CN111870186B - Cleaning robot and water outlet control method thereof - Google Patents
Cleaning robot and water outlet control method thereof Download PDFInfo
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- CN111870186B CN111870186B CN202010730945.4A CN202010730945A CN111870186B CN 111870186 B CN111870186 B CN 111870186B CN 202010730945 A CN202010730945 A CN 202010730945A CN 111870186 B CN111870186 B CN 111870186B
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- cleaning robot
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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
- A47L11/408—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
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a cleaning robot and a water outlet control method thereof, wherein the water outlet speed is controlled according to collision information, and the cleaning robot comprises a collision sensing sensor, a water quantity control module and a controller; the water outlet control method comprises a water outlet control step and an operation duration control step; the effluent control step is as follows: acquiring the collision frequency N of the cleaning robot in the judgment time T; when N is larger than 1, acquiring the size X of the current walking space by a formula X of 1/lnN; obtaining a water outlet speed Y through a formula Y-A X/X', and discharging water according to the water outlet speed Y; the operation is circulated until the operation time t is finished; the operation time length control step is as follows: acquiring the collision frequency N of the cleaning robot in the judgment time T; when N is larger than 1, acquiring the size X of the current walking space by a formula X of 1/lnN; obtaining the operation time length t through a formula t '. X/X'; and when N is less than or equal to 1, transferring to a trapped processing program.
Description
Technical Field
The invention belongs to the field of intelligent household appliances, and particularly relates to a cleaning robot and a water outlet control method thereof.
Background
When the existing cleaning robot walks randomly in a working area to work, water outlet is controlled at a constant water outlet speed, and the water outlet amount cannot be automatically adjusted according to whether the robot passes through the same area and route, so that when the robot passes through the same place for multiple times, the water amount in the area is excessive, the floor is easily damaged, and the robot slips when walking.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a cleaning robot and a water outlet control method thereof, and the specific technical contents are as follows:
the invention relates to a water outlet control method of a cleaning robot, which comprises a water outlet control step and an operation duration control step;
firstly, setting judgment time T, standard water outlet speed A under the reference space size X ', and standard operation time T' required by the robot to walk to cover more than 90% of the space;
the effluent control step is as follows:
1) acquiring the collision frequency N of the cleaning robot in the judgment time T;
2) when the N is greater than 1, the reaction mixture,
obtaining the size X of the current walking space through a formula X which is 1/lnN;
obtaining a water outlet speed Y through a formula Y-A X/X', and discharging water according to the water outlet speed Y;
the operation is circulated until the operation time t is finished;
3) when N is less than or equal to 1, closing water outlet;
the operation time length control step is as follows:
1) acquiring the collision frequency N of the cleaning robot in the judgment time T;
2) when the N is greater than 1, the reaction mixture,
obtaining the size X of the current walking space through a formula X which is 1/lnN;
obtaining the operation time length t through a formula t '. X/X';
3) and when N is less than or equal to 1, transferring to a trapped processing program.
In one or more embodiments of the present invention, the step of obtaining the determination time T includes:
placing the cleaning robot in a reference space to operate, and taking the longest distance L of the reference space;
obtaining a judgment time T through a formula T-G L/V; wherein G is a constant, L is the longest distance of the reference space, and V is the walking speed of the cleaning robot.
In one or more embodiments of the present invention, G is 10.
In one or more embodiments of the present invention, the step of obtaining the reference space size X' includes:
placing the cleaning robot in a reference space to operate, and acquiring the number of collision times N0 of the cleaning robot within the judgment time T;
according to an evaluation formula S-K lnW of thermodynamic entropy, wherein W is a state number, and K is a Boltzmann constant and is used for expressing the relation between energy and temperature;
substituting the value of K into 1 and substituting W into the collision frequency N0 to obtain the spatial entropy S-lnN 0;
since entropy is inversely proportional to the reference spatial size, the reference spatial size X' 1/S1/lnN 0.
In one or more embodiments of the present invention, the standard water outlet speed a is adjusted and set to a proper value according to the walking condition of the cleaning robot in the reference space, and the standard water outlet speed a is associated with the size X' of the reference space.
In one or more embodiments of the present invention, the step of obtaining the standard operation time t' includes:
placing the cleaning robot in a reference space to walk, and recording the time required by the cleaning robot to walk to cover more than 90% of the space; multiple sets of time records are obtained through multiple tests, and the average value of the time records is taken as the standard running time t'.
In one or more embodiments of the present invention, the cleaning robot first operates at the standard water output speed a for the determination time T.
The cleaning robot of the invention comprises
The collision perception sensor is used for acquiring and perceiving the collision condition of the robot in the running process;
the water yield control module is used for controlling the water yield; and
and a controller for executing the water outlet control method of the cleaning robot.
In one or more embodiments of the present invention, the collision sensing sensor includes an accelerometer.
In one or more embodiments of the present invention, the water volume control module includes a water pump.
The invention has the beneficial effects that: the robot is provided with a collision sensing sensor and a water quantity control module, walks randomly in a working area, calculates the size of the current area according to the number of collisions within T time, controls the water outlet speed according to the size of the area, controls the water outlet speed, ensures the cleaning capacity of the robot, and simultaneously cannot damage the floor and skid the robot due to excessive water quantity; the control method has the advantages that the control method has a good effect in the actual product operation and application, the working performance of the robot is outstanding, the processing flexibility and the product grade of the robot are improved, and the control method has good technical performance and practicability and is suitable for popularization and application.
Drawings
Fig. 1 is a schematic view of a cleaning robot of the present invention.
Fig. 2 is a diagram of a walking track of the cleaning robot of the present invention in a small area space.
Fig. 3 is a diagram showing a traveling locus of the cleaning robot of the present invention in a large area space.
FIG. 4 is a flow chart of the effluent control of the present invention.
Fig. 5 is a flow chart of the run length control of the present invention.
Detailed Description
The scheme of the present application is further described below with reference to the accompanying figures 1 to 5:
the cleaning robot comprises a collision perception sensor 1 for acquiring and perceiving collision conditions in the running process of the robot; a water quantity control module 2 for controlling the water yield; and a controller 3 connected to and controlling the collision sensing sensor 1 and the water amount control module 2; the collision perception sensor 1 comprises an accelerometer, the water quantity control module 2 comprises a water pump, and the controller 3 controls the water outlet speed according to the collision information.
The water outlet control method of the cleaning robot comprises a water outlet control step and an operation duration control step;
firstly, setting judgment time T, standard water outlet speed A under the reference space size X ', and standard operation time T' required by the robot to walk to cover more than 90% of the space; the cleaning robot firstly runs at a standard water outlet speed A for judging time T;
the effluent control step is as follows:
1) acquiring the collision frequency N of the cleaning robot in the judgment time T;
2) when the N is greater than 1, the reaction mixture,
obtaining the size X of the current walking space through a formula X which is 1/lnN;
obtaining a water outlet speed Y through a formula Y-A X/X', and discharging water according to the water outlet speed Y;
the operation is circulated until the operation time t is finished;
3) when N is less than or equal to 1, judging that the cleaning robot is trapped, and closing water outlet;
the smaller the space is, the more the collision times are, the more the machine walks through the repeated area, and accordingly, the water outlet speed is reduced, so that the floor damage is reduced while the cleaning capacity is maintained, and the machine is prevented from skidding;
the operation time length control step is as follows:
1) acquiring the collision frequency N of the cleaning robot in the judgment time T;
2) when the N is greater than 1, the reaction mixture,
obtaining the size X of the current walking space through a formula X which is 1/lnN;
obtaining the operation time length t through a formula t '. X/X';
3) and when N is less than or equal to 1, judging that the cleaning robot is trapped, and transferring to a trapped processing program.
The step of acquiring the judgment time T comprises the following steps: placing the cleaning robot in a reference space to operate, and taking the longest distance L of the reference space; obtaining a judgment time T through a formula T-G L/V; wherein G is a constant, L is the longest distance of the reference space, V is the walking speed of the cleaning robot, in order to ensure that the samples are close to reality, more sample sets are selected as much as possible to serve as the reference, but too many samples cannot be selected, otherwise, the machine covers all the areas, the meaning of water control is lost, and the value of G is 10. For example, the reference space is a rectangle of 3m × 4m, and the traveling speed V of the cleaning robot is 0.3 m/s; i.e. the longest distance L of the reference space is 5m, T is 10 m 5/0.3 166.67 s.
Since the cleaning robot walks randomly in a fixed space, the process is similar to the movement of gas molecules in a space in thermodynamics, and the larger the space is, the smaller the entropy value is, and the smaller the space is, the larger the entropy value is. And comparing the current entropy value with the entropy value of the reference space to judge the size of the current space. Therefore, the step of obtaining the reference space size X' is: placing the cleaning robot in a reference space to operate, and acquiring the number of collision times N0 of the cleaning robot within the judgment time T; according to an evaluation formula S-K lnW of thermodynamic entropy, wherein W is a state number, and K is a Boltzmann constant and is used for expressing the relation between energy and temperature; substituting the value of K into 1 and substituting W into the collision frequency N0 to obtain the spatial entropy S-lnN 0; since entropy is inversely proportional to the reference spatial size, the reference spatial size X' 1/S1/lnN 0.
The standard water outlet speed A is adjusted and set to be a proper value according to the walking condition of the cleaning robot in the reference space, and is ml/min; the standard water exit velocity a is correlated to a reference space size X'.
The step of obtaining the standard operation time t' is as follows: placing the cleaning robot in a reference space to walk, and recording the time required by the cleaning robot to walk to cover more than 90% of the space; multiple sets of time records are obtained through multiple tests, and the average value of the time records is taken as the standard running time t'.
The above preferred embodiments should be considered as examples of the embodiments of the present application, and technical deductions, substitutions, improvements and the like similar to, similar to or based on the embodiments of the present application should be considered as the protection scope of the present patent.
Claims (10)
1. A water outlet control method of a cleaning robot is characterized by comprising a water outlet control step and an operation duration control step;
firstly, setting judgment time T, standard water outlet speed A under the reference space size X ', and standard operation time T' required by the robot to walk to cover more than 90% of the space;
the effluent control step is as follows:
1) acquiring the collision frequency N of the cleaning robot in the judgment time T;
2) when the N is greater than 1, the reaction mixture,
obtaining the size X of the current walking space through a formula X which is 1/lnN;
obtaining a water outlet speed Y through a formula Y-A X/X', and discharging water according to the water outlet speed Y;
the operation is circulated until the operation time t is finished;
3) when N is less than or equal to 1, closing water outlet;
the operation time length control step is as follows:
1) acquiring the collision frequency N of the cleaning robot in the judgment time T;
2) when the N is greater than 1, the reaction mixture,
obtaining the size X of the current walking space through a formula X which is 1/lnN;
obtaining the operation time length t through a formula t '. X/X';
3) and when N is less than or equal to 1, transferring to a trapped processing program.
2. The water discharge control method of a cleaning robot according to claim 1, wherein:
the step of acquiring the judgment time T comprises the following steps:
placing the cleaning robot in a reference space to operate, and taking the longest distance L of the reference space;
obtaining a judgment time T through a formula T-G L/V; wherein G is a constant, L is the longest distance of the reference space, and V is the walking speed of the cleaning robot.
3. The water discharge control method of a cleaning robot according to claim 2, characterized in that: the value of G is 10.
4. The water discharge control method of a cleaning robot according to claim 1, wherein: the step of obtaining the reference space size X' is:
placing the cleaning robot in a reference space to operate, and acquiring the number of collision times N0 of the cleaning robot within the judgment time T;
according to an evaluation formula S-K lnW of thermodynamic entropy, wherein W is a state number, and K is a Boltzmann constant and is used for expressing the relation between energy and temperature;
substituting the value of K into 1 and substituting W into the collision frequency N0 to obtain the spatial entropy S-lnN 0;
since entropy is inversely proportional to the reference spatial size, the reference spatial size X' 1/S1/lnN 0.
5. The water discharge control method of a cleaning robot according to claim 1, wherein: the standard water outlet speed A is adjusted and set to be a proper value according to the walking condition of the cleaning robot in the reference space, and is related to the size X' of the reference space.
6. The water discharge control method of a cleaning robot according to claim 1, wherein: the step of obtaining the standard operation time t' is as follows:
placing the cleaning robot in a reference space to walk, and recording the time required by the cleaning robot to walk to cover more than 90% of the space; multiple sets of time records are obtained through multiple tests, and the average value of the time records is taken as the standard running time t'.
7. The effluent control method of a cleaning robot according to any one of claims 1 to 6, wherein: the cleaning robot firstly runs at a standard water outlet speed A for judging time T.
8. A cleaning robot, characterized in that: comprises that
The collision perception sensor is used for acquiring and perceiving the collision condition of the robot in the running process;
the water yield control module is used for controlling the water yield; and
a controller for performing the water outlet control method of the cleaning robot according to any one of claims 1 to 7.
9. The cleaning robot of claim 8, wherein: the collision sense sensor includes an accelerometer.
10. The cleaning robot of claim 8, wherein: the water quantity control module comprises a water pump.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010730945.4A CN111870186B (en) | 2020-07-27 | 2020-07-27 | Cleaning robot and water outlet control method thereof |
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| CN202010730945.4A CN111870186B (en) | 2020-07-27 | 2020-07-27 | Cleaning robot and water outlet control method thereof |
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| CN111870186A CN111870186A (en) | 2020-11-03 |
| CN111870186B true CN111870186B (en) | 2021-11-16 |
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| CN115778245B (en) * | 2023-01-28 | 2023-07-14 | 苏州宝时得电动工具有限公司 | Water outlet parameter control method of cleaning terminal and cleaning terminal |
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| CN110786787A (en) * | 2018-08-03 | 2020-02-14 | 广东宝乐机器人股份有限公司 | Water tank water outlet control method and device and cleaning robot |
| CN111265153A (en) * | 2020-03-20 | 2020-06-12 | 科沃斯机器人股份有限公司 | Robot control method and device and robot |
| CN111297282A (en) * | 2020-03-20 | 2020-06-19 | 科沃斯机器人股份有限公司 | Water outlet control method and device, robot and storage medium |
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2020
- 2020-07-27 CN CN202010730945.4A patent/CN111870186B/en active Active
Patent Citations (6)
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| WO2017007152A1 (en) * | 2015-07-09 | 2017-01-12 | 엘지전자 주식회사 | Vacuum cleaner and water cleaning device |
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| CN106335067A (en) * | 2016-10-13 | 2017-01-18 | 青岛塔波尔机器人技术有限公司 | Sweeping and mopping integrated cleaning robot and uniform wet-mopping control method thereof |
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