CN111820824B - Working method of floor mopping robot - Google Patents
Working method of floor mopping robot Download PDFInfo
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- CN111820824B CN111820824B CN201910308761.6A CN201910308761A CN111820824B CN 111820824 B CN111820824 B CN 111820824B CN 201910308761 A CN201910308761 A CN 201910308761A CN 111820824 B CN111820824 B CN 111820824B
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- cleaning
- wiping
- floor
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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
- A47L11/28—Floor-scrubbing 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
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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
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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
Abstract
The invention discloses a working method of a floor wiping robot, which belongs to the technical field of working methods of cleaning equipment. The purpose of automatically cleaning the cleaning piece can be realized through the self-cleaning program, the cleaning piece does not need to be manually disassembled and washed or replaced by a user, the use cost of the whole machine can be reasonably reduced on the premise of improving the intelligent degree of the floor cleaning robot, and the use experience of the user is favorably improved.
Description
Technical Field
The invention relates to the technical field of working methods of cleaning equipment, in particular to a working method of a floor cleaning robot.
Background
With the improvement of the technology level, people tend to adopt intelligent cleaning robots to replace manual cleaning work. At present, the household intelligent cleaning robot generally adopts modes such as a hairbrush, a scraper blade and vacuum dust collection to clean the ground, and because the cleaning force of the cleaning modes is not large, the cleaning effect is not ideal, and particularly, dry stains on the ground cannot be effectively cleaned. In order to better achieve the purpose of cleaning the floor by using the intelligent cleaning robot, there are floor cleaning robots having a floor cleaning function in the prior art. The wiping structure of the existing rotary floor wiping robot generally comprises a rotary part and a stepping motor used for driving the rotary part, wherein the stepping motor drives the rotary part to rotate in the working process, so that the rotary part can be automatically switched to specific positions for wiping the ground after working for a period of time, and the wiping effect is ensured.
In order to improve the cleaning effect, the user generally tends to choose a working mode of two successive wipes when using the floor-cleaning robot, i.e. a mode of wiping once and then wiping once, and therefore needs to clean the rotating member after wiping once. In addition, when the floor scrubbing robot is finished with the scrubbing work, the user generally tends to clean the rotating member and then place it for the next direct use. Moreover, when all the working surfaces of the rotating member are used for wiping but the wiping work is not finished, if the rotating member is not cleaned in time and the used working surfaces are adopted for continuing wiping, the working effect of the floor wiping robot can be greatly reduced. However, the existing floor-cleaning robot generally cannot achieve the purpose of self-cleaning of the rotating member, a user needs to clean and replace the rotating member manually, and the intelligent degree is not high. Aiming at the defect that the rotating member cannot effectively perform self-cleaning, some floor wiping machine products adopt the disposable wiping cloth to avoid the defect, but the use cost of the product is inevitably increased by adopting the mode, and the action of replacing the disposable wiping cloth still needs to be manually completed by a user.
Disclosure of Invention
In order to solve the defects and shortcomings in the prior art, the invention provides a working method of a floor cleaning robot, which can realize the purpose of self cleaning.
In order to achieve the technical purpose, the working method of the floor mopping robot provided by the invention is characterized in that the floor mopping robot enters the self-cleaning program under the condition that the starting condition of the self-cleaning program is met, in the self-cleaning program, the floor mopping robot firstly returns to the base station, then the floor mopping robot finishes cleaning the wiping surface to be cleaned on a wiping piece on the premise that the electric quantity meets the preset requirement, and the floor mopping robot rotates the wiping piece for a period of time after the cleaning of the wiping piece is finished to finish dehydration.
Preferably, after the floor cleaning robot returns to the base station, the floor cleaning robot firstly judges whether the electric quantity of the floor cleaning robot meets the preset requirement; if yes, entering a cleaning stage of the wiping surface; if not, the base station is firstly utilized to charge the floor cleaning robot until the electric quantity meets the preset requirement, and then the cleaning stage of the cleaning surface is started.
Preferably, a cleaning mechanism is arranged on the base station, and in the cleaning stage, the cleaning mechanism firstly feeds water and then cleans the wiping surface.
Preferably, after the cleaning of the cleaning surface of the wiping piece to be cleaned is finished, the cleaning mechanism drains water firstly, and then the wiping piece rotates to dewater.
Preferably, the cleaning mechanism is provided with an ultrasonic generator; and/or the cleaning mechanism is provided with a scraping strip which is contacted with the wiping surface when the wiping surface is cleaned.
Preferably, the wiper is rotated at cleaning intervals so that the wiping surfaces to be cleaned are cleaned one after the other in sequence; alternatively, the wiper member is rotated continuously for a period of time during cleaning to clean all the wiping surfaces.
Preferably, all the wiping surfaces of the wiping piece meet the starting condition of the self-cleaning program after being used; if the wiping work is not finished after all the wiping surfaces are used, the floor wiping robot returns to the base station and simultaneously records the wiping interruption position, and the floor wiping robot returns to the wiping interruption position to continue working after the wiping piece is dewatered; if all the wiping surfaces are used, the wiping work is finished, and the floor wiping robot enters a standby state after the wiping piece is dewatered.
Preferably, the floor cleaning robot meets the starting condition of the self-cleaning program when finishing the cleaning work; or the floor cleaning robot meets the starting condition of the self-cleaning program when receiving a cleaning instruction sent from the outside.
Preferably, after the wiping piece is dewatered, the floor cleaning robot enters a standby state on the premise that the electric quantity meets the preset requirement.
Preferably, the floor cleaning robot judges whether the electric quantity of the floor cleaning robot meets the preset requirement or not after the floor cleaning robot finishes the dehydration of the cleaning piece; if so, the floor mopping robot enters a standby state; if not, the base station is firstly utilized to charge the floor cleaning robot until the electric quantity meets the preset requirement, and then the floor cleaning robot enters a standby state.
After the technical scheme is adopted, the invention has the following advantages:
1. according to the working method of the floor cleaning robot, the floor cleaning robot is additionally provided with a self-cleaning program. In the self-cleaning procedure, the floor cleaning robot returns to the base station and finishes cleaning the cleaning surface to be cleaned on the cleaning piece on the premise that the electric quantity meets the preset requirement, and the cleaning piece rotates to dewater after being cleaned, so that the aim of spin-drying the cleaning piece after being cleaned is fulfilled. The purpose of automatic cleaning of the cleaning piece can be achieved through the added self-cleaning program, the cleaning piece does not need to be manually disassembled and cleaned or replaced by a user, the use cost of the whole machine can be reasonably reduced while the intelligent degree of the floor cleaning robot is improved, and the use experience of the user is favorably improved.
2. The floor cleaning robot carries out the self-cleaning program on the premise that the electric quantity meets the preset requirement, the electric quantity is guaranteed to meet the power consumption requirement of the self-cleaning program, the situation that the self-cleaning program needs to be manually participated when the electric quantity is insufficient is avoided, and the overall intelligent degree of the floor cleaning robot is further improved.
3. In order to meet the cleaning purpose of the wiper, a cleaning mechanism is arranged on the base station. When cleaning, the cleaning mechanism firstly feeds water, and then cleans the wiping surface to be cleaned on the wiping piece. In order to smoothly perform the dehydration operation of the wiper, the cleaning mechanism drains water after the cleaning of the wiping surface is completed, and then the wiper rotates to perform dehydration. The specific structure of the base station is reasonably set to meet the requirements of the self-cleaning program on the structure.
4. The cleaning mechanism is provided with the ultrasonic generator and/or the scraping strip, the ultrasonic generator can enable water for cleaning the wiping piece to generate high-frequency oscillation, and the high-frequency oscillation water is used for improving the cleaning effect of the wiping piece. The scraping strip scrapes the wiping surface in the rotating process of the wiping piece, can effectively scrape dirt attached to the wiping surface, and is favorable for improving the cleaning effect of the wiping piece. The cleaning effect of the wiper is effectively improved through the ultrasonic generator and/or the wiper strip, so that the wiping effect of the floor wiping robot during working is improved.
5. When the cleaning piece is cleaned, the cleaning surfaces to be cleaned can be cleaned in sequence, or the cleaning piece can be continuously rotated to make the cleaning surfaces contact with water for many times to clean all the cleaning surfaces, and the specific cleaning mode of the cleaning piece is reasonably set to meet the cleaning purpose of a self-cleaning program.
6. When all the wiping surfaces of the wiping piece are used and wiping work is not finished, the floor wiping robot can return to the wiping interruption position after the self-cleaning program is finished to continue the wiping work, and the smooth proceeding of the wiping work is ensured. The cleaning surface on the cleaning piece is automatically cleaned in time through the self-cleaning program, the phenomenon that the used cleaning surface participates in the cleaning work again is avoided, and the cleaning effect of the floor cleaning robot is improved.
7. When the floor cleaning robot finishes the cleaning work, the floor cleaning robot judges that the starting condition of the self-cleaning program is met, and the floor cleaning robot returns to the base station and enters the self-cleaning program. The floor cleaning robot can perform a self-cleaning program after each work is finished, so that the floor cleaning robot can directly perform the cleaning work next time, and the use habit of a user is met.
8. When a user feels that the wiping piece is necessary to be cleaned under certain conditions, a cleaning instruction can be sent to the floor cleaning robot, the floor cleaning robot judges that the starting condition of the self-cleaning program is met after receiving the cleaning instruction, and the floor cleaning robot returns to the base station and then enters the self-cleaning program. The user can directly and effectively control whether the floor cleaning robot starts the self-cleaning program, and the use requirements of the user are better met.
9. The floor cleaning robot can enter a standby state on the premise that the electric quantity meets the preset requirement after the floor cleaning robot finishes the self-cleaning program, the electric power consumption of the floor cleaning robot is reduced, and the floor cleaning robot can be conveniently and rapidly awaken when next floor cleaning work is carried out.
Drawings
FIG. 1 is a schematic overall view of a floor scrubbing machine according to an embodiment of the present invention;
FIG. 2 is an exploded view of a floor scrubbing robot in a floor scrubbing machine according to an embodiment of the present invention;
FIG. 3 is an exploded view of a base station of a floor scrubber according to an embodiment of the present invention;
FIG. 4 is a schematic view of a wiper member in a floor scrubbing machine according to an embodiment of the present invention;
FIG. 5 is a schematic end view of a wiper having an identification mechanism in accordance with one embodiment of the present invention;
fig. 6 is a flowchart illustrating a working method of a floor-scrubbing robot according to an embodiment of the present invention.
In the figure, 10-a body, 20-a base station, 31-a first control circuit board, 32-a second control circuit board, 40-a walking mechanism, 41-a walking wheel, 42-a walking motor, 50-a wiping mechanism, 51-a wiping piece, 511-a roller shaft, 512-a wiping cloth, 513-a transmission hole, 52-a wiping motor, 53-an output rotary head, 54-an identification structure, 541-a positioning identification block, 542-an identification groove, 543-an identification bulge, 55-a detection sensor, 60-a battery, 71-a water purification box, 72-a cleaning groove, 721-a water inlet, 722-a water outlet, 73-a sewage box, 74-an ultrasonic generator, 75-a scraping strip, 76-a water level detection piece, 77-a water inlet valve and 78-a water discharge pump, 791-water inlet pipe, 792-water outlet pipe and 81-charging piece.
Detailed Description
The invention is further described with reference to the following figures and specific examples. It is to be understood that the following terms "upper," "lower," "left," "right," "longitudinal," "lateral," "inner," "outer," "vertical," "horizontal," "top," "bottom," and the like are used merely to indicate an orientation or positional relationship relative to one another as illustrated in the drawings, merely to facilitate describing and simplifying the invention, and are not intended to indicate or imply that the device/component so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore are not to be considered limiting of the invention.
Example one
The embodiment of the invention provides a working method of a floor cleaning robot, and the floor cleaning robot enters a self-cleaning program under the condition that the starting condition of the self-cleaning program is met. In the self-cleaning procedure, the floor cleaning robot firstly returns to the base station, then the floor cleaning robot finishes cleaning the cleaning surface to be cleaned on the cleaning piece on the premise that the electric quantity meets the preset requirement, and the floor cleaning robot rotates the cleaning piece for a period of time after the cleaning of the cleaning piece is finished to finish dewatering.
The purpose of automatic cleaning of the cleaning piece can be achieved through the added self-cleaning program, the cleaning piece does not need to be manually disassembled and cleaned or replaced by a user, the use cost of the whole machine can be reasonably reduced while the intelligent degree of the floor cleaning robot is improved, and the use experience of the user is favorably improved.
When the wiping work is not finished after all the wiping surfaces of the wiping piece are used, the wiping robot returns to the base station and simultaneously records the wiping interruption position, and the wiping robot returns to the wiping interruption position to continue working after the wiping piece is dewatered. The used wiping surface on the wiping piece is automatically cleaned in time through the self-cleaning program, so that the used wiping surface is prevented from participating in wiping work again. In another case, when the wiping operation is completed after all the wiping surfaces of the wiper are used, the floor wiping robot enters a standby state after the wiper is dehydrated.
When all the wiping surfaces of the wiping piece are not completely used and the wiping robot finishes the wiping work, the wiping robot judges that the starting condition of the self-cleaning program is met and then enters the self-cleaning program. When the floor-cleaning robot receives a cleaning instruction made by the user, the floor-cleaning robot also judges that the starting condition of the self-cleaning program is satisfied. Under the two conditions, the floor cleaning robot judges whether the electric quantity of the floor cleaning robot meets the preset requirement or not after finishing the self-cleaning program, and if so, the floor cleaning robot directly enters a standby state; if not, firstly, the base station is utilized to charge the floor cleaning robot so that the electric quantity meets the preset requirement, and then the floor cleaning robot enters a standby state.
When the floor cleaning robot returns to the base station to carry out the self-cleaning program, the floor cleaning robot firstly judges whether the electric quantity of the floor cleaning robot meets the preset requirement. If yes, entering a cleaning stage of the wiping surface; if not, the base station is firstly utilized to charge the floor cleaning robot until the electric quantity meets the preset requirement, and then the cleaning stage of the cleaning surface is started. The electric quantity can meet the power consumption requirement of the self-cleaning program, and the situation that the self-cleaning program needs to be manually participated when the self-cleaning program is interrupted due to insufficient electric quantity is avoided.
In order to smoothly carry out the self-cleaning procedure, a cleaning mechanism is arranged on the base station, and in the cleaning stage, the cleaning mechanism firstly feeds water and then cleans the wiping surface. When the wiping piece is cleaned, the wiping piece can rotate at intervals to clean the wiping surfaces to be cleaned in sequence, or the wiping piece can rotate continuously for a period of time to make the wiping surfaces contact with water for multiple times to clean all the wiping surfaces. After the cleaning is completed, the cleaning mechanism drains water first and then the wiper rotates to perform the dewatering operation in order to smoothly perform the dewatering operation. When the wiper is cleaned by the cleaning mechanism in the self-cleaning procedure, the water inlet amount of the cleaning mechanism is preferably set to be a fixed water amount every time the wiper is cleaned.
In order to improve the cleaning effect, the cleaning mechanism is provided with an auxiliary cleaning structure, the auxiliary cleaning structure can adopt an ultrasonic sensor and can also adopt a scraping strip, the cleaning effect of the wiping piece is improved by utilizing the auxiliary cleaning structure, and the working effect of the floor wiping robot is favorably improved.
The working method of the floor-cleaning robot is further described with reference to specific structures.
As shown in fig. 1 to 3, according to one embodiment of the present invention, a floor cleaning machine is provided, which includes a floor cleaning robot, a base station 20 and a control device, the floor cleaning robot includes a body 10, a traveling mechanism 40, a wiping mechanism 50 and a battery 60, the wiping mechanism 50 includes a wiping member 51 laterally rotatably disposed on the body 10 and a wiping motor 52 for driving the wiping member 51 to rotate.
In this embodiment, the traveling mechanism 40 includes a traveling wheel 41 and a traveling motor 42 for driving the traveling wheel 41, the traveling wheel 41 is rotatably disposed at the bottom of the machine body 10, and the traveling motor 42 drives the traveling wheel 41 to rotate through a transmission structure to realize the movement of the robot for cleaning the floor.
Referring to fig. 4, the wiper 51 includes a roller 511 and a wiping cloth 512, the roller 511 is cylindrical and is disposed horizontally in the axial direction, and the wiping cloth 512 is wrapped around the roller 511. The wiping member 51 is detachably disposed on the body 10, the wiping mechanism 50 further includes an output rotor 53 connected to the wiping motor 52 in a transmission manner, the output rotor 53 is located outside one axial end of the wiping member 51, and a transmission hole 513 for inserting the output rotor 53 is disposed on an end surface of the roller shaft 511 facing the output rotor 53. When the wiping motor 52 is operated, the wiping piece 51 is driven to rotate through the matching of the output rotary head 53 and the transmission hole 513.
In order to make the control device know the rotation of the wiper 51, the body 10 is provided with a detection sensor 55 electrically connected to the control device, and the wiper 51 is provided with an identification structure 54 corresponding to the detection sensor 55. When the wiper 51 rotates, the detection sensor 55 feeds back a sensing value corresponding to the rotation of the wiper to the control device by the recognition structure 54. In the present embodiment, the detection sensor 55 is an infrared sensor, the detection sensor 55 is preferably disposed outside one axial end of the wiping member 51, and correspondingly, the identification structure 54 is disposed in a ring shape on the end surface of the wiping member 51 facing the detection sensor.
In this embodiment, the identification structure 54 includes a positioning identification block 541, an identification groove 542, and an identification protrusion 543, the positioning identification block 541 is a black identification block, the identification groove and the positioning identification block are disposed on the end surface of the roller 511 at an annular interval, and the identification protrusion 543 is formed in the area between adjacent identification grooves and the area between the identification groove and the identification block on the end surface of the roller 511. The end surface of the roller shaft 511 is made of a color having a significant color difference from the positioning recognition portion 541, and may be provided as a light color surface such as white or milky white. Because the colors of the positioning identification portion 541 and the identification protrusion 543 are different, and the distances between the identification protrusion 543 and the identification groove 542 and the infrared sensor are different, the infrared sensor can feed back a sensing value which is convenient for the control device to know the specific rotation condition of the wiper to the control device through the identification structure 54 in the rotation process of the wiper 51.
With reference to fig. 5, there are five identification grooves 542 and six identification protrusions 543, so that the wiping cloth 512 is divided into 12 wiping surfaces arranged in series in the circumferential direction of the roller 511, and the central angle α of each wiping surface is 30 °.
Referring to fig. 3, the base station 20 is provided with a cleaning mechanism for cleaning the wiper 51, the cleaning mechanism includes a clean water tank 71, a cleaning tank 72 and a dirty water tank 73, which are connected in sequence, the top opening of the cleaning tank 72 is used for the wiper 51 to enter, a water inlet member is provided between the clean water tank 71 and the cleaning tank 72, a water discharge member is provided between the cleaning tank 72 and the dirty water tank 73, the water inlet member and the water discharge member are both controlled by a control device, and the cleaning tank 72 is provided with an auxiliary cleaning structure.
In this embodiment, the auxiliary cleaning structure includes an ultrasonic generator 74 and a wiper strip 75. The ultrasonic generator 74 is disposed at the bottom of the cleaning tank 72, and the ultrasonic generator is electrically connected to the control device. When the wiper 51 is cleaned, the ultrasonic generator 74 is operated to cause the water in the cleaning tank 72 to oscillate at a high frequency, and dirt attached to the wiper can be effectively removed by the water oscillated at a high frequency. The wiper strip 75 is provided on the bottom wall of the cleaning tank 72, and the longitudinal direction of the wiper strip 75 coincides with the axial direction of the roller 511. When the wiper is cleaned, the top of the scraping strip 75 is pressed against the wiping cloth 512, and the scraping strip 75 scrapes the wiping cloth 512 to remove the dirt attached to the wiping cloth 512 during the rotation of the wiper 51.
In order to realize the purpose of quantitative water inlet during cleaning, a water level detection piece 76 for detecting the water level is arranged on the inner wall of the cleaning tank 72, and the water level detection piece 76 is electrically connected with the control device. When water enters, when the water amount in the cleaning tank 72 reaches the preset water level, the water level detection piece sends a water level detection signal to the control device, and the control device receives the detection signal and commands the water inlet piece to stop working, so that insufficient water inlet or excessive water inlet is avoided. In this embodiment, the water level detecting member 76 is preferably a water level sensor provided at an upper portion of the side wall of the washing tub.
In this embodiment, the base station 20 is substantially L-shaped, the washing tank 72 is provided on one lateral side of the L-shape, the fresh water tank 71 and the foul water tank 73 are provided side by side on one vertical side of the L-shape, and the fresh water tank 71 and the foul water tank 73 are provided higher than the washing tank 72. To achieve the water intake and drainage, the water intake member employs a water intake valve 77, and the water drainage member employs a water drainage pump 78. A water inlet pipe 791 is provided between the clean water tank 71 and the wash bowl 72, the water inlet valve 77 is provided at the bottom of the clean water tank 71, the upper portion of the sidewall of the wash bowl 72 is provided with a water inlet 721, one end of the water inlet pipe 791 is connected to the water inlet valve, and the other end is inserted into the water inlet 721. A drain pipe 792 is provided between the washing tub 72 and the sewage tank 73, the drain pump 78 is provided on the drain pipe 792, a drain hole 722 is provided on the bottom wall of the washing tub 72, one end of the drain pipe 792 is inserted into the drain hole 722, and the other end is connected to the sewage tank 73.
In order to charge the battery 60, an external power module is provided in the base station 20, and a charging structure for charging the battery 60 by using the external power module is provided between the base station 20 and the body 10, and the charging structure includes a charging portion provided on the base station and a docking portion provided on the floor cleaning robot. In this embodiment, the charging unit is a charging pad 81 provided on the base station 20, and the docking unit is an electric contact provided on the body 10. When the body 10 returns to the base station 20, the power receiving terminal on the body 10 is attached to the charging terminal 81 on the base station 20 to be turned on. In order to better satisfy the charging requirement, the charging plate 81 is elastically arranged on the base station 20, so that the contact between the charging plate and the power receiving plate is firmer.
In order to facilitate effective control of each electronic component by the control device, the control device includes a first control circuit board 31 disposed on the main body 10 and a second control circuit board 32 disposed on the base station 20, and the first control circuit board 31 and the second control circuit board 32 can interact with each other. In order to realize the interaction between the first control circuit board and the second control circuit board, the first control circuit board and the second control circuit board are both provided with wireless communication modules. The walking motor 42, the wiping motor 52, the detection sensor 55 and the power connection sheet on the body 10 are electrically connected to the first control circuit board 31, and the water inlet valve 77, the water discharge pump 78, the ultrasonic generator 74, the charging sheet 81 and the water level detection member 76 on the base station 20 are electrically connected to the second control circuit board 32.
In the first case, referring to fig. 6, when all the wiping surfaces of the wiper 51 are used and the wiping work is not completed, the floor cleaning robot judges that the starting condition of the self-cleaning program is satisfied, the wiping surfaces to be cleaned are all the wiping surfaces on the wiper, and the floor cleaning robot enters the self-cleaning program, including the following specific steps,
s110, recording a wiping interruption position by the wiping robot and returning to the base station 20, matching the charging sheet 81 with the power receiving sheet when the wiping robot returns to the base station and positioning the bottom of the wiping piece 51 in the cleaning groove 72, and then performing step S120;
s120, the control device judges whether the electric quantity of the battery 60 meets a preset electric quantity requirement through the charging structure; if yes, go to step S130; if not, the control device commands the external power module to charge the battery 60 through the charging structure until the preset electric quantity requirement is met, and then the step S130 is performed;
s130, the control device commands the water inlet valve 77 to work to enable water in the purified water tank 71 to flow into the cleaning tank 72 to realize water inlet, and the control device commands the water inlet valve to stop working when judging that the water inlet quantity meets the preset fixed water quantity according to the signal of the water level detection piece 76, and then the step S140 is carried out;
s140, the control device commands the wiping motor 52 to drive the wiping piece 51 to rotate at intervals, so that all wiping surfaces on the wiping piece are cleaned one by one in sequence, and the step S150 is carried out after all the wiping surfaces are cleaned;
s150, the control device commands the drainage pump 78 to work to drain the water in the cleaning tank 72 into the sewage tank 73, and commands the drainage pump to stop working after the water in the cleaning tank 72 is completely drained, and then the step S160 is carried out;
s160, the control device commands the wiping motor 52 to drive the wiping piece 51 to rotate for a period of time for dewatering, and the step S170 is carried out after the dewatering is finished;
and S170, returning the floor cleaning robot to the cleaning interruption position to continue the cleaning work.
In the second case, when all the wiping surfaces of the wiper 51 are used and the wiping work is completed, or when all the wiping surfaces of the wiper 51 are not completely used and the wiping work is completed, or when the wiping robot receives a cleaning instruction issued from the outside, the wiping robot judges that the starting condition of the self-cleaning program is satisfied, the wiping surface to be cleaned is the used wiping surface, and the wiping robot enters the self-cleaning program, including the following specific steps,
s210, returning the floor cleaning robot to the base station 20, matching the charging piece 81 with the power receiving piece when the floor cleaning robot returns to the base station, locating the bottom of the cleaning piece 51 in the cleaning groove 72, and then performing the step S220;
s220, the control device judges whether the electric quantity of the battery 60 meets the preset electric quantity requirement through the charging structure; if yes, go to step S230; if not, the control device commands the external power module to charge the battery 60 through the charging structure until the preset electric quantity requirement is met, and then the step S230 is performed;
s230, the control device commands the water inlet valve 77 to work to enable water in the purified water tank 71 to flow into the cleaning tank 72 to realize water inlet, and the control device commands the water inlet valve to stop working when judging that the water inlet quantity meets the preset fixed water quantity according to the signal of the water level detection piece 76, and then the step S240 is carried out;
s240, the control device commands the wiping motor 52 to drive the wiping piece 51 to rotate at intervals, so that the wiping surfaces to be cleaned on the wiping piece are cleaned one by one, and the step S250 is carried out after all the wiping surfaces to be cleaned are cleaned;
s250, the control device commands the drainage pump 78 to work to drain the water in the cleaning tank 72 into the sewage tank 73, and commands the drainage pump to stop working after the water in the cleaning tank 72 is completely drained, and then the step S260 is carried out;
s260, the control device commands the wiping motor 52 to drive the wiping piece 51 to rotate for a period of time for dewatering, and the step S270 is carried out after the dewatering is finished;
s270, the control device judges whether the electric quantity of the battery 60 meets the preset electric quantity requirement through the charging structure; if so, the control device commands the whole machine to enter a standby state or a dormant state; if not, the control device commands the external power module to charge the battery 60 through the charging structure until the battery meets the preset electric quantity requirement, and then commands the whole machine to enter a standby state or a dormant state.
In the above steps S120 and S220, the preset power requirement is set to be not less than 15% of the maximum stored power of the battery 60, and preferably set to be 20% of the maximum stored power of the battery.
In the above steps S140 and S240, the time interval of the interval rotation of the wiping member 51 may be set to 1min, when cleaning, a wiping surface at the bottommost portion of the wiping member 51 is located in the cleaning tank 72, after 1min, the cleaning of the wiping surface is completed, the wiping motor 52 drives the wiping member 51 to rotate by 30 ° and then stops rotating, and then the next wiping surface to be cleaned is cleaned. The control device judges whether the cleaning of all the wiping surfaces to be cleaned is finished or not by the sensing value fed back by the detection sensor 55 in the rotating process of the wiping piece 51.
In the above steps S140 and S240, the wiping motor 52 may drive the wiping member 51 to rotate continuously for a period of time, so that all wiping surfaces on the wiping member are contacted with the water in the cleaning tank 72 for multiple times to clean all wiping surfaces, thereby completing the cleaning of the wiping surfaces to be cleaned, and the time for the wiping member 51 to rotate continuously may be set to 5 min. It will be appreciated that in the second case, the wiping surface to be cleaned can also be provided as all wiping surfaces of the wiper.
In the above steps S160 and S260, the time for the wiper 51 to perform the spin-drying rotation is preferably set to 3 min.
In step S270, the preset power requirement is set to be not less than 15% of the maximum storage power of the battery, and preferably set to be 20% of the maximum storage power of the battery.
The external self-cleaning command may be made via a key on the floor cleaning robot or remotely via a remote control for controlling the cleaning robot.
It should be understood that the specific structure of the scraping bar 75 is not limited to the above description and shown in the drawings, and other reasonable structures can be provided to meet the cleaning requirements.
It is understood that the ultrasonic generator 74 and the wiper strip 75 may be alternatively provided, that is, the ultrasonic generator 74 is provided only on the bottom of the cleaning tank 72, or the wiper strip 75 is provided only on the inner wall of the cleaning tank 72.
It will be appreciated that the water level detecting member 76 is not limited to the water level sensor described above and shown in the drawings, and other appropriate detecting elements such as a pressure sensor and the like may be used instead.
It is to be understood that the specific structure of the base station 20 is not limited to the above description and shown in the drawings, and other reasonable structures can be provided. When the base station 20 adopts other reasonable structures, so that the clean water tank 71 is arranged below or flush with the cleaning tank 72, the water inlet part preferably adopts a water inlet pump. When the base station 20 adopts another reasonable structure so that the sewage tank 73 is disposed lower than the wash bowl 72, the drain member preferably adopts a drain valve.
It will be appreciated that the wash mechanism may also eliminate the provision of the sump tank 73, in which case the water in the wash bowl 72 is drained directly through the drain pipe 792 by the drain member.
It should be understood that the specific structure of the charging structure is not limited to the above description and shown in the drawings, and other reasonable specific structures may be adopted for the charging structure to meet the charging requirement. For example, the charging portion employs a charging plug, and correspondingly, the docking portion employs a charging socket. Of course, the charging structure may also be a wireless charging structure, in which case the charging portion employs a transmitting coil and the docking portion employs a receiving coil.
It is to be understood that the detection sensor 55 is not limited to the infrared sensor described above and shown in the drawings, and other sensor structures such as an ultrasonic sensor, a laser sensor, etc. may be used. Accordingly, the specific structure of the identification structure 54 is not limited to the above description and shown in the drawings, and other reasonable structures can be provided, so long as the detection sensor 55 can output the sensing value for the control device to know the rotation condition of the wiper member through the action of the identification structure 54 during the rotation process of the wiper member 51.
It should be understood that the number of wiping surfaces on the wiper 51 is not limited to 12 as described above and shown in the drawings, and may be set to any other reasonable number due to the difference in the specific structure of the identification structure.
It will be understood that the specific location of the detection sensor 55 is not limited to the above description and the drawings, and the detection sensor 55 may be disposed on the circumferential outer portion corresponding to one end of the wiping member 51, and accordingly, the identification structure 54 is disposed on the circumferential outer wall of one end of the wiping member in a ring shape.
It can be understood that the wiping cloth 512 can be detachably mounted on the roller 511 by a detachable connection structure such as a hook and loop fastener, and the wiping cloth 512 can also be directly fixed on the roller 511.
It should be understood that the preset power requirement is not limited to 20% of the maximum stored power of the battery 60, and may be set to other reasonable power requirements such as 15%, 25%, 30%, 35%, 40%, 45%, 50%, etc.
It is understood that the time interval of the interval rotation of the wiper in steps S140 and S240 is not limited to 1min described above, and may be set to a reasonable time interval such as 20S, 40S, 80S, 100S, 2min, 3min, and the like.
It is to be understood that the continuous rotation time for the wiper 51 to continuously rotate to effect cleaning is not limited to the above-described 5min, and may be set to a reasonable time such as 3min, 6min, 8min, 10min, etc.
It is understood that the time for the rotation of the wiper 51 for dehydration may be set to a reasonable time such as 2min, 4min, 6min, etc.
It can be understood that, in the process of the wiper 51 rotating to dewater, the wiper may be driven by the wiping motor to rotate forward for a period of time to dewater, or driven by the wiping motor to rotate backward for a period of time to dewater, or driven by the wiping motor to rotate forward and backward alternately for a period of time to dewater.
Other embodiments of the present invention than the preferred embodiments described above, and those skilled in the art can make various changes and modifications according to the present invention without departing from the spirit of the present invention, should fall within the scope of the present invention defined in the claims.
Claims (9)
1. A working method of a floor cleaning robot is characterized in that the floor cleaning robot enters a self-cleaning program under the condition that the starting condition of the self-cleaning program is met, the floor cleaning robot firstly returns to a base station in the self-cleaning program, then the floor cleaning robot finishes cleaning of a cleaning surface to be cleaned on a cleaning piece on the premise that the electric quantity meets the preset requirement, and the floor cleaning robot rotates the cleaning piece for a period of time after the cleaning of the cleaning piece is finished to finish dehydration;
if all the wiping surfaces of the wiping piece are used, the starting condition of the self-cleaning program is met;
if the wiping work is not finished after all the wiping surfaces are used, the floor wiping robot returns to the base station and simultaneously records the wiping interruption position, and the floor wiping robot returns to the wiping interruption position to continue working after the wiping piece is dewatered;
if all the wiping surfaces are used, the wiping work is finished, and the floor wiping robot enters a standby state after the wiping piece is dewatered.
2. The working method of the floor-scrubbing robot according to claim 1, wherein after the floor-scrubbing robot returns to the base station, the floor-scrubbing robot first judges whether the electric quantity of the floor-scrubbing robot meets a preset requirement; if yes, entering a cleaning stage of the wiping surface; if not, the base station is firstly utilized to charge the floor cleaning robot until the electric quantity meets the preset requirement, and then the cleaning stage of the cleaning surface is started.
3. The working method of the floor-scrubbing robot as claimed in claim 2, wherein a washing mechanism is provided on said base station, and in the washing stage, the washing mechanism is supplied with water first and then washes the wiping surface.
4. The working method of the floor cleaning robot according to claim 3, wherein after the cleaning of the cleaning surface of the wiper to be cleaned is completed, the cleaning mechanism drains water first, and then the wiper rotates to perform dehydration.
5. The working method of a floor-scrubbing robot according to claim 3, wherein said cleaning mechanism is provided with an ultrasonic generator; and/or the cleaning mechanism is provided with a scraping strip which is contacted with the wiping surface when the wiping surface is cleaned.
6. The working method of a floor wiping robot according to claim 1, characterized in that the wiper is rotated at cleaning intervals so that the wiping surfaces to be cleaned are cleaned sequentially one after another; alternatively, the wiper member is rotated continuously for a period of time during cleaning to clean all the wiping surfaces.
7. The working method of a floor-scrubbing robot according to claim 1, wherein the starting condition of a self-cleaning program is satisfied when the floor-scrubbing robot completes the wiping work; or the floor cleaning robot meets the starting condition of the self-cleaning program when receiving a cleaning instruction sent from the outside.
8. The working method of the floor-scrubbing robot as claimed in claim 7, wherein after the completion of the dehydration of said wiper, the floor-scrubbing robot enters a standby state on the premise that the electric quantity satisfies a preset requirement.
9. The working method of the floor-scrubbing robot as claimed in claim 8, wherein the floor-scrubbing robot determines whether its own electric quantity meets a preset requirement after the completion of the dehydration of the wiper; if so, the floor mopping robot enters a standby state; if not, the base station is firstly utilized to charge the floor cleaning robot until the electric quantity meets the preset requirement, and then the floor cleaning robot enters a standby state.
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| CN201910308761.6A CN111820824B (en) | 2019-04-17 | 2019-04-17 | Working method of floor mopping robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910308761.6A CN111820824B (en) | 2019-04-17 | 2019-04-17 | Working method of floor mopping robot |
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| CN111820824A CN111820824A (en) | 2020-10-27 |
| CN111820824B true CN111820824B (en) | 2021-12-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114587180A (en) * | 2020-12-11 | 2022-06-07 | 北京石头世纪科技股份有限公司 | Base station and cleaning robot system |
| CN113243850A (en) * | 2021-02-10 | 2021-08-13 | 北京顺造科技有限公司 | Communication method for base station and surface cleaning equipment and storage medium |
| CN114073458B (en) * | 2021-03-04 | 2023-08-22 | 浙江绍兴苏泊尔生活电器有限公司 | Cleaning system, cleaning control method, cleaning base station, storage medium, and product program |
| CN114079295A (en) * | 2021-03-04 | 2022-02-22 | 浙江绍兴苏泊尔生活电器有限公司 | Power supply control method and device, cleaning base station, storage medium and product program |
| CN115474873A (en) * | 2021-06-16 | 2022-12-16 | 苏州瑞久智能科技有限公司 | Control method for self-cleaning of floor cleaning machine and floor cleaning system |
| CN115474875A (en) * | 2021-06-16 | 2022-12-16 | 苏州瑞久智能科技有限公司 | Floor cleaning system |
| CN114246519B (en) * | 2021-12-30 | 2023-06-09 | 尚科宁家(中国)科技有限公司 | Self-cleaning method of surface cleaning system |
| CN114699024A (en) * | 2022-03-25 | 2022-07-05 | 尚科宁家(中国)科技有限公司 | Self-cleaning control method for cleaning machine |
| WO2023197730A1 (en) * | 2022-04-14 | 2023-10-19 | 追觅创新科技(苏州)有限公司 | Floor scrubber, self-cleaning method of cleaning device, cleaning device, and storage medium |
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