stopping moisturizing to water tank for executing moisturizing station.
10. moisturizing station as claimed in claim 9, which is characterized in that it further include charging station, the moisturizing station and the charging station
It is separately positioned or be wholely set.
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| CN110410926A (en) * | 2019-07-25 | 2019-11-05 | 宁波奥克斯电气股份有限公司 | One kind is swept the floor dehumidification equipment and its control method |
| CN110388074A (en) * | 2019-07-29 | 2019-10-29 | 广东博智林机器人有限公司 | A kind of metope maintenance process, control system and spray robot |
| CN112386173A (en) * | 2019-08-15 | 2021-02-23 | 深圳市扬哲科技有限公司 | Automatic clear water loading device and clear water loading method of intelligent sweeper |
| CN110367883A (en) * | 2019-08-29 | 2019-10-25 | 深圳巴诺机器人有限公司 | A kind of external cabinet detection method of sweeping robot and device |
| CN110811444A (en) * | 2019-10-15 | 2020-02-21 | 广东博智林机器人有限公司 | Clear water bag and have its multiplexing water tank, cleaning machines people |
| CN110811444B (en) * | 2019-10-15 | 2021-06-22 | 广东博智林机器人有限公司 | Clear water bag and have its multiplexing water tank, cleaning machines people |
| CN112773275A (en) * | 2019-11-10 | 2021-05-11 | 佛山市云米电器科技有限公司 | Cleaning robot, control method thereof and cleaning system |
| CN112773275B (en) * | 2019-11-10 | 2022-11-15 | 佛山市云米电器科技有限公司 | Cleaning robot, control method thereof and cleaning system |
| CN112773276A (en) * | 2019-11-10 | 2021-05-11 | 佛山市云米电器科技有限公司 | Cleaning robot, control method thereof and cleaning system |
| CN112647461A (en) * | 2019-12-02 | 2021-04-13 | 丰疆智能科技股份有限公司 | Mobile cleaning equipment |
| CN113116238A (en) * | 2019-12-31 | 2021-07-16 | 佛山市云米电器科技有限公司 | Cleaning robot maintenance method, cleaning robot, cleaning system, and storage medium |
| CN111184483A (en) * | 2020-01-19 | 2020-05-22 | 深圳拓邦股份有限公司 | Control method of cleaning equipment and cleaning equipment |
| CN111156616A (en) * | 2020-01-21 | 2020-05-15 | 夏松梅 | Intelligent humidifying and dehumidifying device, system and method |
| CN113616121B (en) * | 2020-05-07 | 2023-04-07 | 云米互联科技(广东)有限公司 | Cleaning robot control method, cleaning robot, and computer-readable storage medium |
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| CN111780301A (en) * | 2020-07-15 | 2020-10-16 | 珠海格力电器股份有限公司 | Mobile cooling fan, control method thereof and computer readable storage medium |
| CN112720515A (en) * | 2020-12-21 | 2021-04-30 | 正从科技(上海)有限公司 | Water supply method and system suitable for artificial intelligent cleaning robot |
| CN112842179A (en) * | 2020-12-31 | 2021-05-28 | 科沃斯商用机器人有限公司 | Base station and cleaning system |
| CN112754360B (en) * | 2020-12-31 | 2023-02-21 | 北京石头世纪科技股份有限公司 | Breakpoint continuous dragging method, device, medium and electronic equipment for mopping robot |
| WO2022142211A1 (en) * | 2020-12-31 | 2022-07-07 | 北京石头世纪科技股份有限公司 | Breakpoint mopping continuation method and apparatus for mopping robot, medium, and electronic device |
| CN112754360A (en) * | 2020-12-31 | 2021-05-07 | 北京石头世纪科技股份有限公司 | Breakpoint continuous dragging method, device, medium and electronic equipment for mopping robot |
| CN112842181A (en) * | 2021-01-18 | 2021-05-28 | 广东德尔玛科技股份有限公司 | Supply method of floor washing device |
| CN112842181B (en) * | 2021-01-18 | 2022-12-27 | 北京小米移动软件有限公司 | Supply method of floor washing device |
| CN112890696A (en) * | 2021-02-05 | 2021-06-04 | 深圳市银星智能科技股份有限公司 | Liquid adding method, maintenance station, cleaning robot and liquid adding system |
| WO2022179235A1 (en) * | 2021-02-23 | 2022-09-01 | 深圳市银星智能科技股份有限公司 | Cleaning robot control method and apparatus, cleaning robot, and storage medium |
| CN113080794A (en) * | 2021-03-08 | 2021-07-09 | 杭州博乐工业设计股份有限公司 | Wireless steam mop |
| CN113243822A (en) * | 2021-04-26 | 2021-08-13 | 深圳市酷客智能科技有限公司 | Water quantity control method and device of intelligent cleaning robot and intelligent cleaning robot |
| CN115363479A (en) * | 2021-05-21 | 2022-11-22 | 广州视源电子科技股份有限公司 | Water replenishing and draining method, device, system, equipment and storage medium |
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