CN110811438A - Floor sweeping robot and control method - Google Patents
Floor sweeping robot and control method Download PDFInfo
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- CN110811438A CN110811438A CN201911207612.7A CN201911207612A CN110811438A CN 110811438 A CN110811438 A CN 110811438A CN 201911207612 A CN201911207612 A CN 201911207612A CN 110811438 A CN110811438 A CN 110811438A
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- water
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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
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
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Abstract
The invention relates to the technical field of intelligent cleaning equipment, in particular to a sweeping robot and a control method for controlling and detecting a water tank. The water tank comprises a tank body, a tank cover and an actuator; the box body and the box cover enclose a closed space, only a water outlet of the closed space is communicated with the outside, and the water outlet is arranged at the bottom of the closed space; the actuator extrudes the closed space, so that the volume of the closed space is reduced, and the water in the closed space flows out of the water outlet; the floor sweeping robot detects the driving characteristic value of the actuator according to the sensor and judges the state of the water tank according to the comparison between the measured characteristic value and the calibration value. The water outlet flow control and water level prompt function of the water tank of the sweeping robot is realized with simple structure and low cost, and the water outlet blockage prompt function is also realized.
Description
Technical Field
The invention relates to the technical field of intelligent cleaning equipment, in particular to a sweeping robot and a control method for controlling and detecting a water tank.
Background
The floor sweeping robot is also called an automatic sweeper, an intelligent dust collector, a robot dust collector and the like, has certain artificial intelligence, automatically finishes floor cleaning work in a room, and is one of intelligent household appliances. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. In the industry, robots which complete cleaning, dust collection and floor mopping work are also classified as floor sweeping robots.
The floor sweeping robot has the advantages that the floor sweeping function is realized, the water tank containing water needs to be carried, the water tank needs to be supplemented with water to the wiping cloth in time, and the functions of timely reminding when water in the water tank is consumed and reminding when the water outlet is blocked are achieved.
The prior art generally adopts the supplement of small-flow constant flow to realize the first function, a smaller water outlet hole is arranged on a water outlet hole at the bottom of a water tank, a vent hole is arranged at the top of the water tank, and water flows onto a wiping cloth from the water outlet hole according to constant flow, and the structure has the defect that the flow can not be adjusted according to the environmental requirements and the traveling speed of a robot; still be connected the air vent at water tank top with the air pump, the control air pump is to the inside atmospheric control apopore flow of water tank, this kind of structure is obviously more complicated, and because the water tank will be dismantled with the robot of sweeping the floor and add water cleanness, the air pump setting can make the water tank comparatively complicated on the water tank, purchase the water tank cost alone higher, and it is connected with the circuit plug of the robot of sweeping the floor to relate to the air pump, the air pump sets up can bring the sealed problem of air pump with the inlet port connection problem of water tank in the robot of sweeping the floor, also difficult low-cost solution.
In the prior art, a second function is realized, generally, when a specification or a sweeping robot starts to operate, a user is prompted to check the water level of a water tank for a period of time (such as 20 minutes), so that the user experience is poor and the intelligence is insufficient; the water level sensor or the water level alarm is used for detecting the water level, so that the cost is high on one hand, the sensors are arranged inside the water tank on the other hand, the environment is severe, the requirement on the sensors is high, the cost for replacing the water tank with the complex water tank structure is high, and the problem of circuit plugging and unplugging connection between the sensors and the floor sweeping robot is also brought.
The prior art does not have a solution to realize the third function at present, namely, the blockage of the water outlet cannot be judged and reminded.
In conclusion, the water outlet flow control and water level prompt function of the water tank of the floor sweeping robot in the prior art is complex in structure and high in cost, and the function of reminding the blockage of the water outlet is avoided.
Disclosure of Invention
The invention mainly aims to solve the problems that the water outlet flow control and water level prompt function of the water tank of the sweeping robot in the prior art is complex in structure and high in cost, and a water outlet blockage reminding function is not provided.
In order to achieve the above purpose, the scheme is as follows:
a floor sweeping robot is designed, and comprises a water tank, and is characterized in that the water tank comprises a tank body, a tank cover and an actuator; the box body and the box cover enclose a closed space, only a water outlet of the closed space is communicated with the outside, and the water outlet is arranged at the bottom of the closed space; the actuator extrudes the closed space, so that the volume of the closed space is reduced, and the water in the closed space flows out of the water outlet; the sweeping robot further comprises a sensor, and the driving characteristic value of the actuator is detected by the sweeping robot according to the sensor.
Further, the sweeping robot is characterized in that the actuator comprises a driving machine, a driving head and a sensor, the driving machine is a motor, the driving head is a cam, and the sensor is a current sensor; the sensor measures the operating current of the drive machine.
Furthermore, the sweeping robot is characterized in that the driving machine is positioned above the box cover, an output shaft of the driving machine is approximately parallel to the upper surface of the box cover, and the driving machine and the box cover are kept relatively static; the output end of the driving machine drives the driving head to rotate, the driving box cover is periodically deformed and restored by the rotation of the driving head, and the closed space in the water tank is periodically changed and restored.
Furthermore, the sweeping robot is characterized in that a driving machine is fixedly connected with the middle of the support, supporting legs of the support are fixedly connected with the box cover, the driving machine is fixedly connected with a first end of the transition support, and a second end of the transition support is fixedly connected with the middle of the support.
Furthermore, the sweeping robot is characterized in that the contact area of the driving head and the box cover is a deformation area, and the rigidity of the deformation area is small.
Furthermore, the sweeping robot is characterized in that the deformation area is thinner than other areas of the box cover.
Furthermore, the sweeping robot is characterized in that a box cover covers an opening of a box body, and the box cover and the box body are connected in a sealing mode; the box cover is provided with a filling port, and the plug is arranged on the filling port to seal the filling port.
Furthermore, the floor sweeping robot is characterized in that a mop cloth is arranged at the bottom of the box body and can be fixedly connected with and separated from the box body.
Further, the control method of the sweeping robot is characterized in that during calibration, when water exists in the water tank, the current peak value (value A) in the current curve of the rotation period of the driver is tested;
the sweeping robot monitors the current value of the driving machine in real time when the driving machine operates, and when the peak current is larger than the A value, the blockage of the water outlet is judged to remind a user of checking.
Further, the control method of the sweeping robot is characterized in that during calibration, the current peak value, namely the B value, in the current curve of the rotation period of the driver is tested when no water exists in the water tank; the sweeping robot monitors the current value of the driving machine in real time, and when the peak current is less than or equal to the B value, the water in the water tank is judged to be exhausted, and a user is reminded to add water.
The water outlet flow control and water level prompt function of the water tank of the sweeping robot is realized with simple structure and low cost, and the water outlet blockage prompt function is also realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention, in which:
fig. 1 is a perspective view of a sweeping robot, from a front side;
fig. 2 is a perspective view of the sweeping robot, with a rear side view angle;
FIG. 3 shows the sweeping robot separated from the water tank assembly;
FIG. 4 is a perspective view of a water tank assembly according to a first embodiment;
FIG. 5 is an exploded perspective view of the water tank assembly, according to one embodiment;
FIG. 6 is an exploded perspective view of the water tank assembly according to the first embodiment;
FIG. 7 is a top view and cross-section of a waterbox assembly, initial stage, embodiment one;
FIG. 8 is a top view and cross-section of a waterbox assembly, critical points of the squeeze phase and recovery phase, embodiment one;
FIG. 9 is a perspective view of the water tank assembly of the second embodiment;
FIG. 10 is an exploded perspective view of the water tank assembly, embodiment two (with the mop hidden);
FIG. 11 is a top view and cross-section of a tank assembly, initial stage, embodiment two;
FIG. 12 is a top view and cross-section of a waterbox assembly, critical points for the extrusion and recovery stages, example two;
fig. 13 shows the sweeping robot separated from the water tank assembly in the third embodiment;
fig. 14 the sweeping robot removes the water tank assembly, embodiment three.
Labeled as:
1. a sweeping robot;
11. a water tank;
111. a box body; 111a and a water outlet;
112. a box cover; 112a, a deformation zone; 112b, a filling port; 112c, a plug;
113. mop cloth;
114. an actuator; 114a, a driver; 114b, a drive head; 114c, a sensor;
115. a support; 115b, transition support.
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
As shown in fig. 1, 2 and 3, the sweeping robot 1 of the present invention includes a water tank 11, and the water tank 11 and the sweeping robot 1 can be combined and separated; the water tank 11 is used for containing liquid for scrubbing the ground, such as water, cleaning agent, fragrant liquid or a mixture of the above, and the embodiment of the application is explained by taking water as an example;
as shown in fig. 4, 5 and 6, the water tank 11 includes a tank body 111, a tank cover 112 and an actuator 114, the tank body 111 and the tank cover 112 enclose a closed space, only a water outlet 111a of the closed space is communicated with the outside, and the water outlet 111a is arranged at the bottom of the closed space;
the actuator 114 presses the closed space, so that the volume of the closed space is reduced, and the water inside the closed space flows out from the water outlet 111 a; the sweeping robot 1 further comprises a sensor 114c, wherein the driving characteristic value of the actuator 114 is detected by the sensor 114c, and the characteristic value is compared with a calibration value to judge whether the water outlet 111a of the water tank 11 is smooth or not and whether water exists in the water tank 11 or not.
In particular, the method comprises the following steps of,
in the first embodiment, the first step is,
as shown in fig. 4, 5 and 6, the water tank 11 includes a tank body 111 and a tank cover 112, the bottom of the tank body 111 is provided with water outlets 111a, and the number of the water outlets 111a is more than one, preferably two;
the box cover 112 covers the opening of the box body 111, the box cover 112 and the box body are connected in a sealing mode, for example, the processes of bonding, mechanical pressing of a sealing ring, ultrasonic welding, laser welding and the like are adopted, a filling port 112b is formed in the box cover 112, water is filled into the water tank 11 from the filling port 112b, a plug 112c is installed on the filling port 112b to seal the filling port 112b, and preferably, the plug 112c is made of rubber and is sealed with the filling port 112b in an interference fit mode;
mop 113 is arranged at the bottom of box 111, mop 113 is fixedly connected and separated with the bottom of box 111, so that dirty mop 113 can be replaced or cleaned, and water flowing out of water outlet 111a is absorbed by mop 113 and uniformly wiped to the ground;
the actuator 114 includes a driver 114a, a driver head 114b, and a sensor 114c, the driver 114a being an electric motor, preferably a motor with a reducer, the driver 114a being located above the box cover 112, an output shaft of the driver 114a being substantially parallel to an upper surface of the box cover 112; the driving machine 114a and the box cover 112 are kept relatively static, preferably, the driving machine 114a is fixedly connected with the middle part of the bracket 115, the support leg of the bracket 115 is fixedly connected with the box cover 112, the driving machine 114a is fixedly connected with the first end of the transition bracket 115b, and the second end of the transition bracket 115b is fixedly connected with the middle part of the bracket 115; the output shaft of the driving machine 114a is fixedly connected with the driving head 114b, the output end of the driving machine 114a drives the driving head 114b to rotate, the driving head 114b is a cam, and the closed space in the water tank 11 is periodically changed and restored along with the periodic deformation and restoration of the driving tank cover 112 along with the rotation of the driving head 114 b; when the volume of the internal closed space of the water tank 11 becomes smaller, the water outlet 111a discharges water; when the volume of the internal closed space of the water tank 11 is restored, the water outlet 111a sucks air;
more specifically, as shown in fig. 7, the driving head 114b has different radiuses at various points on the circumference, and may be divided into an initial stage, a squeezing stage, and a recovery stage according to the stage of action on the tank cover 112, as shown in fig. 7, the driving head 114b and the water tank 11 are in the initial stage, at this time, the volume of the enclosed space in the water tank 11 is the largest, a gap is formed between the driving head 114b and the tank cover 112, the air pressure inside the water tank 11 is equal to the external atmospheric pressure, and the inner diameter of the water outlet 112a is smaller and has a certain depth (preferably, the inner diameter value is not more than 0.6mm, and the depth value is not less than 2;
as shown in fig. 8, as the driving head 114b rotates, the driving head 114b comes into contact with the cover 112, and the distance from the contact point to the rotation axis of the driving head 114b gradually increases, so as to push the deformation region 112a near the contact point of the cover 112 to deform and press down, i.e. the action of the driving head 114b on the cover 112 enters into the pressing stage, preferably, in order to make the deformation region 112a more easily pushed, the deformation region 112a is designed to have a reduced rigidity, and preferably, the deformation region 112a is thinner than other regions of the cover 112; the deformation area 112a deforms and moves downwards, the volume inside the water tank 11 is reduced, the internal pressure is increased, and water is forced to flow out from the water outlet 112 a;
as shown in fig. 8, as the driving head 114b continues to rotate, the distance from the contact point of the driving head 114b and the cover 112 to the rotating shaft of the driving head 114b gradually decreases, and due to the elasticity of the cover 112 returning to the initial state, the deformation of the deformation area 112a near the contact point of the cover 112 gradually returns, that is, the action of the driving head 114b on the cover 112 enters the recovery stage, the volume inside the water tank 11 starts to increase, the internal pressure decreases, and air is sucked into the water tank 11 from the water outlet 112 a; it should be noted that the air may suck the water remaining inside the water outlet 112a into the water tank 11, and there is an air separation between the water inside the water tank 11 and the wet mop 113, which hinders the possibility that the wet mop 113 actively sucks the water inside the water tank 11;
the three stages of action of the driving head 114b on the box cover 112 are introduced above, and the sweeping robot 1 controls the driving head 114b to rotate, so that the water yield of the water tank 11 is controlled, and water is discharged according to needs; when the water in the water tank 11 is consumed, only air is discharged from the water outlet 112a when the driving head 114b extrudes the deformation area 112a, the density and viscosity difference between the air and the water is large, the load is small when the driving head 114b is in an extrusion stage, and the current is small under the same voltage, so that a characteristic value is provided for judging whether the water in the water tank 11 is used up;
the control method of the sweeping robot 1 comprises the steps of measuring a sensor 114c which is connected in series in a circuit of a driving machine 114a, wherein the sensor 114c is a current sensor, and respectively testing a current peak value, namely an A value, in a current curve of a rotation period of the driving machine 114a when water exists in a water tank 11 through a calibration test; and the current peak value, i.e., the value B, in the current curve of the rotation period of the driver 114a when no water is present in the test tank 11; the sweeping robot 1 monitors the current value of the driving machine 114a in real time, and when the peak current is larger than the value A, the blockage of the water outlet 111a can be judged to remind a user of checking; when the peak current is less than or equal to the value B, the water in the water tank 11 can be judged to be exhausted, and a user is reminded to add water.
In the second embodiment, the first embodiment of the method,
as shown in fig. 9 and 10, the structure of the actuator 114 is modified and the control method is adjusted based on the first embodiment.
The actuator 114 comprises a driving machine 114a, a driving head 114b and a sensor 114c, wherein the driving machine 114a is an electromagnetic coil, the center of the electromagnetic coil is provided with a through hole, the axis of the through hole is approximately vertical to the upper surface of the box cover 112, the electromagnetic coil (namely, the driving machine 114a) is fixedly connected with the middle part of a bracket 115, and the legs of the bracket 115 are fixedly connected with the box cover 112; the drive head 114b is driven by a drive machine 114 a.
The driving head 114b is a rod composed of a magnetizer (such as soft iron, a silicon steel sheet, soft magnetic ferrite or soft magnetic composite powder material) and a non-magnetizer (such as plastic), the rod is arranged at the center of the electromagnetic coil and can reciprocate along the center of the electromagnetic coil, the first end of the driving head 114b is the non-magnetizer, and the first end of the driving head 114b is in contact with the box cover 112; the second end of the driving head 114b is a magnetizer, and the depth of the magnetizer penetrating into the electromagnetic coil is smaller than the thickness of the electromagnetic coil, i.e. the magnetizer enters from the first opening of the electromagnetic coil but does not extend from the second opening and has a certain distance from the second opening, and the distance is larger than the stroke required by extruding the water tank;
when the driving machine 114a is energized, that is, the electromagnet is energized, the magnetic field generated by the electromagnet attracts the magnetizer at the second end of the driving head 114b to move toward the second end of the driving head 114b, that is, the driving box cover 112 is deformed; when the drive 114a is de-energized, i.e., the electromagnet de-energizing field disappears, the drive head 114b is pushed back to the original position by the deformed cover 112. As the driving machine 114a is powered on and off, the driving box cover 112 is deformed and restored, and the closed space inside the water tank 11 is periodically changed and restored; when the volume of the internal closed space of the water tank 11 becomes smaller, the water outlet 111a discharges water; when the volume of the inner closed space of the water tank 11 is restored, the water outlet 111a sucks air.
More specifically, the stage of action on the tank cover 112 can be divided into an initial stage, a squeezing stage and a recovery stage, as shown in fig. 11, the driving head 114b and the water tank 11 are in the initial stage, at this time, the volume of the enclosed space in the water tank 11 is the largest, the driving head 114b contacts with the tank cover 112, the air pressure inside the water tank 11 is equal to the external atmospheric pressure, and the inner diameter of the water outlet 112a is smaller and has a certain depth (preferably, the inner diameter value is not more than 0.6mm, and the depth value is not less than 2mm), so that the water inside cannot leak;
as shown in fig. 12, as the driving head 114b is attracted and pressed by the electromagnet, the driving head 114b pushes the deformation region 112a near the contact point of the cover 112 to deform and press, i.e. the action of the driving head 114b on the cover 112 enters into the pressing stage, preferably, in order that the deformation region 112a is easier to be pushed, the deformation region 112a is designed to reduce the rigidity, and preferably, the deformation region 112a is thinner than other regions of the cover 112; the deformation area 112a deforms and moves downwards, the volume inside the water tank 11 is reduced, the internal pressure is increased, and water is forced to flow out from the water outlet 112 a;
as shown in fig. 12, as the energization time of the driving machine 114a continues, the force of the driving head 114b pushing the deformation region 112a increases continuously, when the elastic force of the deformation region 112a is the same as the electromagnetic force applied to the driving head 114b, the deformation region 112a does not deform continuously, at this time, the driving machine 114a is powered off, and due to the elasticity of the tank cover 112 returning to the initial state, the deformation of the deformation region 112a near the contact point of the tank cover 112 gradually returns, that is, the action of the driving head 114b on the tank cover 112 enters the recovery stage, the volume inside the water tank 11 starts to increase, the internal pressure decreases, and air is sucked into the water tank 11 from the water outlet 112 a; it should be noted that the air may suck the water remaining inside the water outlet 112a into the water tank 11, and there is an air separation between the water inside the water tank 11 and the wet mop 113, which hinders the possibility that the wet mop 113 actively sucks the water inside the water tank 11;
the above is a scheme that the driving machine 114a is an electromagnetic coil, and the driving head 114b acts on the tank cover 112 in three stages, and the sweeping robot 1 controls the energization and the deenergization of the driving machine 114a, so that the water yield of the water tank 11 is controlled, and water is discharged according to needs; when the water in the water tank 11 is consumed, only air is discharged from the water outlet 112a when the driving head 114b extrudes the deformation area 112a, the density and viscosity difference between the air and the water is large, the load is small when the driving head 114b is in an extrusion stage, and the driving head 114b moves faster under the same voltage, so that a characteristic value is provided for judging whether the water in the water tank 11 is used up;
a sensor 114c is required, the sensor 114c can detect the action time of the driving head 114b, preferably, the sensor 114c is a position sensor, the sensor 114c is fixedly connected with the bracket 115, when the driving head 114b is attracted by the energized driving machine 114a (i.e. the electromagnet) to move to enable the box cover 112 to reach a preset deformation state, the sensor 114c sends out a signal, and the time from the energization of the electromagnet to the sending of the signal by the sensor 114c is T. Further, the sensor 114c is a contact switch, the inner end surface of the second end of the driving head 114b faces the contacts of the contact switch, when the driving machine 114a is energized, the inner end surface of the second end of the driving head 114b moves toward the contacts of the sensor 114c, and when the driving head 114b reaches the preset position, the inner end surface of the second end of the driving head 114b presses the contacts of the sensor 114c, and the sensor 114c is closed.
The control method of the sweeping robot 1 comprises the steps of respectively testing corresponding time T when water exists in a water tank 11 through a calibration test and recording the time T as Ta; and the corresponding time T when no water is in the test water tank 11 is recorded as Tb; the sweeping robot 1 detects that the time from the electromagnet being electrified to the sensor 114c sending a signal is T, and when the value of T is greater than Ta, the water outlet 111a can be judged to be blocked, so that a user is reminded to check; when the T value is less than or equal to Tb, the water in the water tank 11 can be judged to be exhausted, and the user is reminded to add water.
In the third embodiment, the first step is that,
as shown in fig. 13 and 14, on the basis of the first or second embodiment, the actuator 114 is fixedly connected to the sweeping robot 1, when the water tank 11 is installed in the sweeping robot 1, the driving head 114b of the actuator 114 is located above the tank cover 112, and the rotation of the driving head 114b drives the tank cover 112 to deform.
More specifically, the housing of the driving machine 114a of the actuator 114 is fixedly connected to the interior of the sweeping robot 1.
The design water tank 11 assembly is not fixedly connected with the actuator 114, the structure of the water tank 11 is simple, the cost for independently purchasing the water tank is low, the actuator 114 is fixedly connected with the sweeping robot, the cost can be further reduced, and the problem that the actuator 114 is connected with the sweeping robot 1 through the plug-in connection of the internal circuit of the actuator 114 and the sweeping robot, which is caused by the fact that the actuator 114 is fixedly connected to the water tank 11, is solved.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any combination, modification, equivalent replacement, improvement and the like within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A floor sweeping robot comprises a water tank (11) and is characterized in that,
the water tank (11) comprises a tank body (111), a tank cover (112) and an actuator (114);
a closed space is enclosed by the box body (111) and the box cover (112), only the water outlet (111a) of the closed space is communicated with the outside, and the water outlet (111a) is arranged at the bottom of the closed space;
the actuator (114) extrudes the closed space, so that the volume of the closed space is reduced, and the water inside the closed space flows out from the water outlet (111 a);
the sweeping robot further comprises a sensor (114c), and the sweeping robot (1) detects the driving characteristic value of the actuator (114) according to the sensor (114 c).
2. The sweeping robot of claim 1,
the actuator (114) includes a driver (114a), a drive head (114b), and a sensor (114c),
the driving machine (114a) is an electric motor, the driving head (114b) is a cam, and the sensor (114c) is a current sensor;
the sensor (114c) measures the operating current of the drive machine (114 a).
3. The sweeping robot of claim 2,
the driving machine (114a) is positioned above the box cover (112), the output shaft of the driving machine (114a) is approximately parallel to the upper surface of the box cover (112),
the driving machine (114a) and the box cover (112) are kept relatively static;
the output end of the driving machine (114a) drives the driving head (114b) to rotate, the driving box cover (112) which rotates periodically of the driving head (114b) is deformed and restored, and the closed space inside the water tank (11) is periodically changed and restored.
4. The sweeping robot as claimed in claim 3, wherein the driving machine (114a) is fixedly connected with the middle part of the bracket (115), the supporting leg of the bracket (115) is fixedly connected with the box cover (112), the driving machine (114a) is fixedly connected with the first end of the transition bracket (115b), and the second end of the transition bracket (115b) is fixedly connected with the middle part of the bracket (115).
5. A sweeping robot according to claim 3, wherein the contact area of the driving head (114b) and the box cover (112) is a deformation area (112a), and the deformation area (112a) has low rigidity.
6. A sweeping robot according to claim 5, wherein the deformation zone (112a) is thinner than other areas of the cover (112).
7. The sweeping robot as claimed in claim 1, wherein the box cover (112) covers the opening of the box body (111), and the box cover and the box body are hermetically connected;
a filling port (112b) is formed in the case cover (112), and a plug (112c) is attached to the filling port (112b) to seal the filling port (112 b).
8. The robot cleaner of claim 1, wherein the bottom of the box (111) is provided with a mop cloth (113), and the mop cloth (113) can be fixedly connected with and separated from the box (111).
9. The method as claimed in any one of claims 1 to 8, wherein the robot is further provided with a controller,
during calibration, testing the current peak value (A value) in the current curve of the rotation period of the driver (114a) when water exists in the water tank (11);
the sweeping robot (1) monitors the current value of the driving machine (114a) in real time when the driving machine operates, and when the peak current is larger than the A value, the blockage of the water outlet (111a) is judged to remind a user of checking.
10. The method as claimed in any one of claims 1 to 8, wherein the robot is further provided with a controller,
during calibration, testing the current peak value, namely the B value, in the current curve of the rotation period of the driver (114a) when no water exists in the water tank (11);
the sweeping robot (1) monitors the current value of the driving machine (114a) in real time when the driving machine operates, and when the peak current is smaller than or equal to the value B, the water in the water tank (11) is judged to be exhausted, and a user is reminded to add water.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911207612.7A CN110811438A (en) | 2019-11-29 | 2019-11-29 | Floor sweeping robot and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911207612.7A CN110811438A (en) | 2019-11-29 | 2019-11-29 | Floor sweeping robot and control method |
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| CN110811438A true CN110811438A (en) | 2020-02-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911207612.7A Pending CN110811438A (en) | 2019-11-29 | 2019-11-29 | Floor sweeping robot and control method |
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| CN (1) | CN110811438A (en) |
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| CN113616121A (en) * | 2020-05-07 | 2021-11-09 | 云米互联科技(广东)有限公司 | Cleaning robot control method, cleaning robot, and computer-readable storage medium |
| CN114680756A (en) * | 2020-12-29 | 2022-07-01 | 青岛海尔滚筒洗衣机有限公司 | Water taking device of combined cleaning equipment and control method |
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