CN110916569A - Self-cleaning robot system and self-cleaning control method thereof - Google Patents
Self-cleaning robot system and self-cleaning control method thereof Download PDFInfo
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- CN110916569A CN110916569A CN201911182942.5A CN201911182942A CN110916569A CN 110916569 A CN110916569 A CN 110916569A CN 201911182942 A CN201911182942 A CN 201911182942A CN 110916569 A CN110916569 A CN 110916569A
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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
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
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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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
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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
- A47L11/4036—Parts or details of the surface treating tools
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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
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Abstract
The invention discloses a self-cleaning robot system and a self-cleaning control method thereof. When the cleaning robot judges that the mop needs to be cleaned, a seat returning cleaning signal is sent out, the cleaning robot carries out seat loading according to the detected guide signal, and the robot carries out reciprocating motion back and forth after the seat loading according to the preset action, so that the mop and the cleaning part in the cleaning seat carry out reciprocating friction. The invention can simplify the self-cleaning structure in the system, does not need to add an additional cleaning action mechanism, and can realize the automatic scrubbing of the mop only by controlling the robot to reciprocate back and forth on the cleaning seat and controlling the cleaning part to spray water. The operation only needs to improve the control program in the aspect of software, and does not need to increase the hardware cost, thereby greatly reducing the system cost and improving the system cost performance.
Description
Technical Field
The invention relates to the field of intelligent cleaning robots, in particular to a self-cleaning robot system and a self-cleaning control method thereof.
Background
The existing intelligent cleaning robot generally has the functions of dust collection and floor sweeping and floor mopping, and the two functions can be realized in different robots independently and can also be realized in one robot at the same time. The floor mopping robot on the market today has a water tank and a mop cloth assembled at the bottom, the water tank can discharge water to the mop cloth to wet the mop cloth, which is tightly attached to the ground, and when the robot moves, the robot will bring the mop cloth to move together, thus realizing the automatic floor mopping function. After the robot has dragged certain ground scope, the mop can become dirty, and the user need dismantle the mop and wash this moment, perhaps change clean new mop, complex operation, the product is used and is experienced relatively poorly.
The invention patent application with the Chinese patent publication number of CN109953701A discloses a floor cleaning device, which comprises a cleaning robot and a cleaning seat, wherein when the cleaning robot stops above the cleaning seat, a wiping cloth at the bottom of a rotating disc type mop mechanism can downwards extend into a cleaning groove of the cleaning seat and rotate along with the rotating disc type mop mechanism, at least one cleaning part for cleaning the rotating wiping cloth is arranged in the cleaning groove, and the cleaning parts are respectively communicated with a liquid supply mechanism, so that the action of automatically cleaning the wiping cloth is realized, the aim of intelligently realizing automatic cleaning is fulfilled, the function of automatically removing dirt adhered to the wiping cloth is effectively realized, and the cleaning wiping cloth does not need to be disassembled.
The invention patent application with the Chinese patent publication number of CN109528093A discloses automatic ground cleaning equipment, which comprises an automatic cleaning robot and a cleaning seat, wherein the rear end of a robot body of the automatic cleaning robot is provided with a mop mechanism, and the mop mechanism comprises a rotating component rotationally connected to the robot body and a crawler-type wiper sleeved outside the rotating component and rotating along with the rotating component; the cleaning seat comprises: the front side of the outer box body is provided with an opening for extending the crawler-type wiping cloth; the water outlet of the water supply mechanism is right opposite to one side of the crawler-type wiping cloth after the crawler-type wiping cloth extends into the opening; the cleaning part is arranged in the outer box body and is abutted against one side of the crawler-type wiping cloth extending into the opening so as to separate dirt adhered to the crawler-type wiping cloth through friction. This scheme can effectively play the effect of automatic removal adhesion dirt on crawler-type wiper, need not to dismantle abluent step after the wiper is stained with the filth to the automatic execution washs the action, has alleviateed user's operation burden greatly.
Above-mentioned two kinds of technical scheme realize the automatically cleaning of robot, either need robot self to have rotatable clean mechanism, or need set up rotatable wiper mechanism on the washing seat, so can increase the complexity of product structure, and product cost also can corresponding increase, is unfavorable for popularizing and applying.
Disclosure of Invention
In order to solve the problems, the invention provides a self-cleaning robot system and a self-cleaning control method thereof, which can simplify the product structure, reduce the system cost and improve the system cost performance. The specific technical scheme of the invention is as follows:
a self-cleaning robot system includes a cleaning robot and a wash bowl. The bottom of the cleaning robot is provided with a mop cloth, and the cleaning robot can wipe the ground when driving the mop cloth to move together; the cleaning seat comprises a water receiving tank and a cleaning part positioned above the water receiving tank; the cleaning seat is also internally provided with a guide signal transmitting part for guiding the upper seat of the cleaning robot and a detecting part for detecting the upper seat and the lower seat of the cleaning robot; when the cleaning seat receives a seat returning cleaning signal sent by the cleaning robot, the cleaning seat controls the guide signal sending part to send a guide signal, controls the cleaning part to spray water after receiving an upper seat trigger signal of the detection part, and controls the cleaning part to stop spraying water after receiving an off seat trigger signal of the detection part; when the cleaning robot judges that the mop needs to be cleaned, a seat returning cleaning signal is sent out, the cleaning robot carries out seat loading according to the detected guide signal, and the robot carries out reciprocating motion back and forth after the seat loading according to the preset action, so that the mop and the cleaning part in the cleaning seat carry out reciprocating friction.
Furthermore, the cleaning part comprises a plate-shaped main body, two ends of the plate-shaped main body are detachably and fixedly connected to two sides of the opening of the cleaning seat, a plurality of groups of scraping strips are arranged on the upper end face of the plate-shaped main body, a plurality of water spraying ports are arranged in the middle of each group of scraping strips, and each water spraying port is communicated to a water inlet of the plate-shaped main body through a water delivery channel arranged in the plate-shaped main body.
Further, the cross-sectional shape of the scraping strips is a sharp-angled shape, each group of scraping strips comprises two scraping strips which are arranged in a mirror symmetry mode by taking the water spraying opening as an axis, and the sharp angles of the two scraping strips extend towards the obliquely upper direction.
Further, the scraping strip is a hard plastic structure which is integrally injection-molded with the plate-shaped main body.
Further, the cleaning seat further comprises a clean water tank and a sewage tank, the clean water tank is connected to the cleaning part through a pipe to supply clean water in the clean water tank to the cleaning part, so that the cleaning part can spray clean water to flush the mop of the robot, the sewage tank is also connected to the water receiving tank through a pipe, a water suction pump is arranged in the water receiving tank, and when the water receiving tank receives the leaked water of the cleaning part and reaches a preset height, the water suction pump is started to pump the water in the water receiving tank out to the sewage tank through the pipe.
A self-cleaning control method of a self-cleaning robot system, the self-cleaning robot system being the above self-cleaning robot system, the method comprising the steps of: step 1: the cleaning robot sends a seat returning cleaning signal; step 2: the cleaning seat sends out a guiding signal after receiving a seat returning cleaning signal sent by the cleaning robot; and step 3: the cleaning robot carries out seat mounting according to the detected guide signal; and 4, step 4: after the cleaning seat receives a trigger signal of the upper seat of the cleaning robot, the cleaning seat controls the cleaning part to spray water; and 5: the cleaning robot performs reciprocating motion back and forth according to preset action, so that the mop and the cleaning part perform reciprocating friction.
Further, after the step 5, the method further comprises the following steps: step 6: the robot moves back and forth in a reciprocating manner for a preset number of times or for a preset time, retreats from the cleaning seat and leaves the seat; and 7: and after the cleaning seat receives a trigger signal for the cleaning robot to leave the seat, the cleaning part is controlled to stop spraying water.
Further, after the cleaning seat described in step 4 receives the trigger signal for cleaning the robot upper seat and before the cleaning part is controlled to spray water described in step 4, the method further includes the following steps: the cleaning seat stops sending the guide signal.
Further, after the step of controlling the water spraying of the cleaning part in step 4, the method further includes the steps of: the cleaning seat detects whether water in the clear water tank is lower than a preset water level, and if so, an alarm is given to prompt a user to fill water into the clear water tank.
Further, after the step of controlling the washing unit to stop spraying water in step 7, the method further includes the steps of: the cleaning seat detects whether the water in the sewage tank is higher than a set water level, and if so, an alarm is given to prompt a user to treat the water in the sewage tank.
The self-cleaning robot system and the self-cleaning control method thereof can simplify the self-cleaning structure in the system, do not need to add an additional cleaning action mechanism, and can realize the automatic scrubbing of the mop only by controlling the robot to reciprocate back and forth on the cleaning seat and controlling the cleaning part to spray water. The operation only needs to improve the control program in the aspect of software, and does not need to increase the hardware cost, so that the cost of the system is greatly reduced, and the cost performance of the system is improved.
Drawings
FIG. 1 is a schematic structural diagram of a cleaning seat according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a cleaning seat and a cleaning robot according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a cleaning portion according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a self-cleaning control method of the self-cleaning robot system according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.
In the following description, specific details are given to provide a thorough understanding of the embodiments. One of ordinary skill in the art, however, will understand that the related embodiments may be practiced without some of the specific details. For example, well-known circuits, structures and methods may not be described in detail in order to avoid obscuring embodiments.
A self-cleaning robot 10 system as shown in fig. 1 and 2, which includes a cleaning robot 10 and a wash bowl 20, for convenience of the following description, the cleaning robot 10 is collectively referred to simply as the robot 10. The robot 10 is a dual-purpose robot 10 having functions of dust collection, floor sweeping and floor mopping, and may also be a floor mopping robot 10 having only a floor mopping function. The robot 10 is capable of autonomous positioning and navigation, automatically planning cleaning. The robot 10 has a power module, a driving module, an electric control module, a detection module, a cleaning module, etc. for implementing these functions, which are all conventional and well-known modules of cleaning robots in the market at present, and are not described herein again. As shown in fig. 2, the robot 10 is provided with a mop 11 at the bottom, which mop 11 is arranged at the tail of the robot 10, but may of course be arranged in the middle or at the front of the robot 10, which robot 10 is able to wipe the floor while moving the mop 11 together. The mop cloth 11 can be a thick cloth piece, one surface of the cloth piece can be detachably fixed on the bottom surface of the robot 10, the opposite surface of the cloth piece is pressed on the ground, the thickness of the cloth piece is just equal to the height of the part of the driving wheel exposed out of the machine body when the robot 10 normally walks, and therefore the robot 10 can normally walk and the mop cloth 11 can wipe the ground. The mop cloth 11 can also be a piece of thin cloth which is coated on a water tank and detachably fixed at the bottom of the robot 10 through the water tank, and when the robot 10 mops the floor, water in the water tank can permeate into the thin cloth to wet the thin cloth.
As shown in fig. 2, the cleaning seat 20 includes a clean water tank 26, a dirty water tank 27, a water receiving tank 25, and a cleaning part 23 located above the water receiving tank 25. The shell of wash seat 20 divide into ramp portion and vertical portion, and the bottom surface of ramp portion stands on ground as wash seat 20's footing, and the up end of ramp portion is an inclined plane, and the one end on inclined plane extends to ground, and the other end on inclined plane upwards extends to connect vertical portion to one side, and vertical portion is located the top of ramp portion. A water receiving groove 25 is arranged in the inclined platform part, an opening 22 is arranged above the water receiving groove 25 and corresponds to the inclined surface, a cleaning part 23 is arranged in the opening 22, and when the robot 10 moves upwards from the inclined surface to the position of the opening 22, the mop cloth 11 and the cleaning part are in mutual friction contact. Inside said upright is provided an electronic control module (not shown in the figures), a clean water tank 26 and a dirty water tank 27, the clean water tank 26 being connected to the washing part 23 by a pipe to supply clean water from the clean water tank 26 to the washing part 23, so that the washing part 23 can spray clean water to wash the mop 11 of the robot 10. An electrically controlled valve and a hydraulic pump are also provided in the clean water tank 26, the hydraulic pump increasing the pressure of the water supplied from the clean water tank 26 to the mop 23 to allow the mop 11 to be washed better by the mop 23, and the electrically controlled valve controlling the clean water tank 26 to supply water to the mop 23 or to interrupt the supply of water. When the clean water tank 26 is ready to run out, the wash station 20 alerts the user to fill the clean water tank 26. The sewage tank 27 is also connected to the water receiving tank 25 through a pipe, a water suction pump is arranged in the water receiving tank 25, and when the water receiving tank 25 receives water leaked from the cleaning part 23 and reaches a certain height, the water suction pump is started to pump out the water in the water receiving tank 25 to the sewage tank 27 through the pipe. When the wastewater in the wastewater tank 27 is ready to be stored, the washing base 20 gives an alarm to prompt the user to treat the wastewater tank 27, and the set water level may be set to two-thirds or three-quarters of the depth of the wastewater tank 27. By adopting the structure of the cleaning seat 20, sewage can flow out in time, the mop 11 can not be repeatedly washed by the sewage, the mop 11 can be directly washed by clean water, and the cleaning effect is better.
As another implementation method, the cleaning seat 20 may not be provided with the clean water tank 26 and the dirty water tank 27, the cleaning part 23 may be directly connected to an external water source through a pipe, and the water receiving tank 25 may directly discharge the dirty water to the outside through a pipe. This further simplifies the construction of the wash seat 20 and reduces product costs.
The washing seat 20 is further provided with a guiding signal emitting part 21 for guiding the robot 10 to sit on the seat, and a detecting part 24 for detecting whether the robot 10 sits on the seat in place. The guiding signal emitting part 21 adopts an infrared signal sensor, the structural form of the guiding signal emitting part is the same as the infrared return seat structure of the charging seat of the existing sweeping robot 10, and the control method and principle for guiding the robot 10 to return the seat are also the same, which are not described herein again. The detection unit 24 may be an infrared signal sensor, or may be other components such as a mechanical travel switch. When robot 10 is moved to a position where cleaning of mop 11 is possible, i.e. mop 11 and cleaning part 23 are in contact with each other, detection part 24 is triggered, indicating that robot 10 has been seated in place.
After the robot 10 automatically mops the floor for a period of time or within a certain area range, when it is determined that the mop 11 needs to be cleaned, a back seat cleaning signal is sent. After receiving the seat returning cleaning signal from the robot 10, the cleaning seat 20 controls the guide signal transmitting unit 21 to transmit a guide signal. Without receiving the guidance signal, the robot 10 will first navigate to the orientation of the wash seat 20 based on the map constructed during the cleaning process. In the navigation process, the robot 10 always detects whether a guiding signal is received, and performs seating according to the detected guiding signal when the guiding signal is received, and the specific seating manner is the same as the manner of the existing floor sweeping robot 10 seating-back charging manner, which is not described herein again. The cleaning seat 20 controls the cleaning part 23 to spray water after receiving the upper seat trigger signal of the detection part 24, wherein the upper seat trigger signal is a signal generated by triggering the detection part 24 when the robot 10 moves from the ground onto the cleaning seat 20, and when receiving the signal, the cleaning seat 20 can know that the robot 10 is in place and can perform the cleaning operation, so the cleaning part 23 is controlled to start spraying water. Robot 10 then reciprocates back and forth in a predetermined motion to rub mop 11 against cleaning portion 23 of cleaning base 20 to remove soil from mop 11. The preset action is designed in advance according to a control program of the robot 10, and in the embodiment, the preset action refers to controlling the robot 10 to walk forwards for a certain distance and then backwards for a certain distance, so that the robot moves back and forth. The mop 11 is always kept in contact with the cleaning part 23 during a certain distance of travel within the length of the cleaning part 23, i.e. during the back and forth reciprocating movement of the robot 10. The robot 10 moves back and forth in a reciprocating manner for a predetermined time or a predetermined number of times and then retreats from the cleaning seat 20, and at this time, the cleaning seat 20 controls the cleaning part 23 to stop spraying water after receiving the off-seat trigger signal of the detecting part 24. The preset time and the preset times can be set correspondingly according to different product requirements, for example, the preset times is set to 30 times or 40 times, and the preset time is set to 50 seconds or 60 seconds. The off-seat trigger signal is a signal generated by the trigger detecting unit 24 when the robot 10 is retreated from the wash seat 20 and is off-seat, and when the wash seat 20 receives the signal, it is known that the robot 10 has left the wash seat 20, and the washing operation does not need to be continued, so that the washing unit 23 is controlled to stop spraying water. After the robot 10 leaves the wash station 20, the mopping task may continue.
In the system of the embodiment, the robot 10 can automatically return to the cleaning seat 20 to automatically clean the dirty mop 11, the intelligent degree is high, the labor burden of a user is effectively reduced, and the convenience and the practicability of product use are improved. Above all, the present embodiment can simplify the self-cleaning structure in the system, and it only needs to control the robot 10 to reciprocate back and forth on the cleaning seat 20 and control the cleaning part 23 to spray water to implement automatic scrubbing of the mop 11 without adding an additional cleaning action mechanism. The operation only needs to improve the control program in the aspect of software, and does not need to increase the hardware cost, so that the cost of the system is greatly reduced, and the cost performance of the system is improved.
As one embodiment, as shown in fig. 3, the cleaning part 23 includes a plate-shaped body, two ends of the plate-shaped body are detachably and fixedly connected to two sides of the opening 22 of the cleaning seat 20, the upper end surface of the plate-shaped body is provided with a plurality of sets of scraping strips, the shapes and the numbers of the scraping strips can be set according to the product design requirements, and the structures indicated by numbers 231 and 232 in fig. 3 are a set of scraping strips. The middle of each group of the scraping strips is provided with a plurality of water spraying ports 235, and each water spraying port 235 is communicated to the water inlet 233 of the plate-shaped main body through a water conveying channel 234 arranged in the plate-shaped main body. The scrubbing effect of the mop on the cleaning part can be improved by the structure of the scraping strip and the water spraying opening.
Specifically, as shown in fig. 3, the cross section of the scraping strip is in a sharp-angled shape, so that the friction stress between the mop and the cleaning part can be improved, and the scrubbing effect is better. Every group of scraping strip includes two scraping strips that use the water jet to set up as axis mirror symmetry, and the closed angle of these two scraping strips extends towards oblique top, like this, no matter the robot is forward motion, still backward motion, and its mop can both carry out powerful frictional contact with washing portion, has further improved the effect of scrubbing.
Particularly, the scraping strip is a hard plastic structure integrally injection-molded with the plate-shaped main body, so that the production and the manufacturing are convenient, the complex assembling procedures are reduced, and the product quality is stable and reliable.
As one of the embodiments, as shown in fig. 2, the cleaning seat 20 further includes a clean water tank 26 and a dirty water tank 27, the clean water tank 26 is connected to the water inlet 233 of the cleaning part 23 through a pipe to supply clean water in the clean water tank 26 to the cleaning part 23, so that the cleaning part 23 can spray clean water to flush the mop 11 of the robot 10. An electromagnetic valve for controlling water outlet is arranged at the water outlet of the clean water tank 26, a main control module of the cleaning seat is electrically connected with the electromagnetic valve, and the cleaning seat 20 can send a control signal to the electromagnetic valve through the main control module to control the water outlet of the clean water tank or stop the water outlet. The sewage tank 27 is also connected to the water receiving tank 25 through a pipe, a water suction pump is arranged in the water receiving tank 25, and when the water receiving tank 25 receives water leaked from the cleaning part 23 and reaches a preset height, the main control module controls the water suction pump to be started, so that the water in the water receiving tank 25 is pumped out to the sewage tank 27 through the pipe. The preset height is set when the product is designed, different values can be set according to different product requirements, for example, the preset height can be set to be two-third of the depth of the water receiving tank, or to be half of the depth of the water receiving tank, and the like. The cleaning seat of the embodiment can improve the independence of the cleaning seat by configuring the clean water tank 26 and the sewage tank 27, and is convenient to move the cleaning seat.
In one embodiment, the cleaning seat is further provided with a charging port, and when the robot needs to be charged, the robot can be guided by the cleaning seat to charge the upper seat.
As shown in fig. 4, a self-cleaning control method of a self-cleaning robot system, which is the self-cleaning robot system described in the above embodiments. The method comprises the following steps 1 to 6. In step 1, after the cleaning robot mops the floor for a period of time or a certain area range, the cleaning robot judges that the mop cloth is dirty and needs to be cleaned, so that the cleaning robot sends a seat returning cleaning signal. In step 2, after the cleaning seat receives the seat returning cleaning signal sent by the cleaning robot, the cleaning seat controls the guide signal sending part to send out a guide signal. The robot can navigate to the position of the cleaning seat according to the map constructed in the cleaning process under the condition that the robot does not receive the guide signal. In the navigation process, the robot always detects whether a guiding signal is received, and when the guiding signal is received, the robot enters step 3. In step 3, the cleaning robot performs seating according to the detected guiding signal, and the specific seating mode is the same as the mode of recharging the existing sweeping robot, which is not described herein again. In step 4, the cleaning seat controls the cleaning unit to spray water after receiving the trigger signal for the upper seat of the cleaning robot. The upper seat trigger signal is a signal generated by the trigger detection part when the robot moves from the ground to the cleaning seat, and when the cleaning seat receives the signal, the cleaning seat can know that the robot is in place and can perform cleaning operation, so that the cleaning part is controlled to start spraying water. In step 5, the cleaning robot performs a back and forth reciprocating motion according to a preset motion to make the mop and the cleaning part perform reciprocating friction to remove the stains in the mop. The preset action is designed in advance according to a control program of the robot, and the preset action refers to controlling the robot to walk forwards for a certain distance and then backwards for a certain distance, so that the robot reciprocates back and forth. The certain distance of walking is in the length scope of cleaning part, namely the robot is in the process of reciprocating back and forth, and the mop keeps contact with cleaning part all the time. According to the control method, the robot can automatically return to the cleaning seat to automatically clean the dirty mop, the intelligent degree is high, the labor burden of a user is effectively relieved, and the convenience and the practicability of product use are improved. In addition, by adopting the control method, the self-cleaning structure in the system can be simplified, an additional cleaning action mechanism is not needed, and the automatic scrubbing of the mop can be realized only by controlling the robot to reciprocate back and forth on the cleaning seat and controlling the cleaning part to spray water. The operation only needs to improve the control program in the aspect of software, and does not need to increase the hardware cost, so that the cost of the system is greatly reduced, and the cost performance of the system is improved.
As one embodiment, after the step 5, the following steps 6 and 7 are also included. In step 6, the robot moves back and forth for a preset number of times or for a preset time, retreats from the cleaning seat and leaves the seat. The preset time and the preset times can be set correspondingly according to different product requirements, for example, the preset times is set to 30 times or 40 times, and the preset time is set to 50 seconds or 60 seconds. In step 7, the cleaning base controls the cleaning part to stop spraying water after receiving the trigger signal of the cleaning robot leaving the base. The seat-off trigger signal is a signal generated by the trigger detection part when the robot retreats from the cleaning seat and leaves the seat, and when the cleaning seat receives the signal, the robot can be known to leave the cleaning seat, and the cleaning operation is not required to be continued, so that the cleaning part is controlled to stop spraying water. After the robot leaves the cleaning seat, the floor mopping task can be continued.
Preferably, the wash bowl in step 4 further includes the following steps after receiving the trigger signal for cleaning the robot upper bowl and before controlling the washing part to spray water in step 4: the cleaning seat stops sending the guide signal. After the robot is seated, the robot does not need to send the guide signal, and the robot stops sending the guide signal in advance, so that the electric energy loss of the cleaning seat can be saved.
Preferably, after the step of controlling the water spray of the cleaning part in step 4, the method further includes the steps of: the cleaning seat detects whether water in the clear water tank is lower than a preset water level, if so, an alarm is sent out to prompt a user to fill water into the clear water tank, and if not, the current state is kept continuously until another control signal is received. The preset water level can be set correspondingly according to the design requirements of products, and can be generally set to be one tenth, one ninth or one eighth of the depth of the clean water tank, and the like.
Preferably, after the step of controlling the washing unit to stop spraying water in step 7, the method further includes the steps of: the cleaning seat detects whether the water in the sewage tank is higher than a set water level, if so, an alarm is sent out to prompt a user to treat the water in the sewage tank, and if not, the current state is continuously kept until another control signal is received. The set water level may be set to two-thirds or three-quarters of the depth of the sump.
Above-mentioned embodiment is reported to the police through the water level of control clear water case and sewage case, can remind the user in time to handle relevant problem, and the product intelligent degree is higher, and the user uses more conveniently.
Obviously, the above-mentioned embodiments are only a part of embodiments of the present invention, not all embodiments, and the technical solutions of the embodiments may be combined with each other. Furthermore, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear in the embodiments, their indicated orientations or positional relationships are based on those shown in the drawings only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation or be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. If the terms "first", "second", "third", etc. appear in the embodiments, they are for convenience of distinguishing between related features, and they are not to be construed as indicating or implying any relative importance, order or number of features.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. These programs may be stored in a computer-readable storage medium (such as a ROM, a RAM, a magnetic or optical disk, or various other media that can store program codes). Which when executed performs steps comprising the method embodiments described above.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A self-cleaning robot system comprises a cleaning robot and a cleaning seat, and is characterized in that:
the bottom of the cleaning robot is provided with a mop cloth, and the cleaning robot can wipe the ground when driving the mop cloth to move together;
the cleaning seat comprises a water receiving tank and a cleaning part positioned above the water receiving tank;
the cleaning seat is also internally provided with a guide signal transmitting part for guiding the upper seat of the cleaning robot and a detecting part for detecting the upper seat and the lower seat of the cleaning robot; when the cleaning seat receives a seat returning cleaning signal sent by the cleaning robot, the cleaning seat controls the guide signal sending part to send a guide signal, controls the cleaning part to spray water after receiving an upper seat trigger signal of the detection part, and controls the cleaning part to stop spraying water after receiving an off seat trigger signal of the detection part;
when the cleaning robot judges that the mop needs to be cleaned, a seat returning cleaning signal is sent out, the cleaning robot carries out seat loading according to the detected guide signal, and the robot carries out reciprocating motion back and forth after the seat loading according to the preset action, so that the mop and the cleaning part in the cleaning seat carry out reciprocating friction.
2. The self-cleaning robotic system of claim 1, wherein:
the cleaning part comprises a plate-shaped main body, two ends of the plate-shaped main body are detachably and fixedly connected to two sides of an opening of the cleaning seat, a plurality of groups of scraping strips are arranged on the upper end face of the plate-shaped main body, a plurality of water spray nozzles are arranged in the middle of each group of scraping strips, and each water spray nozzle is communicated to a water inlet of the plate-shaped main body through a water delivery channel arranged in the plate-shaped main body.
3. The self-cleaning robotic system of claim 2, wherein:
the cross-sectional shape of scraping the strip is the closed angle shape, and every group scraping strip includes two scraping strips that use the water jet to set up as axis mirror symmetry, and the closed angle of these two scraping strips extends towards oblique top.
4. The self-cleaning robotic system of claim 3, wherein:
the scraping strip is a hard plastic structure which is integrally injection-molded with the plate-shaped main body.
5. The self-cleaning robotic system of any one of claims 1 to 4, wherein:
the cleaning seat further comprises a clean water tank and a sewage tank, the clean water tank is connected to the cleaning part through a pipe, clean water in the clean water tank is supplied to the cleaning part, the cleaning part can spray clean water to flush a mop of the robot, the sewage tank is also connected to the water receiving tank through a pipe, a water suction pump is arranged in the water receiving tank, when the water receiving tank receives leaked water of the cleaning part and reaches a preset height, the water suction pump is started, and water in the water receiving tank is pumped out to the sewage tank through the pipe.
6. A self-cleaning control method of a self-cleaning robot system, which is the self-cleaning robot system of any one of claims 1 to 5, characterized by comprising the steps of:
step 1: the cleaning robot sends a seat returning cleaning signal;
step 2: the cleaning seat sends out a guiding signal after receiving a seat returning cleaning signal sent by the cleaning robot;
and step 3: the cleaning robot carries out seat mounting according to the detected guide signal;
and 4, step 4: after the cleaning seat receives a trigger signal of the upper seat of the cleaning robot, the cleaning seat controls the cleaning part to spray water;
and 5: the cleaning robot performs reciprocating motion back and forth according to preset action, so that the mop and the cleaning part perform reciprocating friction.
7. The self-cleaning control method of claim 6, further comprising, after said step 5, the steps of:
step 6: the robot moves back and forth in a reciprocating manner for a preset number of times or for a preset time, retreats from the cleaning seat and leaves the seat;
and 7: and after the cleaning seat receives a trigger signal for the cleaning robot to leave the seat, the cleaning part is controlled to stop spraying water.
8. The self-cleaning control method of claim 6, wherein the washing seat in step 4 further comprises the following steps after receiving the trigger signal for cleaning the upper seat of the robot and before controlling the washing part to spray water in step 4:
the cleaning seat stops sending the guide signal.
9. The self-cleaning control method according to any one of claims 6 to 8, further comprising, after the step of controlling the washing part to spray water of step 4, the steps of:
the cleaning seat detects whether water in the clear water tank is lower than a preset water level, and if so, an alarm is given to prompt a user to fill water into the clear water tank.
10. The self-cleaning control method according to any one of claims 6 to 8, further comprising, after the step of controlling the washing portion to stop spraying water in step 7, the steps of:
the cleaning seat detects whether the water in the sewage tank is higher than a set water level, and if so, an alarm is given to prompt a user to treat the water in the sewage tank.
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| CN111407191A (en) * | 2020-04-17 | 2020-07-14 | 深圳市无限动力发展有限公司 | Cleaning device and cleaning system |
| CN111493759A (en) * | 2020-06-03 | 2020-08-07 | 江苏美的清洁电器股份有限公司 | Self-cleaning method of mopping machine, computer readable storage medium and mopping machine |
| CN111759240A (en) * | 2020-06-22 | 2020-10-13 | 深圳市银星智能科技股份有限公司 | Automatic mop washing and maintaining station |
| CN112535439A (en) * | 2020-08-30 | 2021-03-23 | 杭州匠龙机器人科技有限公司 | Cleaning control method of cleaning robot |
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