CN112535439B - Cleaning control method of cleaning robot - Google Patents

Cleaning control method of cleaning robot Download PDF

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Publication number
CN112535439B
CN112535439B CN202010891057.0A CN202010891057A CN112535439B CN 112535439 B CN112535439 B CN 112535439B CN 202010891057 A CN202010891057 A CN 202010891057A CN 112535439 B CN112535439 B CN 112535439B
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China
Prior art keywords
cleaning
piece
control unit
cleaning robot
water
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CN202010891057.0A
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Chinese (zh)
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CN112535439A (en
Inventor
高新忠
甘嵩
凡海洋
韦宜军
方恩光
邓杰
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Qufu Sinodod Intelligent Technology Co ltd
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Qufu Sinodod Intelligent Technology Co ltd
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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
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • 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
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools

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  • Electric Vacuum Cleaner (AREA)

Abstract

A washing control method of a cleaning robot, comprising: a cleaning robot, a cleaning seat; further comprising the steps of: s02: the cleaning robot is positioned on the cleaning seat, and at least one part of the cleaning piece is immersed in water in a cleaning area on the cleaning seat; s03: a control unit in the cleaning robot receives a cleaning instruction, the control unit controls the cleaning piece to move and rotate in a cleaning area to clean the cleaning piece, and the time length of the movement and rotation of the cleaning piece is controlled to be a first preset time length; s04: the separation mechanism starts to work to move the water in the cleaning area downwards or move the cleaning piece upwards so that the cleaning piece is separated from the water in the cleaning area; s05: the control unit controls the cleaning piece to move and rotate for spin-drying. The problem of the cleaning piece of current robot of sweeping the floor need the manual dismantlement of user to wash the use that brings inconvenient, experience effect is relatively poor, the cleaning piece is difficult to the sanitization to and the cost of construction that the basic station that has solved current robot of sweeping the floor exists is with high costs is solved to this scheme.

Description

Cleaning control method of cleaning robot
Technical Field
The invention relates to the field of cleaning robots, in particular to a cleaning control method of a cleaning robot.
Background
The existing sweeping robot can be used for dust collection cleaning and mopping cleaning, and for mopping cleaning, part of the sweeping robot carries out mopping cleaning on the ground by arranging a movable cleaning piece, such as rotating or rolling a mop cloth; the cleaning piece adsorbs dirt and particles on the ground to the cleaning piece in the mopping cleaning process to realize the mopping cleaning effect, and although the mopping effect is good, the problem that the cleaning piece is difficult to clean exists.
The cleaning piece becomes dirty after being mopped for a long time, the cleaning piece needs to be cleaned at the moment, and the current partial sweeping robot mainly turns over the sweeping robot manually by a user, detaches the cleaning piece at the bottom of the sweeping robot and then performs manual cleaning, so that the operation process is complicated and the experience effect is very poor; because clean in-process is mopped at the robot of sweeping the floor, has covered dirty and particulate matter rubbish on the cleaning member, there is the inconvenient problem of dismantlement in the manual dismantlement cleaning process of user, and general user also is difficult to accept to come to wash it with the dirty cleaning member of hand contact in addition, leads to its user experience effect very poor.
The robot of sweeping the floor in addition has set up and has carried out abluent basic station to the cleaning member, it gets back to and washs the cleaning member on the basic station to be guided through the robot of sweeping the floor, but also there is more problem, mainly the robot of sweeping the floor appears blockking easily to the in-process of basic station by the guide, thereby appear unable automatic go back to and carry out abluent problem on the basic station, secondly the cost of construction of basic station is very high, it is big to occupy indoor area, can't realize carrying out abluent popularization to the cleaning member of robot of sweeping the floor, and can't in time empty the sewage in the basic station, although the basic station has played the effect of certain collection sewage, but has leaded to sewage to depositing the problem that the in-process smelly indoor environment is polluted because of collecting sewage.
Disclosure of Invention
The present invention is directed to solving, at least in part, one of the above-mentioned problems in the related art.
Therefore, the invention aims to provide a cleaning control method of a cleaning robot, which mainly solves the problems of inconvenient use and poor experience effect caused by the fact that a cleaning piece of the existing sweeping robot needs to be manually disassembled by a user for cleaning, and solves the problems that the cleaning piece of the existing sweeping robot is difficult to clean, and the base station of the existing sweeping robot is high in construction cost, large in occupied indoor space and easy to foul collected sewage to pollute the environment.
An embodiment of the present invention provides a washing control method of a cleaning robot, including: the cleaning robot is provided with a cleaning piece for mopping the floor for cleaning, the cleaning piece is arranged in a movable and rotatable structure, and the cleaning robot further comprises a cleaning seat for placing the cleaning robot and cleaning the cleaning piece; further comprising the steps of:
s02: the cleaning robot is positioned on the cleaning seat, and at least one part of the cleaning piece is immersed in water in a cleaning area on the cleaning seat;
s03: a control unit in the cleaning robot receives a cleaning instruction, the control unit controls the cleaning piece to move and rotate in a cleaning area to clean the cleaning piece, and the time length of the movement and rotation of the cleaning piece is controlled to be a first preset time length;
s04: the separation mechanism starts to work to move the water in the cleaning area downwards or move the cleaning piece upwards so that the cleaning piece is separated from the water in the cleaning area;
s05: the control unit controls the cleaning piece to move and rotate for spin-drying.
Before step S02, the method for controlling washing of a cleaning robot further includes step S01: a sensing module is arranged between the cleaning robot and the cleaning seat, and the sensing module detects whether the cleaning robot is located on the cleaning seat.
In step S01, if the sensing module detects that the cleaning robot is located on the cleaning seat, the control unit controls the voice unit to remind the user to start the cleaning instruction in step S03; or the control unit automatically starts the washing instruction in the step S03 when detecting that the cleaning robot is positioned on the washing seat based on the sensing module, wherein the washing instruction is preset in the control unit.
In the cleaning control method of the cleaning robot, the sensing module includes a first sensing part and a second sensing part, the first sensing part is located on the cleaning robot, the second sensing part is located on the cleaning seat, and the control unit controls the sensing signal set in the first sensing part to detect whether the second sensing part touches the sensing signal or is located in the range of the sensing signal and detected by the sensing signal.
In the cleaning control method for the cleaning robot, the first sensing element is a hall sensor or a reed switch, and the second sensing element is a magnet; or the first sensing piece is an infrared emission tube and the corresponding second sensing piece is a photosensitive switch; or the first sensing piece is a touch switch and the corresponding second sensing piece is a touch piece.
In step S01, the method further includes that if the sensing module detects that the cleaning robot is located on the cleaning seat, the control unit controls the fan in the cleaning robot to be powered off, and the fan cannot be started to perform dust collection.
In step S01, the method further includes that if the sensing module detects that the cleaning robot is located on the cleaning seat, the control unit controls the water level detection module to detect whether water is present in the cleaning area, if the detection result is that water is present, the step S02 is performed, and if the detection result is that water is absent, the control unit controls the voice unit to remind the user of adding water to the cleaning area.
In step S04, the method further includes positioning a separating mechanism on the cleaning robot, and controlling the separating mechanism to be activated by the control unit, wherein the separating mechanism is operated to discharge water in the cleaning area outwards so that the water in the cleaning area moves downwards to leave the cleaning element or lift the cleaning element upwards so that the cleaning element moves upwards to leave the water in the cleaning area.
In step S04, the cleaning control method of the cleaning robot further includes that the separating mechanism is located on the cleaning seat, the control module on the cleaning seat controls the power module on the cleaning seat to supply power to the separating mechanism and controls the starting of the separating mechanism, and the separating mechanism operates to discharge water in the cleaning area outwards so that the water in the cleaning area moves downwards away from the cleaning member.
In step S04, the cleaning control method of the cleaning robot further includes that the separating mechanism is located on the cleaning seat, the control unit controls the driving wheel on the cleaning robot to rotate to drive the separating mechanism to start or controls the power supply unit in the cleaning robot to supply power to the separating mechanism through the electrode assembly and control the separating mechanism to start, and the separating mechanism operates to discharge water in the cleaning area outwards so that the water in the cleaning area moves downwards to leave the cleaning member.
In step S03, the method further includes that when the length of time that the cleaning member rotates in a moving manner reaches a first preset length, the control unit controls the cleaning member to stop rotating in a moving manner, and then the process goes to step S04.
In step S03, the direction of the rotation of the cleaning member when the control unit controls the cleaning member to rotate for cleaning is opposite to the direction of the rotation of the cleaning member when the cleaning robot is located on the floor.
In the method for controlling washing of a cleaning robot, in step S05, the direction of the rotating movement of the cleaning element when the control unit controls the cleaning element to rotate for spin-drying is at least opposite to the direction of the rotating movement of the cleaning element when the control unit controls the cleaning element to rotate for washing in step S03.
In step S05, the method further includes the step of controlling the cleaning member to rotate along the first direction by the control unit, and when the length of the rotation along the first direction reaches a second preset length, the control unit controls the cleaning member to rotate along a second direction opposite to the first direction, and the control unit controls the cleaning member to rotate along the first direction and the second direction alternately at least more than one time.
Before step S01, the method for controlling washing of a cleaning robot further includes step S00: the control unit controls the dirt detection module to detect the dirt degree on the cleaning piece, and when the dirt degree reaches a preset threshold value A or the control unit controls the cleaning piece to move and rotate to mop the floor cleaning piece on the ground for a third preset time, the control unit controls the voice unit to remind a user of placing the cleaning robot on the cleaning seat.
In the aforementioned washing control method for a cleaning robot, in any one of step S00 to step S05, when the control unit detects that the electric quantity of the power supply unit is less than or equal to the preset threshold value B, the control unit controls the cleaning member to stop moving and rotating and reminds the user of insufficient electric quantity through the voice unit or controls the cleaning robot to directly enter step S04.
Compared with the prior art, the invention has the following beneficial effects:
the cleaning piece is of a movable structure, so that the cleaning piece moves when the cleaning robot mops the floor for cleaning, the friction force between the cleaning piece and the floor is large, the area is large, and the mopping effect is good; the cleaning seat is correspondingly arranged for cleaning the cleaning piece of the cleaning robot, the self-moving structure of the cleaning piece is mainly utilized, the cleaning robot can automatically clean the cleaning piece when being positioned on the cleaning seat, the cleaning seat is not required to be provided with a power structure for cleaning the cleaning piece, the whole structure is simple, the cost is lower, and the experience effect is good.
To the detection between washing seat and the cleaning machines people, whether correct placing on the washing seat of cleaning machines people is detected through setting up response module, utilize the detection of response module to realize utilizing the control module of cleaning machines people itself to control the completion to the self-cleaning of cleaning member simultaneously, simple structure, the cost is lower, and the reliability is higher.
To the separation between the sewage in cleaning member and the washing district, this scheme sets up separating mechanism, can utilize separating mechanism to advance the discharge with the sewage in the washing district, also can utilize separating mechanism to come the cleaning member to carry out the lifting and realize the separation of cleaning member and water, realizes the washing step and the subsequent step of spin-drying of cleaning member, conveniently washs cleaning member.
For the work of the separating mechanism, the force transmission through pure machinery can be set, if the driving wheel rotates to drive the separating mechanism to work, the separating mechanism can be realized without power supply at the moment, and the structure is simple; the separating mechanism can be further arranged to be powered, the control unit in the cleaning robot can control the power supply unit to reversely supply power to the separating mechanism through the electrode assembly, at the moment, the cleaning seat is not required to be provided with a control part and a power supply module, the cleaning robot can be used for controlling and powering the separating mechanism, the whole structure is simple, and the cost of the cleaning seat is low; the cleaning seat can also be provided with a power module and a control module, and the cleaning seat can be independently controlled; the cleaning piece can be cleaned and dried in a drying mode, the cleaning effect is good, the user experience effect is good, and the cleaning piece is cleaned in steps.
The cleaning member of this scheme can be for horizontal rotation's motion, sets up the bottom front side or the rear side that are located cleaning machines people, corresponds to first rotating member and second rotating member, and it is when dragging ground cleanness the reality with the great rubbish gathering in ground dust absorption mouth position, realizes the clean effect that the limit dust absorption dragged ground simultaneously, realizes through its self motion that large tracts of land, big frictional force drag the ground cleanness simultaneously, drags the clean effectual ground.
The cleaning piece can also be in a rotary rolling motion mode and is arranged at the rear side of the bottom of the cleaning robot, and the rotary rolling motion mode enables the cleaning piece to generate larger cutting force on the ground, so that the deep cutting and cleaning effect on the ground is facilitated; this scheme sets up first rotatory piece and the second rotating member of dragging simultaneously, and the front and back distribution is arranged, and first drags the piece to play the rubbish on clean in advance with ground, mainly with rubbish forward propelling movement to the dust absorption mouth by the absorption, and the second drags the piece soon to play and carries out the clean effect of deep adhesion to the less rubbish or particulate matter dust on ground, and both realize the clear effect of substep jointly, and is better to the clean effect on ground, and user experience effect is better.
Drawings
FIG. 1 is a schematic diagram of the cleaning control step of the present embodiment;
FIG. 2 is a schematic view of the cleaning elements being cleaned in the cleaning zone;
FIG. 3 is a schematic view of the cleaning elements being drained after cleaning in the cleaning zone;
FIG. 4 is a schematic view of the cleaning elements being cleaned in the cleaning zone and the drive wheels powering the release mechanism;
FIG. 5 is a schematic view of the cleaning elements being cleaned in the cleaning zone and the drive wheels powering the release mechanism for draining;
FIG. 6 is a schematic view of the cleaning elements arranged in a horizontal rotation configuration and cleaned in the cleaning zone;
FIG. 7 is a schematic view of the cleaning elements arranged in a horizontal rotation configuration and being drained after cleaning in the cleaning zone;
FIG. 8 is a schematic diagram of a power supply unit and an induction module providing power to the separating mechanism;
FIG. 9 is a schematic view of the rotation of the cleaning element when the cleaning robot is on the ground;
FIG. 10 is a schematic view of the cleaning element rotating while the cleaning robot is in the cleaning station for cleaning;
FIG. 11 is a schematic view of the cleaning element rotating while the cleaning robot is in the wash station for spin-drying;
FIG. 12 is a schematic diagram of the electrical connection of the power unit to the feedback power supply of the disconnect mechanism;
FIG. 13 is a schematic view of the electrical connection of the power module to the separate mechanism for separate power supply;
FIG. 14 is a schematic view of the cleaning members arranged for horizontal rotation and positioned on the front side of the base;
FIG. 15 is a schematic view of the cleaning members arranged for horizontal rotation and located on the rear side of the base;
figure 16 is a schematic view of the cleaning elements arranged for rolling rotation and located on the rear side of the base;
reference numerals: the cleaning robot comprises a cleaning robot-1, a cleaning piece-101, a first rotating piece-1011, a second rotating piece-1012, a first rotating and dragging piece-1013, a second rotating and dragging piece-1014, a control unit-102, a power supply unit-103, a driving wheel-104, a cleaning seat-2, a cleaning area-201, a sewage area-202, a separating mechanism-203, a control module-204, a power supply module-205, a sensing module-3, a first sensing piece-301, a second sensing piece-302, an electrode assembly-4, a first electrode assembly-401 and a second electrode assembly-402.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Example (b): the invention discloses a cleaning control method of a cleaning robot 1, which mainly provides a method for automatically cleaning a cleaning piece 101 on the cleaning robot 1 as shown in the constitution of fig. 1 to 16, and can realize the cleaning and spin-drying work of the cleaning piece 101.
The cleaning robot comprises a cleaning robot 1 and a cleaning seat 2, wherein the cleaning robot 1 can be arranged to be of a circular structure or a square structure, the cleaning robot 1 has a dust collection and cleaning function on the ground and a floor mopping and cleaning function, a garbage box is mounted in the cleaning robot 1 aiming at the dust collection function, a dust collection port is formed in the bottom of the cleaning robot 1, and the dust collection port and the garbage box are arranged to be communicated so that garbage on the ground enters the garbage box through the dust collection port to be collected; the dust collection port is connected with the garbage box, one side of the garbage box is connected with the fan, and the fan provides air flow suction to suck the garbage on the ground through the dust collection port, so that the garbage enters the garbage box and is collected; aiming at the mopping cleaning function, the cleaning piece 101 is arranged to move to clean the ground with large friction force, and the mopping cleaning area is large; a cleaning member 101 is provided at a front or rear side of the bottom of the cleaning robot 1, the cleaning member 101 is provided in a structure movable for mopping, and a portion of the cleaning member 101 contacting the floor forms a planar structure when it contacts the floor; although the floor mopping module is also installed on the existing floor sweeping robot, the floor mopping module is directly attached to the ground to be tangent or parallel and level in contact, the floor mopping effect is relatively poor, the scheme is that the contact part forms a plane structure to keep enough large constant pressure between the cleaning piece 101 and the ground by setting the cleaning piece 101 under the action of self force of the cleaning robot 1 or under the action of rotating force brought by the movement of the cleaning robot when the cleaning piece is in contact with the ground, the cleaning robot is beneficial to cleaning the ground, and the effect of powerful decontamination is achieved.
In order to realize the automatic cleaning of the cleaning piece 101 and solve the problem of cleaning through manual disassembly, the cleaning robot 1 can be placed on the cleaning seat 2 and then automatically clean the cleaning piece 101, and the cleaning piece 101 is cleaned by utilizing the self-movement of the cleaning piece 101; cleaning seat 2 sets up to independent part for 1 main part of cleaning machines people, cleaning machines people 1 leaves cleaning seat 2 and can be located subaerial walking and clean and mopping the ground clean, when cleaning member 101 needs to wash, this moment the user with cleaning machines people 1 place cleaning seat 2 on can, be provided with the washing district 201 of placing cleaning member 101 on the cleaning seat 2, the user can add water to washing district 201 and wash cleaning member 101, do not need the manual dismantlement cleaning member of user to wash.
The cleaning seat 2 of the scheme is arranged to be an independent part relative to the cleaning robot 1, and mutually independent structural parts are arranged, and the cleaning robot 1 can be positioned on the cleaning seat 2 to clean the cleaning piece 101; after the cleaning robot 1 finishes floor mopping cleaning work on the ground or the cleaning piece 101 is dirty, a user can place the cleaning robot 1 on the cleaning seat 2 to clean the cleaning piece 101 at the moment, water is mainly added into the cleaning seat 2 for the user, then the cleaning robot 1 is placed on the cleaning seat 2, the cleaning mode is started to finish the automatic cleaning process of the cleaning piece 101, the cleaning piece 101 is automatically dried after being cleaned, the user can place the cleaning robot 1 on the ground to start the floor mopping cleaning mode to mop the ground again at the moment, sewage in the cleaning seat 2 is poured, and the cleaning piece 101 is repeatedly used; cleaning seat 2 need not to set up and carries out abluent power structure to cleaning element 101, and overall structure is simple, and is with low costs, and experiences effectually.
The cleaning robot 1 of this scheme is provided with the universal wheel, and the universal wheel is used for turning to, is located the front side position of cleaning robot 1 bottom, cleaning robot 1 is provided with drive wheel 104, drive wheel 104 sets up to rotatably mounting structure, and drive wheel 104 is used for cleaning robot 1's walking, all is provided with drive wheel 104 in the middle part left and right sides of cleaning robot 1's bottom, and this belongs to prior art, and the detailed description is not spent here.
A washing control method of a cleaning robot 1, comprising: the cleaning robot comprises a cleaning robot 1, a cleaning piece 101 for mopping the floor to be cleaned is arranged on the cleaning robot 1, the cleaning piece 101 is arranged to be of a movable and rotatable structure, and the cleaning robot further comprises a cleaning seat 2 for placing the cleaning robot 1 and cleaning the cleaning piece 101; further comprising the steps of:
s02: the cleaning robot 1 is positioned on the washing seat 2, and at least one part of the cleaning piece 101 is immersed in water in a washing area 201 on the washing seat 2;
s03: the control unit 102 in the cleaning robot 1 receives a cleaning instruction, the control unit 102 controls the cleaning piece 101 to move and rotate in the cleaning area 201 to clean the cleaning piece 101, and the time length of the movement and rotation of the cleaning piece 101 is controlled to be a first preset time length;
s04: the separating mechanism 203 is activated to move the water in the washing zone 201 downwards or to move the cleaning member 101 upwards to separate the cleaning member 101 from the water in the washing zone 201;
s05: the control unit 102 controls the cleaning member 101 to move and rotate for spinning.
To the response detection between cleaning machines people 1 and wash seat 2, promptly judge whether cleaning machines people 1 is located wash seat 2 for promptly, this scheme mainly before step S02, still includes step S01: be provided with response module 3 between cleaning machines people 1 and wash seat 2, response module 3 detects whether cleaning machines people 1 is located wash seat 2.
Specifically, in step S01, if the sensing module 3 detects that the cleaning robot 1 is located on the cleaning seat 2, the control unit 102 controls the voice unit to remind the user to start the cleaning instruction in step S03; or the control unit 102 automatically starts the washing command in step S03 based on the sensing module 3 detecting that the cleaning robot 1 is located on the washing seat 2, wherein the washing command is preset in the control unit 102.
For example, the control unit 102 is electrically connected to the voice unit, the control unit 102 controls the voice unit to remind the user to start the washing instruction in step S03, the user can directly press a button on the cleaning robot 1 for starting the washing mode, and the washing instruction can also be started through the mobile phone APP or the remote controller, and the washing instruction can be specifically matched and set as needed.
Or, when the cleaning robot 1 is placed on the cleaning seat 2, the sensing module 3 detects that the cleaning robot 1 is in place, then the control unit 102 starts the cleaning instruction inside the cleaning robot 1 by itself, and then starts cleaning the cleaning member 101, so that the user does not need to participate in starting the cleaning instruction, and the user experience effect is better.
For the sensing module 3, the sensing module 3 includes a first sensing part 301 and a second sensing part 302, the first sensing part 301 is located on the cleaning robot 1, the second sensing part 302 is located on the cleaning seat 2, and the control unit 102 controls a sensing signal set in the first sensing part 301 to detect whether the second sensing part 302 touches the sensing signal or is located in a range of the sensing signal and detected by the sensing signal; when the cleaning robot 1 is placed on the cleaning seat 2, the control unit 102 controls the sensing signal set in the first sensing element 301 to detect whether the second sensing element 302 touches the sensing signal or is located in the range of the sensing signal and detected by the sensing signal, if the first sensing element 301 senses that the second sensing element 302 or the second sensing element 302 touches the first sensing element 301, it indicates that the cleaning robot 1 is located on the cleaning seat 2 at a correct position, and the cleaning robot 1 can clean the cleaning element 101; if the first sensing piece 301 does not sense the second sensing piece 302 or the second sensing piece 302 does not touch the first sensing piece 301, it indicates that the cleaning robot 1 is located on the cleaning seat 2 and incorrectly placed or the cleaning robot 1 is not located on the cleaning seat 2, and at this time, the cleaning piece 101 on the cleaning robot 1 cannot be cleaned, and the voice module can be controlled to remind the user of correctly placing the cleaning robot 1 on the cleaning seat 2, otherwise, the cleaning piece 101 cannot be cleaned.
Wherein, the first sensing member 301 is a hall sensor or a reed switch and corresponds to the second sensing member 302 as a magnet; or the first sensing element 301 is an infrared emitting tube and the corresponding second sensing element 302 is a photosensitive switch; or the first sensing element 301 is a touch switch and is a touch element corresponding to the second sensing element 302; both can realize that first response piece 301 detects second response piece 302, or second response piece 302 touches first response piece 301, realizes the detection effect in situ between cleaning robot 1 and wash bowl 2.
In the step S01, if the sensing module 3 detects that the cleaning robot 1 is located on the cleaning seat 2, the control unit 102 controls the fan in the cleaning robot 1 to be powered off, and the fan cannot be started to perform dust collection, so that the problem that the dust collection function of the cleaning robot 1 is started due to user misoperation when the cleaning robot 1 is located on the cleaning seat 2 to perform cleaning can be effectively solved; the condition that the fan works when the cleaning robot 1 is located on the cleaning seat 2 is ensured, the power-off operation of the power supply unit 103 to the fan is mainly controlled, namely, under the condition that the cleaning robot 1 is located on the cleaning seat 2, the power supply connection between the fan and the power supply unit 103 cannot be realized.
In step S01, if the sensing module 3 detects that the cleaning robot 1 is located on the cleaning seat 2, the control unit 102 controls the water level detection module to detect whether water is present in the cleaning area 201, if the detection result is water, step S02 is performed, and if the detection result is no water, the control unit 102 controls the voice unit to remind the user to add water to the cleaning area 201; a water level detection module can be arranged on the cleaning robot 1 to detect the water level in the cleaning area 201, so that the situation that a user forgets to add water into the cleaning area 201 and places the cleaning robot 1 on the cleaning seat 2 for cleaning is avoided; when the water level detection module detects that the water level in the cleaning area 201 is low or the water level cannot be directly detected, namely the water level in the cleaning area 201 causes the occurrence that the cleaning piece 101 cannot be submerged by water, at the moment, it is judged that no water exists in the cleaning area 201, and a user is reminded to add water into the cleaning area 201; when the water level detection module detects the water level, which indicates that the water level in the cleaning area 201 can submerge the cleaning members 101, the cleaning members 101 can be started to be cleaned.
After the cleaning piece 101 is preliminarily cleaned in the cleaning process, the following separation modes are adopted for separating the cleaning piece 101 from the sewage in the cleaning area 201:
firstly, in step S04, the separating mechanism 203 is located on the cleaning robot 1, the control unit 102 controls the activation of the separating mechanism 203, the separating mechanism 203 is operated to discharge the water in the cleaning area 201 outwards, so that the water in the cleaning area 201 moves downwards away from the cleaning member 101, or the cleaning member 101 is lifted upwards, so that the cleaning member 101 moves upwards away from the water in the cleaning area 201; the control unit 102 is electrically connected to the separating mechanism 203 to control the operation of the separating mechanism 203. Wherein, the mode that separating mechanism 203 work will wash the water in the district 201 and outwards discharge can set up sewage district 202, and separating mechanism 203 discharges the sewage in wasing the district 201 and realizes the separation of cleaning member 101 and sewage in sewage district 202, and separating mechanism 203 can set up to water pump, solenoid valve, electromagnetic pump etc. all can realize that separating mechanism 203's drainage effect makes the water level in wasing the district 201 move down. Wherein, the separation mechanism 203 work upwards lifts the cleaning part 101 and makes the separation mode of cleaning part 101 and sewage, separation mechanism 203 can set up to the motor and drive the ascending and descending of cleaning part 101 in vertical side, if the motor is rotatory to drive the rack on the cleaning part 101 installation casing and to reciprocate, be promptly with the up-and-down of the rotary motion conversion of motor shaft installation casing, it can realize to correspond to set up gear and rack, make cleaning part 101 leave the sewage of wasing district 201 after the cleaning part 101 upwards lifts, then can spin-dry cleaning part 101.
In a second mode, in step S04, the separating mechanism 203 is located on the cleaning seat 2, the control module 204 on the cleaning seat 2 controls the power module 205 on the cleaning seat 2 to supply power to the separating mechanism 203 and controls the starting of the separating mechanism 203, and the separating mechanism 203 operates to discharge the water in the cleaning area 201 outwards, so that the water in the cleaning area 201 moves downwards to leave the cleaning member 101; wherein, can set up power module 205 and control module 204 to separating mechanism 203 alone on wasing seat 2, control module 204 and power module 205 electric connection, power module 205 supplies power to separating mechanism 203, when needs are separated cleaning member 101 and sewage, control module 204 control separating mechanism 203 work will wash in the sewage discharge of district 201 in, realize the separation of cleaning member 101 and sewage, separating mechanism 203 can set up to the water pump, the solenoid valve, electromagnetic pump etc. all can realize that separating mechanism 203's drainage effect makes the water level of wasing district 201 move down, cleaning member 101 can then spin-dry cleaning member 101 with sewage after the separation.
In a third mode, in step S04, the separating mechanism 203 is further included, the separating mechanism 203 is located on the cleaning seat 2, the control unit 102 controls the driving wheel 104 on the cleaning robot 1 to rotate to drive the separating mechanism 203 to start, or the control unit 102 controls the power supply unit 103 in the cleaning robot 1 to supply power to the separating mechanism 203 through the electrode assembly 4 and controls the separating mechanism 203 to start, and the separating mechanism 203 operates to discharge the water in the cleaning area 201 outwards, so that the water in the cleaning area 201 moves downwards to leave the cleaning member 101. The separating mechanism 203 can be driven to work by the force generated by rotation of the driving wheel 104 of the cleaning robot 1, the separating mechanism 203 can be provided with a valve core, the valve core corresponds to a water outlet in the cleaning area 201, the driving wheel 104 can rotate in situ, the valve core is driven to move in the driving rotation process, the water outlet can be opened by movement of the valve core, the valve core can be connected with a spring, the valve core resets under the elastic force of the spring to close the water outlet when the driving wheel 104 leaves the valve core, and further the opening and closing effect of the separating mechanism 203 on the water outlet is realized, the cleaning seat 2 of the mode does not need to be provided with an independent power module 205 and a control module 204 at all, separation of the cleaning piece 101 and sewage is realized by completely depending on the control unit 102 of the cleaning robot 1, and the cleaning seat 2 is simple in integral structure, safe and reliable. The control unit 102 can be used for controlling the power supply unit 103 on the cleaning robot 1 to reversely supply power to the separating mechanism 203, and the separating mechanism 203 can realize the opening and closing effect on the water outlet in the cleaning area 201 after being electrified; specifically, a first electrode assembly 401 and a second electrode assembly 402 are arranged on the electrode assembly 4 in a feedback power supply mode, the first electrode assembly 401 comprises a first electrode plate and a second electrode plate, the first electrode plate and the second electrode plate are respectively connected with the power supply unit 103 to form positive and negative poles, a second electrode assembly 402 corresponding to the position of the first electrode assembly 401 is arranged on the cleaning seat 2, the second electrode assembly 402 is connected with the separating mechanism 203, the second electrode assembly 402 comprises a third electrode plate and a fourth electrode plate, the third electrode plate and the fourth electrode plate are respectively connected with positive and negative ends of an electrical connection terminal on the separating mechanism 203, and the power supply unit 103 can supply power to the separating mechanism 203 through the first electrode assembly 401 and the second electrode assembly 402; specifically, first electrode assembly 401 is installed at the bottom of cleaning robot 1, when cleaning robot 1 is located on washing seat 2, first electrode assembly 401 and second electrode assembly 402 contact each other and laminate, specifically first electrode slice and third electrode slice contact and laminate, second electrode slice and fourth electrode slice contact and laminate, form the connection of positive negative pole, the steerable power supply unit 103 of control unit 102 supplies power to separating mechanism 203, and then separating mechanism 203 starts work, can realize the switching effect of outlet, separating mechanism 203 can set up to water pump, solenoid valve, electromagnetic pump etc., all can realize separating mechanism 203's drainage effect and make the water level of washing district 201 move down, then can spin-dry cleaning member 101 after cleaning member 101 and the sewage separation.
The first electrode assembly 401 can also be used for charging the power supply unit 103 when the cleaning robot 1 returns to the charging stand, and mainly provides power for normal operation when the cleaning robot 1 walks on the ground, the power supply unit 103 supplies power to the separating mechanism 203 for feeding power, that is, the power supply unit 103 supplies power to the cleaning robot 1 under the condition that the cleaning robot 1 operates normally, and when the cleaning piece 101 needs to be cleaned, the power supply unit not only supplies power to the cleaning robot 1 normally, but also supplies power to the separating mechanism 203, so that an independent power supply is not required to be set on the cleaning seat 2; in which the charging stand is a conventional prior art configured for the cleaning robot 1, and will not be described in detail herein.
In step S03, the method further includes that when the time length of the movement and rotation of the cleaning member 101 reaches a first preset time length, the control unit 102 controls the cleaning member 101 to stop the movement and rotation, and then the method goes to step S04; in the step S03, the cleaning piece 101 is mainly controlled to move and rotate in the water for cleaning, the moving and rotating time of the cleaning piece 101 is a first preset time period, the cleaning piece 101 and the water are fully mixed and cleaned within the first preset time period, at this time, the cleaning piece 101 and the sewage need to be separated, the cleaning piece 101 can be controlled to stop moving and rotating, then the cleaning piece 101 and the sewage are separated, and the dirt can be effectively prevented from being adsorbed onto the cleaning piece 101 for a second time.
Aiming at the movable structure of the cleaning piece 101, a motor can be arranged in the cleaning robot 1, the motor is connected with a driving module, the driving module can be used for driving the cleaning piece 101 to rotate, wherein a pressing shell is arranged on the upper part of the cleaning piece 101, the pressing shell is movably connected with the driving module, and the movable driving of the rotating structure is realized mainly through the connection of a movable shaft; can also set up the spring between pressure shell and drive module, realize the unsteady between drive module and the pressure shell through the spring, and then realize that the pressure shell drives the structure that floats from top to bottom of cleaning element 101, be favorable to promoting the walking of cleaning machines people 1 and cross the obstacle, make cleaning element 101 to keep certain unsteady pressure on ground simultaneously, be favorable to promoting and drag clean effect of ground.
For the horizontal rotation motion of the cleaning piece 101, the rotation shaft of the motor and the rotation shaft of the driving module can be installed to drive the cleaning piece 101 to rotate horizontally in the vertical direction, and at this time, the rotation shaft of the motor can rotate in the vertical direction to drive the cleaning piece 101 to rotate horizontally in the vertical direction, and correspondingly, the rotation shaft drives the first rotating piece 1011 and the second rotating piece 1012 to rotate horizontally; for the rotation and rolling motion of the cleaning element 101, the rotation axis of the motor and the rotation axis of the driving module driving the cleaning element 101 to rotate can be used to realize the rolling rotation in the horizontal direction, and correspondingly, the rolling rotation of the first rotary dragging element 1013 and the second rotary dragging element 1014 can be driven; different movement patterns of the cleaning members 101 can be achieved for mopping.
The structure part for mopping the floor by the cleaning robot 1 can be divided into two modes, the first mode is that the cleaning piece 101 is arranged to be capable of horizontally rotating along the floor to mop the floor, and when the cleaning piece 101 contacts with the floor, the contact part forms a plane structure to mop the floor; the second way is that the cleaning piece 101 is arranged to rotate and roll relative to the ground surface for mopping and cleaning, and the contact part of the cleaning piece 101 and the ground surface forms a plane structure when contacting with each other; the two modes can realize the effects of mopping and cleaning the ground with larger friction force and large area; meanwhile, the cleaning robot 1 can be positioned on the cleaning seat 2 to automatically clean the cleaning piece 101 by utilizing the movement mode of the cleaning piece 101, and the cleaning piece 101 is cleaned without providing any power on the cleaning seat 2, so that the overall construction cost is low and the experience effect is good.
For the first way, the cleaning member 101 includes a first rotating member 1011 and a second rotating member 1012, the first rotating member 1011 and the second rotating member 1012 are respectively located at two side positions of the rear side of the bottom of the cleaning robot 1 or at two side positions of the front side of the bottom, and the horizontal rotating directions of the first rotating member 1011 and the second rotating member 1012 are opposite; the first rotating member 1011 and the second rotating member 1012 can be respectively positioned at two sides of the front side of the bottom of the cleaning robot 1, so that a single cleaning area between the cleaning robot and the ground is large, and a sufficient friction force is ensured, and garbage is gathered to a dust suction port, so that a better mopping cleaning effect can be realized; the first rotating member 1011 and the second rotating member 1012 can also be positioned at two sides of the rear side of the bottom of the cleaning robot 1 to achieve the effect of increasing the coverage of the mopping cleaning area.
When the first and second rotating members 1011 and 1012 are respectively located at both side positions of the front side of the bottom of the cleaning robot 1; the cleaning robot is mainly characterized in that the first rotating piece 1011 and the second rotating piece 1012 are arranged correspondingly to realize left and right mopping cleaning of the ground, so that garbage on the ground can be driven, guided and collected backwards to a dust suction opening, the horizontal rotating directions of the first rotating piece 1011 and the second rotating piece 1012 are opposite, and the first rotating piece 1011 and the second rotating piece are arranged to face the inner side along the outer side of the bottom of the cleaning robot 1 and horizontally rotate along the direction from the front side to the rear side of the bottom of the main body of the cleaning robot 1; as shown in fig. 14, the horizontal rotation directions of the first rotating member 1011 and the second rotating member 1012 are opposite to each other, so that the rotational forces generated by the first rotating member 1011 and the second rotating member 1012 can be offset, and the influence on the normal walking of the cleaning robot 1 due to the resistance caused by the horizontal rotation is avoided; through the direction horizontal rotation that sets up first rotating member 1011 and second rotating member 1012 along the front side of cleaning machines people 1's bottom towards the rear side make first rotating member 1011 and second rotating member 1012 homoenergetic play the rubbish that drives ground gather near dust absorption mouth position region from the past backward, realize the concentrated gathering suction effect to rubbish, realize offsetting each other of revolving force simultaneously. The first rotating member 1011 and the second rotating member 1012 are arranged in a symmetrically distributed structure, when the cleaning robot 1 is in a circular or similar circular structure, the outer ends of the first rotating member 1011 and the second rotating member 1012 are positioned outside the side part of the cleaning robot 1, or positioned inside the end part of the maximum outer diameter width of the cleaning robot 1, so that the maximum mopping cleaning range in the walking process of the cleaning robot 1 can be covered, at the moment, the cleaning robot 1 can perform mopping cleaning along the edge, and the problem that the wall edge cannot be cleaned is prevented; when the cleaning robot 1 is in a square structure or a structure similar to the square structure, the outer ends of the first rotating member 1011 and the second rotating member 1012 are positioned within the side part of the cleaning robot 1, so that the maximum mopping cleaning range in the walking process of the cleaning robot 1 can be covered, and the cleaning robot 1 can perform mopping cleaning along the edge at the moment, so that the problem that the wall edge cannot be cleaned is solved; can be specifically set according to needs.
When the first and second rotating members 1011 and 1012 are respectively located at both side positions of the rear side of the bottom of the cleaning robot 1; the horizontal rotation directions of the first and second rotating members 1011 and 1012 are opposite to each other, and are set to rotate horizontally in a direction toward the inside along the outside of the bottom of the cleaning robot 1 and toward the front along the rear side of the bottom of the cleaning robot 1; as shown in fig. 15, the first rotating member 1011 and the second rotating member 1012 rotate horizontally in opposite directions to offset the rotating force, so as to avoid affecting the normal walking of the cleaning robot 1; and the garbage on the ground is gathered and pushed forward to the position of the dust suction opening, the rotating modes of the first rotating member 1011 and the second rotating member 1012 can be set to offset the rotating forces in the horizontal direction and the vertical direction, and the normal walking of the cleaning robot 1 is not influenced.
In a second mode, the cleaning element 101 at least includes a first rotating and dragging element 1013 and/or a second rotating and dragging element 1014, and when the cleaning element 101 includes the first rotating and dragging element 1013 and the second rotating and dragging element 1014, the rotating and rolling directions of the first rotating and dragging element 1013 and the second rotating and dragging element 1014 are opposite, so as to ensure that the first rotating and dragging element 1013 or the second rotating and dragging element 1014 does not affect the normal walking of the cleaning robot 1 and ensure the stability of the walking route; if only the first rotary dragging part 1013 or the second rotary dragging part 1014 is provided, although the rotary rolling mopping effect on the ground can be achieved, the problem that the normal walking of the cleaning robot 1 is affected may occur; the first rotary dragging part 1013 and the second rotary dragging part 1014 are preferably arranged and the rotating and rolling directions of the first rotary dragging part and the second rotary dragging part are opposite, so that the offsetting of the rotating and rolling force can be realized, the normal walking of the cleaning robot 1 cannot be influenced, meanwhile, a better floor mopping cleaning effect can be obtained, the first rotary dragging part 1013 and the second rotary dragging part 1014 can cut and scrape the garbage on the ground in two different directions, the first rotary dragging part 1013 and the second rotary dragging part 1014 can realize the multiple cleaning effect of the robot on the ground in a single walking process, the first rotary dragging part 1013 can pre-clean the particles and dirt on the ground, and the second rotary dragging part 1014 can deeply clean the ground, so that a better deep floor mopping effect can be realized, the removal of stubborn dirt on the ground can be facilitated, the cleaning and separation of the garbage dirt with strong adhesive force on the ground can be realized.
In order to achieve better cleaning effect on the cleaning member 101, in step S03, the moving and rotating direction of the cleaning member 101 when the control unit 102 controls the cleaning member 101 to move and rotate for cleaning is at least opposite to the moving and rotating direction of the cleaning member 101 when the cleaning robot 1 is located on the floor for mopping and cleaning when the control unit 102 controls the cleaning member 101 to move and rotate for cleaning; the cleaning piece 101 moves in the same direction to clean the floor by contacting with the floor, so that the surface of the cleaning piece is in contact with the floor to form a pressed film in a pressing mode, the floor-mopping cleaning effect is poor under the condition that the pressed film is formed, the cleaning piece needs to be cleaned, the pressed film disappears by arranging that the movement rotating direction of the cleaning piece 101 in the cleaning area 201 is opposite to the movement rotating direction of the cleaning piece 101 in the floor-mopping cleaning area 201, the pressed film is damaged in the cleaning process of the cleaning piece 101 in the cleaning area 201, the cleaning piece 101 is automatically cleaned, the cleaning effect is good, the cleaning piece 101 can be cleaned deeply, and dirt and garbage in the cleaning piece 101 can be better cleaned.
Specifically, when the cleaning member 101 comprises the first rotating member 1011 and the second rotating member 1012, the rotating directions of the first rotating member 1011 and the second rotating member 1012 when the first rotating member 1011 and the second rotating member 1012 are located on the floor for mopping cleaning are at least opposite to the rotating directions of the first rotating member 1011 and the second rotating member 1012 when the first rotating member 1011 and the second rotating member 1012 are located in the cleaning area 201 for cleaning; the cleaning effect of the first rotating member 1011 and the second rotating member 1012 after mopping cleaning is better, the deep cleaning effect of the first rotating member 1011 and the second rotating member 1012 can be ensured, and internal dirt can be easily cleaned.
Specifically, when the cleaning element 101 includes the first rotating and dragging element 1013 and the second rotating and dragging element 1014, the rotating directions of the first rotating and dragging element 1013 and the second rotating and dragging element 1014 when the first rotating and dragging element 1013 and the second rotating and dragging element 1014 are located on the ground for mopping and cleaning are at least opposite to the rotating directions of the first rotating and dragging element 1013 and the second rotating and dragging element 1014 when the first rotating and dragging element 1013 and the second rotating and dragging element 1014 are located in the cleaning area 201 for cleaning; the cleaning effect of the first rotary dragging piece 1013 and the second rotary dragging piece 1014 after mopping is finished is better, the deep cleaning effect of the first rotary dragging piece 1013 and the second rotary dragging piece 1014 can be ensured, and the internal dirt can be easily cleaned.
In order to achieve a better spin-drying effect on the cleaning member 101, in step S05, the moving and rotating direction of the cleaning member 101 when the control unit 102 controls the cleaning member 101 to move and rotate for spin-drying is at least opposite to the moving and rotating direction of the cleaning member 101 when the control unit 102 controls the cleaning member 101 to move and rotate for washing in step S03; when the cleaning piece 101 is cleaned in the same direction, the surface of the cleaning piece 101 is flushed by water in the cleaning area 201 at the moment to break the pressure membrane, the water fully enters the cleaning piece, after the cleaning is finished, the separation mechanism 203 works to separate sewage in the cleaning area 201 from the cleaning piece 101, then the cleaning robot 1 is dried in the cleaning seat 2, the rotating direction during drying is opposite to the rotating direction during cleaning, the sewage in the cleaning piece is rapidly thrown out, and the cleaning piece 101 is kept in a certain micro-wet state.
Specifically, when the cleaning member 101 comprises the first rotating member 1011 and the second rotating member 1012, when the cleaning robot 1 walks on the ground to clean the floor, the rotating directions of the first rotating member 1011 and the second rotating member 1012 are set to be opposite, so that a better cleaning effect is achieved; meanwhile, when the first rotating member 1011 and the second rotating member 1012 are located in the cleaning area 201 for cleaning, the rotating directions of the first rotating member 1011 and the second rotating member 1012 when a part of the first rotating member 1011 and the second rotating member 1012 is submerged by water are at least opposite to the rotating directions of the first rotating member 1011 and the second rotating member 1012 when the first rotating member 1011 and the second rotating member 1012 are separated from water; the realization is more favorable to first rotating member 1011, second rotating member 1012 to get rid of the effect of water stain better after the completion in abluent in-process, can ensure that first rotating member 1011, second rotating member 1012 keep the little wet effect after the completion of wasing, can not appear leaving the problem that the in-process of wasing seat 2 drips.
Specifically, when the cleaning element 101 includes the first rotation and pulling element 1013 and the second rotation and pulling element 1014, and the first rotation and pulling element 1013 and the second rotation and pulling element 1014 are located in the cleaning area 201 for cleaning, the rotation direction of the first rotation and pulling element 1013 or the second rotation and pulling element 1014 when a part of the first rotation and pulling element 1013 or the second rotation and pulling element 1014 is submerged by water is at least opposite to the rotation direction of the first rotation and pulling element 1013 or the second rotation and pulling element 1014 when the first rotation and pulling element 1013 or the second rotation and pulling element 1014 is separated from water; the effect that the first 1013 and the second 1014 of rotating the mop are better dried after the cleaning is finished is better, the first 1013 and the second 1014 of rotating the mop can keep the micro-wet effect after the cleaning is finished, and the problem of water dripping in the process of leaving the cleaning seat 2 can be avoided.
In order to achieve a better spin-drying effect on the cleaning member 101, in step S05, the control unit 102 is further configured to control the cleaning member 101 to rotate in a first direction, when the length of the rotation in the first direction reaches a second preset length, the control unit 102 controls the cleaning member 101 to rotate in a second direction opposite to the first direction, and the control unit 102 controls the cleaning member 101 to rotate in an alternating manner at least in the first direction and the second direction more than once; mainly realize that cleaning member 101 is rotatory in the changeable motion between first direction and second direction, when cleaning member 101 is rotatory along the motion of first direction, make the surface of cleaning member 101 form the crimping state easily under the effect of the rotatory centrifugal whipping power of cleaning member 101 motion this moment, be unfavorable for the inside water of cleaning member 101 to outwards throw away, if carry out the motion rotation to cleaning member 101 along the opposite direction of second direction and spin-dry, can realize that the crimping state is destroyed this moment, the surface of cleaning member 101 is scattered, more easily throw away the water in the cleaning member 101, be favorable to carrying out the processing of spin-drying with cleaning member 101 fast.
Specifically, when the cleaning element 101 includes the first rotating element 1011 and the second rotating element 1012, the first rotating element 1011 and the second rotating element 1012 are respectively spin-dried in the first direction according to the respective moving directions, and the spin-drying time reaches the second preset time, the first rotating element 1011 and the second rotating element 1012 are controlled to be alternately switched to the second direction according to the respective moving directions for spin-drying, the number of times of the alternate switching is set at least once, and the alternate switching can be specifically set according to the size of the cleaning element 101, and only a certain wet state needs to be maintained after the cleaning element 101 is spin-dried.
Specifically, when the cleaning element 101 includes the first rotating and pulling element 1013 and the second rotating and pulling element 1014, the first rotating and pulling element 1013 and the second rotating and pulling element 1014 respectively spin-dry in the first direction corresponding to their respective moving directions, and the spin-drying time reaches the second preset time, the first rotating and pulling element 1013 and the second rotating and pulling element 1014 are controlled to alternately switch to the second direction according to their respective moving directions for spin-drying, the number of times of the alternate switching is set at least once, or may be specifically set according to the size of the cleaning element 101, and only a certain wet state of the cleaning element 101 needs to be maintained after spin-drying.
Before step S01, the method further includes, in response to detection of when the user has come to wash the cleaning robot 1 by placing it on the cleaning member 101, step S00: the control unit 102 controls the dirt detection module to detect the dirt degree on the cleaning piece 101, and when the dirt degree reaches a preset threshold value A or the control unit 102 controls the cleaning piece 101 to move and rotate on the ground to mop the cleaning piece 101 for a third preset time length, the control unit 102 controls the voice unit to remind a user of placing the cleaning robot 1 on the cleaning seat 2; the control unit 102 controls the dirt detection module to detect dirt on the surface of the cleaning piece 101, and when the dirt value of the cleaning piece 101 reaches a preset threshold value A, the user is reminded that the cleaning piece 101 needs to be cleaned, so that the ground is prevented from being secondarily polluted; or the time length for which the cleaning piece 101 can be used for mopping and cleaning is preset according to the size of the cleaning piece 101, when the time length for mopping and cleaning the floor on the floor by the cleaning piece 101 reaches a third preset time length, the actual contamination degree of the cleaning piece 101 is not considered at this time, the control unit 102 defaults that the cleaning piece 101 is contaminated by the contamination on the floor and the problem of secondary pollution occurs, and at this time, the user is reminded that the cleaning piece 101 needs to be cleaned; above-mentioned all can realize reminding the washing of cleaning member 101, prevent that the user from not wasing cleaning member 101 for a long time and leading to the problem that cleaning member 101 becomes mildewed and smelly.
Aiming at preventing the cleaning robot 1 from being without power when the cleaning robot 1 cleans the cleaning seat 2, any one of the steps S00 to S05 further comprises the steps that when the control unit 102 detects that the electric quantity of the power supply unit 103 is less than or equal to a preset threshold value B, the control unit 102 controls the cleaning piece 101 to stop moving and rotating and reminds a user of insufficient electric quantity through a voice unit or the control unit 102 controls the cleaning robot 1 to directly enter the step S04; the control unit 102 detects the power supply unit 103, when the electric quantity in the power supply unit 103 is less than or equal to a preset threshold value B, which means that the electric quantity of the power supply unit 103 is low, the cleaning robot 1 is easy to stop working, at this time, the control unit 102 controls the cleaning robot 1 to directly enter a step of separating the cleaning piece 101 from the sewage, the cleaning piece 101 is dried after being separated from the sewage, the cleaning piece 101 of the cleaning robot 1 is prevented from leaving the washing base 2 without being dried, and the phenomenon that the cleaning piece 101 drips to pollute the ground is avoided.
In the whole step of cleaning the cleaning robot 1, the electric quantity of the power supply unit 103 is detected at any time, wherein the threshold value B corresponds to that the electric quantity of the current power supply unit 103 of the cleaning robot 1 is less than or equal to 20% of the rated electric quantity of the power supply unit 103, at this time, the cleaning robot 1 is controlled to directly separate the cleaning piece 101 from the sewage, and then the cleaning piece 101 is dried.
The working principle is as follows: according to the scheme, the cleaning piece 101 of the cleaning robot 1 is in a movable and rotatable structure, the cleaning seat 2 for cleaning the cleaning piece 101 is arranged, when the cleaning robot 1 is positioned on the cleaning seat 2, the cleaning piece 101 can be cleaned by utilizing the self-movement of the cleaning piece 101, and the cleaning piece 101 is dried after being cleaned, so that the cleaning process of the cleaning piece 101 is realized; cleaning member 101 mainly for with the aquatic by the water logging not wash, cleaning member 101 moves the rotation in aqueous and realizes dirty separation to the aquatic, then discharge or leave sewage with cleaning member 101 lifting, for accomplishing the preliminary washing to cleaning member 101, then cleaning member 101 throws away water under this state, make cleaning member 101 only need keep certain moist state can, wash the completion back, cleaning machines people 1 can be located ground and go to drag the ground clean, the user empty wash the interior sewage of seat 2 can, convenience of customers uses.
It will be understood by those skilled in the art that the foregoing embodiments are specific examples of the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in its practical application.

Claims (16)

1. A washing control method of a cleaning robot, comprising: the cleaning robot is provided with a cleaning piece for mopping the floor for cleaning, the cleaning piece is arranged in a movable and rotatable structure, and the cleaning robot further comprises a cleaning seat for placing the cleaning robot and cleaning the cleaning piece; the method is characterized in that: further comprising the steps of:
s01; an induction module is arranged between the cleaning robot and the cleaning seat, and the induction module detects whether the cleaning robot is positioned on the cleaning seat;
s02: the cleaning robot is positioned on the cleaning seat, at least one part of the cleaning piece is immersed in the water in the cleaning area on the cleaning seat, and the water level of the water in the cleaning area is formed to submerge at least one part of the cleaning piece;
s03: when the induction module detects that the cleaning robot is located on the cleaning seat, a control unit in the cleaning robot receives a cleaning instruction, the control unit controls the cleaning piece to move and rotate in a state that the cleaning piece is submerged in water in a cleaning area to clean the cleaning piece, and the movement and rotation time of the cleaning piece is controlled to be a first preset time;
s04: the separation mechanism starts to work to move the water in the cleaning area downwards or move the cleaning piece upwards so that the cleaning piece is separated from the water in the cleaning area;
s05: the control unit controls the cleaning piece to move and rotate for spin-drying;
in step S04, the cleaning device further includes a separating mechanism located on the cleaning seat, the control unit controls a force generated by rotation of a driving wheel on the cleaning robot to drive the separating mechanism to start, or the control unit controls a power supply unit in the cleaning robot to supply power to the separating mechanism through an electrode assembly and controls the separating mechanism to start, and the separating mechanism operates to discharge water in the cleaning area outwards so that the water in the cleaning area moves downwards to leave the cleaning element.
2. The washing control method of a cleaning robot according to claim 1, characterized in that: in step S01, if the sensing module detects that the cleaning robot is located on the cleaning seat, the control unit controls the voice unit to remind the user to start the cleaning instruction in step S03; or the control unit automatically starts the washing instruction in the step S03 when detecting that the cleaning robot is positioned on the washing seat based on the sensing module, wherein the washing instruction is preset in the control unit.
3. The washing control method of a cleaning robot according to claim 2, characterized in that: the induction module comprises a first induction piece and a second induction piece, the first induction piece is located on the cleaning robot, the second induction piece is located on the cleaning seat, and the control unit controls the induction signal set in the first induction piece to detect whether the second induction piece touches the induction signal or is located in the range of the induction signal and detected by the induction signal.
4. A washing control method of a cleaning robot according to claim 3, characterized in that: the first sensing piece is a Hall sensor or a reed switch and corresponds to the second sensing piece and is a magnet; or the first sensing piece is an infrared emission tube and the corresponding second sensing piece is a photosensitive switch; or the first sensing piece is a touch switch and the corresponding second sensing piece is a touch piece.
5. The washing control method of a cleaning robot according to claim 1, characterized in that: in step S01, the method further includes controlling a fan in the cleaning robot to be powered off if the sensing module detects that the cleaning robot is located on the cleaning seat, and the fan cannot be started to perform dust collection.
6. The washing control method of a cleaning robot according to claim 1, wherein: in the step S01, if the induction module detects that the cleaning robot is located on the cleaning seat, the control unit controls the water level detection module to detect whether water exists in the cleaning area, if the detection result indicates that water exists, the step S02 is performed, and if the detection result indicates that water does not exist, the control unit controls the voice unit to remind a user of adding water to the cleaning area.
7. The washing control method of a cleaning robot according to claim 1, characterized in that: in step S04, a separating mechanism is located on the cleaning robot, and the control unit controls the separating mechanism to be activated, and the separating mechanism works to discharge the water in the cleaning area outwards so that the water in the cleaning area moves downwards to leave the cleaning member or lift the cleaning member upwards so that the cleaning member moves upwards to leave the water in the cleaning area.
8. The washing control method of a cleaning robot according to claim 1, wherein: in step S04, the cleaning device further includes a separating mechanism located on the cleaning seat, the control module on the cleaning seat controls the power module on the cleaning seat to supply power to the separating mechanism and controls the starting of the separating mechanism, and the separating mechanism discharges water in the cleaning area outwards so that the water in the cleaning area moves downwards to leave the cleaning member.
9. The washing control method of a cleaning robot according to claim 1, characterized in that: in step S03, the method further comprises the step of controlling the cleaning member to stop rotating when the time length of the cleaning member rotating in a moving manner reaches a first preset time length, and then proceeding to step S04.
10. The washing control method of a cleaning robot according to claim 1, wherein: in step S03, the direction of the movement rotation of the cleaning member when the control unit controls the cleaning member to move and rotate for cleaning is at least opposite to the direction of the movement rotation of the cleaning member when the cleaning robot is located on the floor.
11. The washing control method of a cleaning robot according to claim 1, characterized in that: in step S05, the direction of the rotating movement of the cleaning elements when the control unit controls the cleaning elements to rotate for spin-drying is at least opposite to the direction of the rotating movement of the cleaning elements when the control unit controls the cleaning elements to rotate for washing in step S03.
12. The washing control method of a cleaning robot according to claim 1, characterized in that: in step S05, the control unit controls the cleaning member to rotate along the first direction, when the length of the rotation along the first direction reaches a second preset length, the control unit controls the cleaning member to rotate along a second direction opposite to the first direction, and the control unit controls the cleaning member to rotate along the first direction and the second direction alternately at least more than once.
13. The washing control method of a cleaning robot according to claim 1, characterized in that: before step S01, step S00 is further included: the control unit controls the dirt detection module to detect the dirt degree on the cleaning piece, and when the dirt degree reaches a preset threshold value A or the control unit controls the cleaning piece to move and rotate to mop the ground on the ground for a long time to reach a third preset time, the control unit controls the voice unit to remind a user of placing the cleaning robot on the cleaning seat.
14. The washing control method of a cleaning robot according to claim 13, wherein: any one of the step S00 to the step S05 further comprises the step of controlling the cleaning piece to stop moving and rotating and reminding a user of insufficient electric quantity through the voice unit or controlling the cleaning robot to directly enter the step S04 through the control unit when the control unit detects that the electric quantity of the power supply unit is less than or equal to the preset threshold value B.
15. The washing control method of a cleaning robot according to claim 1, characterized in that: when the driving wheel is set to rotate to drive the separation mechanism to start, the separation mechanism is provided with the valve core, the driving wheel is set to be of a structure capable of rotating in situ, so that the valve core is driven to move in the rotating process of the driving wheel to form an opening structure for a water outlet in a washing area, and water in the washing area is discharged through the water outlet to form a cleaning piece to be separated from water in the washing area.
16. The washing control method of a cleaning robot according to claim 15, characterized in that: the valve core is arranged corresponding to the water outlet in the cleaning area, the valve core can move to open the water outlet, the valve core can be connected with a spring, and when the driving wheel leaves the valve core, the valve core is reset under the elastic force action of the spring to close the water outlet.
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CN114073443B (en) * 2021-07-15 2023-08-22 浙江绍兴苏泊尔生活电器有限公司 Cleaning control method, cleaning base station and cleaning system
CN115349781A (en) * 2022-07-22 2022-11-18 深圳市探博智能机器人有限公司 Method and system for controlling roller of mopping robot, mopping robot and medium

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