CN110946507A - Floor sweeping robot and using method thereof - Google Patents
Floor sweeping robot and using method thereof Download PDFInfo
- Publication number
- CN110946507A CN110946507A CN201811126026.5A CN201811126026A CN110946507A CN 110946507 A CN110946507 A CN 110946507A CN 201811126026 A CN201811126026 A CN 201811126026A CN 110946507 A CN110946507 A CN 110946507A
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- robot body
- cleaning
- detection device
- cleanliness
- robot
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
Abstract
The invention provides a sweeping robot and a use method thereof, wherein the sweeping robot comprises: a robot body; a first detection device is arranged in front of the dust collection port along the walking direction of the robot body, and a second detection device is arranged behind the dust collection port; further comprising: a positioning sensor corresponding to the second detecting means; the control device controls the robot body to reduce the speed when the cleanliness detected by the first detection device is lower than a first set value; and when the cleanliness detected by the second detection device is lower than a second set value, the position of the second detection device is recorded by the positioning sensor, and after the cleaning is finished according to the set route, the robot body is controlled to move to the recorded position of the second detection device for cleaning again. In the technical scheme, the walking speed and the walking route of the sweeping robot are changed through the cleaning effect, the sweeping speed and the sweeping effect are improved, and the energy consumption is reduced.
Description
Technical Field
The invention relates to the technical field of household tools, in particular to a sweeping robot and a using method thereof.
Background
Under the heavy pressure of modern society, time is a precious resource, but heavy household cleaning work occupies a great amount of rest time of people. In order to get rid of the repeated and heavy family cleaning, the sweeping robot enters more and more families, and the market of the sweeping robot is popular with people.
The sweeping robots in the market at present have various technical schemes, and include random sweeping robots, sweeping robots with path planning, infrared detection sweeping robots, laser sweeping robots and the like. However, in the existing sweeping robot technical scheme, when sweeping is performed, uniform sweeping is performed in an open area without distinguishing the cleaning degree of the sweeping area.
In modern society's family, the cleanliness in the robot sweeping area that sweeps is mostly in people's acceptance range, only needs some areas to focus and sweep, and the execution does not have a definite reason and sweeps robot work efficiency that can reduce.
After the sweeping robot performs sweeping, whether the ground cleaning degree is qualified or not has no unified standard, the floor cleaning degree can be distinguished only by human eyes, and the sweeping robot is only responsible for sweeping when in work and cannot sense whether the ground is clean or not after sweeping.
Disclosure of Invention
The invention provides a sweeping robot and a using method thereof, which are used for improving the sweeping effect.
The invention provides a sweeping robot, which comprises: a robot body; a dust suction port arranged on the robot body; the dust detection device also comprises a first detection device and a second detection device for detecting dust; the first detection device is positioned in front of the dust collection port, and the second detection device is positioned behind the dust collection port along the walking direction of the robot body; further comprising:
a positioning sensor corresponding to the second detecting means;
the control device controls the robot body to reduce the speed when the cleanliness detected by the first detection device is lower than a first set value; and when the cleanliness detected by the second detection device is lower than a second set value, the position of the second detection device is recorded by the positioning sensor, and after the cleaning is finished according to a set route, the robot body is controlled to move to the recorded position of the second detection device for cleaning again.
In the technical scheme, the cleaning effect of the dust suction port is detected by adopting the two detection devices, and the walking speed and the walking route of the sweeping robot are changed according to the cleaning effect.
The control device is further configured to control the robot body to move at an accelerated speed when the cleanliness degrees detected by the first detection device and the second detection device are higher than a second set value. The working efficiency of the sweeping robot is improved.
In addition, the control device is also used for controlling the robot body to walk at normal speed when the cleanliness detected by the first detection device is higher than a third set value and the cleanliness detected by the second detection device is higher than the second set value; wherein the third setting value is higher than the first setting value and lower than the second setting value.
When specifically setting up, first detection device and second detection device all include:
a detection port provided on the robot body; the signal transmitting devices are arranged on two sides of the detection port in a set angle respectively, and the signal receiving devices are used for receiving signals transmitted by the signal transmitting devices.
The signal transmitting device is an infrared transmitting device, and the signal receiving device is a photosensitive element.
When the device is arranged, the optical axes of the signal transmitting device and the signal receiving device are perpendicular to each other.
In addition, the robot further comprises two wheels which are rotatably connected with the robot body, and the two wheels are respectively arranged on two sides of the dust suction opening.
The invention also provides a use method of the sweeping robot, which comprises the following steps:
detecting the cleanliness of the front cleaned by the robot body;
detecting the cleanliness of the robot body after cleaning;
when the detected cleanliness of the front part of the robot body in cleaning is lower than a first set value, the robot body reduces the speed; and when the detected cleaning degree of the robot body after cleaning is lower than a second set value, recording the position, and after cleaning is completed according to the set route, cleaning the position again.
In the technical scheme, the cleaning effect of the dust suction port is detected by adopting the two detection devices, and the walking speed and the walking route of the sweeping robot are changed according to the cleaning effect.
The method further comprises the following steps: and when the detected cleaning degree before the robot body cleans and the detected cleaning degree after the robot body cleans are higher than a second set value, the robot body moves in an accelerated manner.
The method further comprises the following steps: when the detected cleaning degree of the front part of the robot body in cleaning is higher than a third set value and the detected cleaning degree of the rear part of the robot body in cleaning is higher than a second set value, controlling the robot body to travel at a normal speed; wherein the third setting value is higher than the first setting value and lower than the second setting value.
Drawings
Fig. 1 is a schematic structural diagram of a sweeping robot provided in an embodiment of the present invention;
fig. 2 to 3 are reference diagrams for use in a detection device of a sweeping robot according to an embodiment of the present invention.
Detailed Description
In order to facilitate understanding of the sweeping robot provided by the embodiment of the application, firstly, a scene of application of the sweeping robot is described, the sweeping robot is applied to the field of household sweeping, but the existing sweeping robot moves at a constant speed, so that a sweeping effect is poor, and in order to improve the sweeping effect, the embodiment of the invention provides a novel sweeping robot.
Referring first to fig. 1, fig. 1 shows a structure of a sweeping robot provided in an embodiment of the present application. As can be seen from fig. 1, the sweeping robot comprises a robot body 1 and a dust collection port 2 arranged on the robot body 1, wherein a dust collector is arranged in the robot, and sundries can be sucked into the robot body 1 through the dust collection port 2. In order to improve the cleaning efficiency and effect of the sweeping robot. Detection devices are provided on both sides of the dust suction port 2 to detect the cleanliness of the floor in front of the dust suction port 2 and the cleanliness of the floor behind the dust suction port 2 after cleaning. The two detection devices are a first detection device 4 and a second detection device 5, and with continued reference to fig. 1, when specifically arranged, the first detection device 4 is arranged in front of the dust suction port 2, and the second detection device 5 is arranged behind the dust suction port 2 along the walking direction of the robot body 1. In the structure shown in fig. 1, the walking direction of the robot body 1 is determined by the wheels 3, as shown in fig. 1, two wheels 3 are arranged on the robot body 1, the wheels 3 are rotatably connected with the robot body 1, the two wheels 3 are symmetrically arranged on two sides of the dust suction port 2, and the direction perpendicular to the axes of the two wheels 3 is the walking direction of the robot body 1. As can be seen from fig. 1, the direction of the line connecting the first detection device 4 and the second detection device 5 (the direction in which the robot travels) and the axial direction of the two wheels 3 are perpendicular to each other. Of course, the first detecting device 4 and the second detecting device 5 may be disposed asymmetrically on two sides of the dust suction opening 2, and there may be a certain deviation, but in a specific embodiment, the first detecting device 4 and the second detecting device 5 are disposed symmetrically, so as to ensure that the second detecting device 5 detects a position that has been detected by the first detecting device 4, and improve the accuracy of detection.
Referring to fig. 2 and 3 together, fig. 2 and 3 show schematic diagrams of the first detection device 4 and the second detection device 5 according to the embodiment of the present application. The first detection device 4 and the second detection device 5 provided in the embodiment of the present invention have the same configuration, and the first detection device 4 will be described as an example. The first detection device 4 includes: a detection port 43 provided in the robot body 1; and a signal transmitting device 41 and a signal receiving device 42, wherein the signal transmitting device 41 is used for receiving the signal transmitted by the signal transmitting device 41. In a specific arrangement, the signal generating device and the signal receiving device 42 may have different structures, and only the signal emitted by the signal emitting device 41 can be received by the signal receiving device 42 after being transmitted by dust. For example, the signal emitting device 41 is an infrared emitting device, and the signal receiving device 42 is a light-sensitive element, which may be a photo-transistor, or other element capable of sensing light. The principle of detection is as follows, as shown in fig. 2 and 3, particles and molecules generate a scattering phenomenon of light under the irradiation of light, and at the same time, absorb part of the energy of the irradiated light. When a beam of parallel monochromatic light is incident to a measured particle field, the light intensity is weakened due to the influence of scattering and absorption around the particles. Therefore, the relative attenuation rate of the incident light passing through the concentration field to be measured can be obtained. And the relative attenuation rate can basically reflect the relative concentration of the dust in the field to be measured linearly. The intensity of the light intensity is in direct proportion to the intensity of the electric signal after photoelectric conversion, and the relative attenuation degree can be obtained by measuring the electric signal.
When the sweeping robot runs, the dust collector can form suction through the detection port 43 and suck the dust on the ground into the dust box through the detection port 43, so that the cleanness of the ground is detected. In fig. 2, the detection port 43 is free from particles and molecules, and therefore, the light is not scattered, and the signal receiving device 42 cannot receive the signal, whereas in fig. 3, the detection port 43 is free from particles and molecules, and therefore, the light is scattered, and the signal receiving device 42 receives the signal.
Specifically, when the signal transmitter 41 and the signal receiver 42 are installed, as shown in fig. 2, the signal transmitter 41 and the signal receiver 42 are arranged on both sides of the detection opening 43 and arranged at a set angle, which may be different angles such as 30 °, 50 °, 60 °, 80 °, 90 °. In a specific embodiment, the optical axes of the signal emitting device 41 and the signal receiving device 42 are perpendicular to each other. I.e. the signal transmitting device 41 and the signal receiving device 42 form an angle of 90 °.
The first detection device 4 and the second detection device 5 can detect the effect before and after cleaning, so that the walking speed of the sweeping robot can be planned according to the detected effect. A detailed description of how to plan is provided below.
In order to record the place which is not cleaned after cleaning, a positioning sensor corresponding to the second detection device 5 is also arranged on the robot body 1. The positioning sensor may be a GPS or other positioning sensor.
When the route is specifically planned, the route is planned through the control device. The following is a detailed description for different cases: for convenience of description, different grades are classified into a first set value, a second set value and a third set value for cleanliness, and the following conditions are satisfied: wherein, the arrangement of three set values is as follows: second cleanliness > third cleanliness > first cleanliness.
1) When the cleanliness detected by the first detection device 4 is higher than a third set value and the cleanliness detected by the second detection device 5 is higher than a second set value, controlling the robot body 1 to walk at a normal speed; wherein the third set value is lower than the second set value. The third set value is a range value where the cleanliness is low and cleaning is required, and the second set value is a value where the cleanliness meets requirements. When the cleanliness is higher than the third set value before cleaning and the cleanliness is higher than the second set value after cleaning, it is only necessary to perform normal cleaning.
2) When the cleanliness detected by the first detection device 4 and the second detection device 5 is higher than a second set value, controlling the robot body 1 to move in an accelerated manner; when the cleanliness is higher than the second set value before cleaning, the floor meets the requirement, and at the moment, the floor is not required to be cleaned any more, so that the sweeping robot can quickly walk through the area, and the working efficiency of the sweeping robot is improved.
3) When the cleanliness detected by the first detection device 4 is lower than a first set value, the robot body 1 is controlled to reduce the speed; when the detected cleanliness is lower than the first set value, the ground is dirty, and the cleaning needs to be carefully carried out at a lower speed. When the cleanliness detected by the second detection device 5 is lower than the second set value, it means that the cleaning is completed and the requirement cannot be met. At this time, the position of the second detection device 5 is recorded by the positioning sensor, and after the cleaning is completed according to the set route, the robot body 1 is controlled to move to the recorded position of the second detection device 5 to perform the cleaning again.
In specific implementation, if the second detection device 5 is qualified in detection and the first detection device 4 is also qualified in detection, the sweeping robot passes through an area with poor ground cleanliness, and the speed can be increased; if the second detection device 5 still fails in detection, recording the initial position of the unqualified area, and continuously detecting the state of the first detection device 4, if the first detection device 4 detects the unqualified area, indicating that the sweeping robot runs to the end of the unqualified cleaning area, rotating the sweeping robot by 180 degrees at the moment, and returning to the second detection device 5 to detect the unqualified area until the recorded starting position of the unqualified area is reached. And then, rotating the machine by 180 degrees again, running the machine along the initial path, accelerating the running speed if the post-cleaning degree is detected to be qualified, and alarming to prompt the cleaning degree condition of the area if the post-cleaning degree is not qualified. When the alarm is specifically realized, the alarm device can be arranged on the sweeping robot body 1, and the control of the alarm device is realized through the control device.
It should be understood that the control device may be a common control device in the prior art, such as a single chip microcomputer, a PLC, etc., so that good control can be achieved.
According to the above description, the walking speed and the cleaning condition of the sweeping robot can be controlled through the arranged detection device and the arranged control device, the sweeping efficiency of the sweeping robot is improved, and meanwhile, the energy consumption is reduced.
In addition, the invention also provides a use method of the sweeping robot, which comprises the following steps:
detecting the cleanliness of the front cleaned by the robot body;
detecting the cleanliness of the robot body after cleaning;
when the detected cleanliness of the front part of the robot body in cleaning is lower than a first set value, the robot body reduces the speed; when the detected cleaning degree of the robot body after cleaning is lower than a second set value, the position is recorded, and after cleaning is completed according to a set route, the position is cleaned again; wherein the first set value is higher than the second set value.
Or when the detected cleaning degree before the robot body cleans and the detected cleaning degree after the robot body cleans are higher than a second set value, the robot body moves in an accelerated manner; wherein the second set value is higher than the first set value.
Or when the detected cleaning degree of the front part of the robot body in cleaning is higher than a third set value and the detected cleaning degree of the rear part of the robot body in cleaning is higher than a second set value, controlling the robot body to travel at a normal speed; the third set value is higher than the first set value and lower than the second set value.
In specific implementation, if the second detection device is qualified in detection and the first detection device is also qualified in detection, the sweeping robot can be accelerated to run when passing through an area with poor ground cleanliness; if the second detection device still fails, recording the initial position of the unqualified area, and continuously detecting the state of the first detection device, if the first detection device detects to be qualified, indicating that the sweeping robot runs to the end of the unqualified cleaning area, rotating the sweeping robot by 180 degrees at the moment, and returning to the second detection device to detect the unqualified area until the starting position of the unqualified area is recorded. And then, rotating the machine by 180 degrees again, running the machine along the initial path, accelerating the running speed if the post-cleaning degree is detected to be qualified, and alarming to prompt the cleaning degree condition of the area if the post-cleaning degree is not qualified. When the alarm is specifically realized, the alarm device can be arranged on the sweeping robot body, and the control over the alarm device is realized through the control device.
It should be understood that the control device may be a common control device in the prior art, such as a single chip microcomputer, a PLC, etc., so that good control can be achieved.
According to the above description, the walking speed and the cleaning condition of the sweeping robot can be controlled through the arranged detection device and the arranged control device, the sweeping efficiency of the sweeping robot is improved, and meanwhile, the energy consumption is reduced.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A sweeping robot is characterized by comprising: a robot body; a dust suction port arranged on the robot body; the dust detection device also comprises a first detection device and a second detection device for detecting dust; the first detection device is positioned in front of the dust collection port, and the second detection device is positioned behind the dust collection port along the walking direction of the robot body; further comprising:
a positioning sensor corresponding to the second detecting means;
the control device controls the robot body to reduce the speed when the cleanliness detected by the first detection device is lower than a first set value; and when the cleanliness detected by the second detection device is lower than a second set value, the position of the second detection device is recorded by the positioning sensor, and after the cleaning is finished according to a set route, the robot body is controlled to move to the recorded position of the second detection device for cleaning again.
2. The sweeping robot according to claim 1, wherein the control device is further configured to control the robot body to move in an accelerated manner when the cleanliness degrees detected by the first and second detection devices are higher than a second set value.
3. The sweeping robot according to claim 2, wherein the control device is further configured to control the robot body to travel at a normal speed when the cleanliness detected by the first detection device is higher than a third set value and the cleanliness detected by the second detection device is higher than the second set value; wherein the third setting value is higher than the first setting value and lower than the second setting value.
4. A sweeping robot according to any one of claims 1 to 3, wherein the first and second detecting devices each comprise:
a detection port provided on the robot body; the signal transmitting devices are arranged on two sides of the detection port in a set angle respectively, and the signal receiving devices are used for receiving signals transmitted by the signal transmitting devices.
5. A sweeping robot according to claim 4, wherein the signal emitting device is an infrared emitting device and the signal receiving device is a photosensitive element.
6. The sweeping robot of claim 4, wherein the optical axes of the signal emitting device and the signal receiving device are perpendicular to each other.
7. The sweeping robot of claim 4, further comprising two wheels rotatably connected to the robot body, wherein the two wheels are respectively arranged on two sides of the dust suction opening.
8. The use method of the sweeping robot according to claim 1, characterized by comprising the following steps:
detecting the cleanliness of the front cleaned by the robot body;
detecting the cleanliness of the robot body after cleaning;
when the detected cleanliness of the front part of the robot body in cleaning is lower than a first set value, the robot body reduces the speed; and when the detected cleaning degree of the robot body after cleaning is lower than a second set value, recording the position, and after cleaning is completed according to the set route, cleaning the position again.
9. Use according to claim 8, characterized in that the robot body is accelerated when the detected cleanliness before the cleaning of the robot body and the cleanliness after the cleaning of the robot body are higher than the second set value.
10. The use method according to claim 9, characterized in that when the detected cleanliness before the cleaning of the robot body is higher than a third set value and the detected cleanliness after the cleaning of the robot body is higher than the second set value, the robot body is controlled to travel at a normal speed; wherein the third setting value is higher than the first setting value and lower than the second setting value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811126026.5A CN110946507A (en) | 2018-09-26 | 2018-09-26 | Floor sweeping robot and using method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811126026.5A CN110946507A (en) | 2018-09-26 | 2018-09-26 | Floor sweeping robot and using method thereof |
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| CN110946507A true CN110946507A (en) | 2020-04-03 |
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| CN201811126026.5A Pending CN110946507A (en) | 2018-09-26 | 2018-09-26 | Floor sweeping robot and using method thereof |
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| CN113180558A (en) * | 2021-04-25 | 2021-07-30 | 珠海格力电器股份有限公司 | Complex area depth operation method and device, computer equipment and storage medium |
| CN114794994A (en) * | 2022-06-28 | 2022-07-29 | 山西嘉世达机器人技术有限公司 | Cleaning device |
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