CN112971621A - Indoor intelligent cleaning system and control method - Google Patents
Indoor intelligent cleaning system and control method Download PDFInfo
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- CN112971621A CN112971621A CN202110263807.4A CN202110263807A CN112971621A CN 112971621 A CN112971621 A CN 112971621A CN 202110263807 A CN202110263807 A CN 202110263807A CN 112971621 A CN112971621 A CN 112971621A
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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
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Abstract
The invention relates to the technical field of intelligent electrical appliances, and provides an indoor intelligent cleaning system and a control method, wherein the indoor intelligent cleaning system comprises: the sweeping robot is used for sensing indoor space information, generating a control command, moving indoors for cleaning, and transmitting indoor space information data and path information data after cleaning operation to the mopping robot; and the mopping robot is used for receiving the information data transmitted by the sweeping robot and mopping the floor along the path after the sweeping operation of the sweeping robot. The floor sweeping robot and the floor mopping robot can work cooperatively during cleaning, the floor sweeping robot sweeps the floor in front, and the floor mopping robot carries out floor mopping work in the rear, so that the cleaning efficiency is improved; the prior sweeping and mopping integrated robot is functionally separated, so that the overall dimension of the equipment is effectively reduced, and the cleaning requirement of an indoor narrow space is met; meanwhile, the capacity of the water tank is improved, and the continuous working capacity of the mopping robot is improved.
Description
Technical Field
The invention relates to the technical field of intelligent electrical appliances, in particular to an indoor intelligent cleaning system and a control method.
Background
An indoor intelligent cleaning system is an intelligent robot for indoor cleaning operation. With the development of science and technology, the intelligent cleaning robot gradually steps into the family life of common people. In the working process, the indoor intelligent cleaning system can sweep and mop the indoor ground so as to realize the effect of cleaning the ground, so that people get rid of complicated housework and are widely applied at present.
However, the existing intelligent cleaning robot integrates sweeping and mopping functions, has large overall dimension, cannot effectively adapt to indoor narrow space, has small water tank capacity, and cannot effectively meet the requirement of daily cleaning.
Disclosure of Invention
In view of the above, the invention aims to provide an indoor intelligent cleaning system and a control method, the indoor intelligent cleaning system can enable a sweeping robot and a mopping robot to work cooperatively during cleaning, the sweeping robot sweeps the floor in front, and the mopping robot performs mopping work in the rear, so that the cleaning efficiency is improved, the original sweeping and mopping integrated robot is functionally separated, the overall dimension of equipment is effectively reduced, and the cleaning requirement of an indoor narrow space is met; meanwhile, the capacity of the water tank of the mopping robot is improved, and the continuous working capacity of the mopping robot is improved.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an indoor intelligent cleaning system comprising:
the sweeping robot is used for sensing indoor space information, generating a control command, moving indoors for cleaning, and transmitting indoor space information data and path information data after cleaning operation to the mopping robot;
and the mopping robot is used for receiving the indoor space information data and the path information data after the cleaning operation transmitted by the sweeping robot and mopping the floor along the path after the cleaning operation of the sweeping robot.
Further, the sweeping robot comprises: the device comprises a sensing module, a first control module, a first walking module, a sweeping module and a first communication module;
the sensing module is used for sensing and identifying the indoor space, acquiring indoor space information data and sending the indoor space information data to the first control module;
the first control module is used for receiving and processing the indoor space information data sent by the sensing module, outputting a path planning movement instruction to the first walking module and outputting a cleaning instruction to the sweeping module;
the first walking module is used for receiving the path planning movement instruction output by the first control module, moving the first walking module indoors according to a planned path, and feeding back moved path information data to the first control module;
the sweeping module is used for receiving the sweeping instruction output by the first control module and executing the instruction to carry out sweeping work;
the first communication module is used for transmitting indoor space information data and path information data after cleaning operation to the mopping robot.
Furthermore, the sensing module comprises a laser radar and an infrared ranging sensor, wherein the laser radar is used for accurately measuring the position, the motion state and the shape of an indoor obstacle, and detecting, identifying and distinguishing the obstacle; the infrared distance measuring sensor is used for sensing a front obstacle and measuring the distance of the obstacle; the sweeping module comprises a dust collecting box, a brush and a dust collector, wherein the dust collecting box is used for storing garbage and dust; the brush is used for brushing the ground; the dust collector is used for adsorbing the garbage and the dust brushed by the brush into the dust collecting box.
Further, the mopping robot comprises: the second communication module, the second control module, the second walking module and the floor mopping module;
the second communication module is used for receiving the indoor space information data and the path information data after cleaning operation transmitted by the first communication module and transmitting the indoor space information data and the path information data to the second control module;
the second control module is used for receiving and processing the indoor space information data and the path information data after the cleaning operation, which are sent by the second communication module, outputting a following movement instruction to the second walking module and outputting a floor mopping instruction to the floor mopping module;
the second walking module is used for receiving the following movement instruction sent by the second control module and moving along the path after the sweeping robot performs the sweeping operation;
and the mopping module is used for receiving the mopping instruction output by the second control module to carry out mopping work.
Further, the mopping module comprises a water tank and a supporting plate, wherein the water tank is used for storing water and providing the water to the supporting plate; the supporting plate is used for mopping the ground.
A control method for executing an indoor intelligent cleaning system, the method comprising the steps of:
s1, the sweeping robot senses and identifies the indoor space to be cleaned through the sensing module, and feeds back the indoor space information data to the first control module after obtaining the indoor space information data;
s2, the first control module outputs a path planning movement instruction and a cleaning instruction, the sweeping robot intelligently moves indoors according to the planned path and cleans the ground under the instruction of the first control module, and indoor space information data and path information data after cleaning operation are transmitted to the mopping robot through the first communication module;
s3, the floor mopping robot receives the indoor space information data and the path information data after the cleaning operation transmitted by the floor sweeping robot through the second communication module and sends the indoor space information data and the path information data to the second control module, the second control module outputs a following movement instruction and a floor mopping instruction, and the floor mopping robot moves along the path after the cleaning operation of the floor sweeping robot under the instruction of the second control module and performs floor mopping work at the same time;
s4, after the sweeping robot finishes moving on the planned indoor path, the first control module outputs a moving stopping instruction and a sweeping stopping instruction, the sweeping robot executes the instructions to stop moving and sweeping, and the first communication module transmits the information data of the cleaned path to the mopping robot;
s5, the mopping robot receives the cleaned path information data transmitted by the sweeping robot through the second communication module and sends the cleaned path information data to the second control module, the second control module outputs a following moving instruction and a mopping instruction, and the mopping robot moves along the cleaned path of the sweeping robot under the instruction of the second control module and performs mopping work at the same time;
and S6, after the floor mopping robot finishes moving on the path of the floor sweeping robot after cleaning, the second control module outputs a command for stopping following and moving and a command for stopping mopping, and the floor mopping robot executes the command for stopping following and moving and mopping.
Further, in S1, the floor sweeping robot senses and identifies the indoor space to be cleaned through the laser radar and the infrared ranging sensor, and feeds back indoor space information data to the first control module.
Further, in S2, the first control module outputs a path planning movement instruction to the first walking module and outputs a cleaning instruction to the sweeping module, the first walking module moves indoors according to the planned path, and the moved path information data is fed back to the first control module; the sweeping module cleans the ground.
Further, in S3, the second control module outputs a following movement instruction to the second walking module and outputs a floor mopping instruction to the floor mopping module, and the second walking module moves along the path after the sweeping operation of the sweeping robot; the mopping module performs mopping work on the ground.
Further, the floor sweeping robot and the floor mopping robot communicate wirelessly through an ethernet or Zigbee.
Compared with the prior art, the indoor intelligent cleaning system and the control method have the following effects:
(1) the floor sweeping robot identifies the indoor space through the sensing module, the first control module processes various information and outputs a control instruction, and meanwhile, the floor sweeping robot transmits the indoor space information sensed by the floor sweeping robot to the floor mopping robot, so that information sharing is realized, the floor mopping robot can avoid installing an extra sensing device, and the cost is reduced.
(2) The floor sweeping robot can identify the indoor space through the sensing module, the first control module sends out a path planning movement instruction, and the first walking module moves according to the planned path and carries out floor sweeping work, so that obstacles are avoided. The obstacle can be effectively avoided in the sweeping process through the sensing module, so that the sweeping robot can move and sweep more smoothly, and the working efficiency is effectively improved.
(3) The floor mopping robot receives the indoor space information and the cleaning path information through the second communication module, the second control module sends a following movement instruction, and the second walking module receives the instruction and then moves according to the path after the floor sweeping robot cleans and carries out the floor mopping work, so that the floor sweeping and mopping work is performed orderly, and the cleaning efficiency is effectively improved.
(4) The floor sweeping robot and the floor sweeping robot can work in a cooperative mode during cleaning, the floor sweeping robot carries out cleaning work in the front, the floor sweeping robot carries out floor mopping work in the rear, cleaning efficiency is improved, and the floor mopping robot carries out floor mopping along a path after the floor sweeping robot carries out cleaning work, so that the damage to equipment caused by collision between the floor sweeping robot and the floor sweeping robot is avoided. The indoor intelligent cleaning system enables the prior sweeping and mopping integrated robot to be functionally separated, so that the overall dimension of equipment is effectively reduced, and the cleaning requirement of an indoor narrow space is met; meanwhile, the capacity of the water tank of the mopping robot is improved, and the continuous working capacity of the mopping robot is improved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram of one embodiment of an intelligent indoor cleaning system of the present invention;
fig. 2 is a schematic structural diagram of a sweeping robot in the indoor intelligent cleaning system of the present invention;
fig. 3 is a schematic structural view of a floor mopping robot in the indoor intelligent cleaning system according to the present invention;
fig. 4 is a flowchart illustrating a control method for implementing the indoor intelligent cleaning system according to the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
According to an aspect of the present invention, there is provided an indoor intelligent cleaning system, as shown in fig. 1 to 3, including:
the sweeping robot is used for sensing indoor space information, generating a control command, moving indoors for cleaning, and transmitting indoor space information data and path information data after cleaning operation to the mopping robot;
and the mopping robot is used for receiving the indoor space information data and the path information data after the cleaning operation transmitted by the sweeping robot and mopping the floor along the path after the cleaning operation of the sweeping robot.
The robot of sweeping the floor includes: the device comprises a sensing module, a first control module, a first walking module, a sweeping module and a first communication module;
the sensing module is used for sensing and identifying the indoor space, acquiring indoor space information data and sending the indoor space information data to the first control module;
the first control module is used for receiving and processing the indoor space information data sent by the sensing module, outputting a path planning movement instruction to the first walking module and outputting a cleaning instruction to the sweeping module;
the first walking module is used for receiving the path planning movement instruction output by the first control module, moving the first walking module indoors according to a planned path, and feeding back moved path information data to the first control module;
the sweeping module is used for receiving the sweeping instruction output by the first control module and executing the instruction to carry out sweeping work;
the first communication module is used for transmitting indoor space information data and path information data after cleaning operation to the mopping robot.
The mopping robot comprises: the second communication module, the second control module, the second walking module and the floor mopping module;
the second communication module is used for receiving the indoor space information data and the path information data after cleaning operation transmitted by the first communication module and transmitting the indoor space information data and the path information data to the second control module;
the second control module is used for receiving and processing the indoor space information data and the path information data after the cleaning operation, which are sent by the second communication module, outputting a following movement instruction to the second walking module and outputting a floor mopping instruction to the floor mopping module;
the second walking module is used for receiving the following movement instruction sent by the second control module and moving along the path after the sweeping robot performs the sweeping operation;
and the mopping module is used for receiving the mopping instruction output by the second control module to carry out mopping work.
In the embodiment of the invention, the sweeping robot identifies the indoor space through the sensing module and sends indoor space information data to the first control module, the first control module outputs a control instruction to control the first walking module to move according to a planned path and avoid obstacles, the sweeping module is controlled to carry out sweeping work, and meanwhile, the indoor space information data and the path information data after the sweeping work are transmitted to the mopping robot through the first communication module; the mopping robot receives the information data sent by the sweeping robot through the second communication module, the second control module outputs a control instruction, the second walking module is controlled to move along a path after the sweeping robot performs sweeping operation, and the mopping module is controlled to perform mopping operation. The robot of sweeping the floor with drag ground robot collaborative work when clean, the robot of sweeping the floor cleans work in the front, drag ground robot and drag ground work at the rear, improved clean efficiency, and because drag ground robot and drag ground along the route of sweeping the ground robot after cleaning the operation, avoided dragging ground robot and the robot of sweeping the floor to take place the damage that the collision caused equipment. Indoor intelligent cleaning system makes in the past sweep and drags integrative robot and has carried out the function separation, has effectively reduced the overall dimension of equipment, and indoor intelligent cleaning system's water tank capacity obtains promoting simultaneously to adapt to and satisfy in daily clean requirement.
The first control module and the second control module are controllers and are storage and control centers of the robot, and the controller of the robot adopts a single chip microcomputer as a core and assists a peripheral circuit thereof for information storage and operation processing. First walking module and second walking module all include motor and drive wheel, the motor drives the drive wheel under command control and removes and turn to, conveniently avoids the barrier more for cleaning work goes on smoothly.
In order to enable a sensing module to more accurately sense and identify indoor space and obtain indoor space information data, the sensing module comprises a laser radar and an infrared ranging sensor, wherein the laser radar is used for accurately measuring the position (distance and angle), the motion state and the shape of an indoor obstacle, and detecting, identifying and distinguishing the obstacle; the infrared distance measurement sensor is used for sensing the obstacle in front, measuring the distance of the obstacle and facilitating adjustment of the advancing speed and direction of the sweeping robot. It should be noted that the indoor space information of the indoor space includes the size of the indoor space, the position of the obstacle, the size of the obstacle interval, the motion state, the shape, the distance of the obstacle, and the like.
In order to enable indoor garbage to be more fully cleaned in the cleaning process, the sweeping module comprises a dust collecting box, a brush and a dust collector, wherein the dust collecting box is used for storing the garbage and the dust; the brush is used for brushing the ground, so that the garbage and the dust are loosened and are not stuck on the ground, and the dust collector is convenient to adsorb; the dust collector is used for adsorbing the garbage and the dust brushed by the brush into the dust collecting box. In the cleaning process, the ground is brushed and cleaned through the driving hairbrush, and then the garbage is adsorbed into the dust collecting box through dust collection, so that the garbage is effectively and quickly cleaned.
In order to allow the mopping operation to last longer, the mopping module comprises a water tank and a supporting plate, wherein the water tank is used for storing water and supplying the water to the supporting plate; the supporting plate is used for mopping the ground. When mopping the ground, can constantly moist the layer board through the water in the water tank, make things convenient for the layer board to drag and wash ground, improve the effect of mopping the ground, and because simple structure among the mopping robot, the water tank capacity can be promoted, has improved mopping robot's continuous working ability.
In order to ensure the smoothness of network connection, under the preferable condition of the invention, the floor sweeping robot and the floor mopping robot communicate wirelessly through the ethernet or the Zigbee.
In order to more conveniently understand the cleaning work of the indoor intelligent cleaning system, according to another aspect of the present invention, there is provided a control method for performing the indoor intelligent cleaning system, as shown in fig. 4, the control method comprising the steps of:
s1, the sweeping robot senses and identifies the indoor space to be cleaned through the sensing module, and feeds back the indoor space information data to the first control module after obtaining the indoor space information data;
s2, the first control module outputs a path planning movement instruction and a cleaning instruction, the sweeping robot intelligently moves indoors according to the planned path and cleans the ground under the instruction of the first control module, and indoor space information data and path information data after cleaning operation are transmitted to the mopping robot through the first communication module;
s3, the floor mopping robot receives the indoor space information data and the path information data after the cleaning operation transmitted by the floor sweeping robot through the second communication module and sends the indoor space information data and the path information data to the second control module, the second control module outputs a following movement instruction and a floor mopping instruction, and the floor mopping robot moves along the path after the cleaning operation of the floor sweeping robot under the instruction of the second control module and performs floor mopping work at the same time;
s4, after the sweeping robot finishes moving on the planned indoor path, the first control module outputs a moving stopping instruction and a sweeping stopping instruction, the sweeping robot executes the instructions to stop moving and sweeping, and the first communication module transmits the information data of the cleaned path to the mopping robot;
s5, the mopping robot receives the cleaned path information data transmitted by the sweeping robot through the second communication module and sends the cleaned path information data to the second control module, the second control module outputs a following moving instruction and a mopping instruction, and the mopping robot moves along the cleaned path of the sweeping robot under the instruction of the second control module and performs mopping work at the same time;
and S6, after the floor mopping robot finishes moving on the path of the floor sweeping robot after cleaning, the second control module outputs a command for stopping following and moving and a command for stopping mopping, and the floor mopping robot executes the command for stopping following and moving and mopping.
In the embodiment of the invention, the sweeping robot senses indoor space information through the sensing module and sends indoor space information data to the first control module, the control module outputs a path planning movement instruction and a sweeping instruction, and the sweeping robot executes the instruction to move according to the planned path and perform sweeping work;
meanwhile, the sweeping robot continuously transmits the path information data after the sweeping operation to the mopping robot through the first communication module in the sweeping process, and information sharing is achieved. The floor mopping robot moves along the path after the cleaning operation of the floor sweeping robot and drags the floor, so that the work efficiency of the floor mopping robot is greatly improved, and the floor mopping robot always follows the path after the cleaning operation of the floor sweeping robot to work, so that the floor sweeping robot cannot be collided due to the following movement, and the condition that an electric appliance is damaged due to collision is avoided.
During cleaning, the sweeping robot and the mopping robot work cooperatively, the sweeping robot sweeps the floor in front, and the mopping robot performs mopping work in the rear, so that the cleaning efficiency is improved; when the sweeping robot finishes sweeping, the moving and sweeping work can be stopped, the information data of the path after sweeping is transmitted to the mopping robot, the mopping robot can continue to move along the path swept by the sweeping robot and mops the floor until the end point of the path is reached, and the mopping robot can stop following the moving and mopping work. The whole cleaning work is finished without manual tracking operation, and intelligent cleaning without human participation operation is realized.
In order to enable the obtained indoor space information data to be more accurate and comprehensive, in an optimal case of the invention, in S1, the sweeping robot senses and identifies the indoor space to be cleaned through the laser radar and the infrared ranging sensor, and feeds back the indoor space information data to the first control module.
In order to make the sweeping robot module work clearly, move better and complete the sweeping work, in the preferred case of the present invention, in S2, the first control module outputs a path planning movement instruction to the first walking module and outputs a sweeping instruction to the sweeping module, the first walking module moves indoors according to the planned path, and feeds back the moved path information data to the first control module; the sweeping module cleans the ground.
In order to make the floor-mopping robot module clear in labor division and better move along the path after the floor-sweeping robot performs the cleaning operation and complete the floor-mopping work, in a preferable case of the invention, in S3, the second control module outputs a following movement instruction to the second walking module and outputs a floor-mopping instruction to the floor-mopping module, and the second walking module moves indoors along the cleaning path of the floor-sweeping robot; the sweeping module drags the ground.
In order to ensure the smoothness of network connection, the floor sweeping robot and the floor mopping robot are in wireless communication through Ethernet or Zigbee.
According to the technical scheme, the sweeping robot and the mopping robot can cooperatively work during cleaning, the sweeping robot sweeps the floor in front, the mopping robot performs mopping work in the rear, the cleaning efficiency is improved, the functions of the conventional sweeping and mopping integrated robot are separated, the overall dimension of equipment is effectively reduced, and the cleaning requirement of an indoor narrow space is met; meanwhile, the capacity of the water tank of the mopping robot is improved, and the continuous working capacity of the mopping robot is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a clean system of indoor intelligence which characterized in that, clean system of indoor intelligence includes:
the sweeping robot is used for sensing indoor space information, generating a control command, moving indoors for cleaning, and transmitting indoor space information data and path information data after cleaning operation to the mopping robot;
and the mopping robot is used for receiving the indoor space information data and the path information data after the cleaning operation transmitted by the sweeping robot and mopping the floor along the path after the cleaning operation of the sweeping robot.
2. The indoor intelligent cleaning system according to claim 1, wherein the sweeping robot comprises: the device comprises a sensing module, a first control module, a first walking module, a sweeping module and a first communication module;
the sensing module is used for sensing and identifying the indoor space, acquiring indoor space information data and sending the indoor space information data to the first control module;
the first control module is used for receiving and processing the indoor space information data sent by the sensing module, outputting a path planning movement instruction to the first walking module and outputting a cleaning instruction to the sweeping module;
the first walking module is used for receiving the path planning movement instruction output by the first control module, moving the first walking module indoors according to a planned path, and feeding back moved path information data to the first control module;
the sweeping module is used for receiving the sweeping instruction output by the first control module and executing the instruction to carry out sweeping work;
the first communication module is used for transmitting indoor space information data and path information data after cleaning operation to the mopping robot.
3. The indoor intelligent cleaning system according to claim 2, wherein the sensing module comprises a laser radar and an infrared ranging sensor; the laser radar is used for accurately measuring the position, the motion state and the shape of an indoor obstacle, and detecting, identifying and distinguishing the obstacle; the infrared distance measuring sensor is used for sensing a front obstacle and measuring the distance of the obstacle; the sweeping module comprises a dust collecting box, a brush and a dust collector; the dust collecting box is used for storing garbage and dust; the brush is used for brushing the ground; the dust collector is used for adsorbing the garbage and the dust brushed by the brush into the dust collecting box.
4. The indoor intelligent cleaning system according to claim 1, wherein the mopping robot comprises: the second communication module, the second control module, the second walking module and the floor mopping module;
the second communication module is used for receiving the indoor space information data and the path information data after cleaning operation transmitted by the first communication module and transmitting the indoor space information data and the path information data to the second control module;
the second control module is used for receiving and processing the indoor space information data and the path information data after the cleaning operation, which are sent by the second communication module, outputting a following movement instruction to the second walking module and outputting a floor mopping instruction to the floor mopping module;
the second walking module is used for receiving the following movement instruction sent by the second control module and moving along the path after the sweeping robot performs the sweeping operation;
and the mopping module is used for receiving the mopping instruction output by the second control module to carry out mopping work.
5. The indoor intelligent cleaning system according to claim 4, wherein the mopping module comprises a water tank and a pallet; the water tank is used for storing water and providing the water to the supporting plate; the supporting plate is used for mopping the ground.
6. A control method for performing the indoor intelligent cleaning system of any one of claims 1 to 5, the method comprising the steps of:
s1, the sweeping robot senses and identifies the indoor space to be cleaned through the sensing module, and feeds back the indoor space information data to the first control module after obtaining the indoor space information data;
s2, the first control module outputs a path planning movement instruction and a cleaning instruction, the sweeping robot intelligently moves indoors according to the planned path and cleans the ground under the instruction of the first control module, and indoor space information data and path information data after cleaning operation are transmitted to the mopping robot through the first communication module;
s3, the floor mopping robot receives the indoor space information data and the path information data after the cleaning operation transmitted by the floor sweeping robot through the second communication module and sends the indoor space information data and the path information data to the second control module, the second control module outputs a following movement instruction and a floor mopping instruction, and the floor mopping robot moves along the path after the cleaning operation of the floor sweeping robot under the instruction of the second control module and performs floor mopping work at the same time;
s4, after the sweeping robot finishes moving on the planned indoor path, the first control module outputs a moving stopping instruction and a sweeping stopping instruction, the sweeping robot executes the instructions to stop moving and sweeping, and the first communication module transmits the information data of the cleaned path to the mopping robot;
s5, the mopping robot receives the cleaned path information data transmitted by the sweeping robot through the second communication module and sends the cleaned path information data to the second control module, the second control module outputs a following moving instruction and a mopping instruction, and the mopping robot moves along the cleaned path of the sweeping robot under the instruction of the second control module and performs mopping work at the same time;
and S6, after the floor mopping robot finishes moving on the path of the floor sweeping robot after cleaning, the second control module outputs a command for stopping following and moving and a command for stopping mopping, and the floor mopping robot executes the command for stopping following and moving and mopping.
7. The control method according to claim 6, wherein in S1, the sweeping robot senses and identifies the indoor space to be cleaned through a laser radar and an infrared ranging sensor, and feeds indoor space information data back to the first control module.
8. The control method according to claim 6, wherein in S2, the first control module outputs a path planning movement instruction to a first walking module and outputs a cleaning instruction to a sweeping module, the first walking module moves indoors according to a planned path and feeds back moved path information data to the first control module; the sweeping module cleans the ground.
9. The control method according to claim 6, wherein in S3, the second control module outputs a follow-up movement command to a second walking module and outputs a floor-mopping command to a floor-mopping module, and the second walking module moves along a path after the sweeping robot performs the cleaning operation; the mopping module performs mopping work on the ground.
10. The control method according to any one of claims 6 to 9, wherein the sweeping robot and the mopping robot communicate wirelessly via ethernet or Zigbee.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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