CN113100675A - Mop removal reminding method and device and cleaning robot system - Google Patents
Mop removal reminding method and device and cleaning robot system Download PDFInfo
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- CN113100675A CN113100675A CN202110366463.XA CN202110366463A CN113100675A CN 113100675 A CN113100675 A CN 113100675A CN 202110366463 A CN202110366463 A CN 202110366463A CN 113100675 A CN113100675 A CN 113100675A
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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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
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- Electric Vacuum Cleaner (AREA)
- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
Abstract
The application relates to a mop removal reminding method, a mop removal reminding device and a cleaning robot system, which can firstly acquire and analyze floor material information of a working environment where a cleaning robot is located; then, when the floor material information is a material which is easy to be affected with moisture and is damaged, the analysis and judgment of whether a waterproof pad is installed in a charging pile which is used for charging the pile on the cleaning robot can be further combined; finally, under the condition that the waterproof pad is not installed in the charging pile, prompt information for removing the mop cloth can be output to inform a user. Through the scheme, the cleaning robot can be combined with actual conditions, the mop removal reminding is timely carried out under the condition that the waterproof pad is not installed in the charging pile for charging the cleaning robot, so that the floor made of materials which are easily damped and damaged is prevented from being soaked by the mop in the charging process for a long time, the service life of the floor is prolonged, and the working reliability of the cleaning robot is effectively improved.
Description
Technical Field
The application relates to the technical field of automatic cleaning, in particular to a mop removal reminding method and device and a cleaning robot system.
Background
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence. With the rapid development of scientific technology and the continuous improvement of the living standard of people, the floor sweeping robot is more and more widely used in daily life of people, and gradually becomes an essential household appliance for home life.
Most of floor sweeping robots integrate dust collection and floor mopping, can not only finish simple sweeping operation, but also can deeply clean the ground. However, due to the limitation of the floor material of the user, the mops of the sweeper robot for mopping cannot contact the floor for a long time. For example, when the floor is made of wood, if the sweeping robot does not remove the mop in time after finishing mopping, the wood floor is easily affected by moisture and is damaged, and the service life of the floor is seriously affected. Therefore, the traditional sweeping machine has poor working reliability.
Disclosure of Invention
Based on this, it is necessary to provide a mop removal reminding method, a mop removal reminding device and a cleaning robot system for solving the problem of poor working reliability of the conventional robot.
A mop removal reminder method comprising: acquiring floor material information of a working environment of a cleaner; when the floor material information is a material which is easy to be damaged by moisture, analyzing whether a waterproof pad is installed in the charging pile or not according to a Hall detection signal sent by a first Hall detector arranged in the charging pile in the process of charging the cleaning robot; when the waterproof pad is not installed in the charging pile, the reminding information for removing the mop cloth is pushed.
In one embodiment, the step of acquiring the floor material information of the working environment of the cleaner includes: controlling an ultrasonic detector of the cleaning robot to start to emit ultrasonic waves to the ground; and receiving an ultrasonic detection signal generated by the ultrasonic detector according to the ultrasonic wave reflected by the ground, and analyzing to obtain the floor material information.
In one embodiment, the step of acquiring the floor material information of the working environment of the cleaner includes: controlling a cliff detector of the cleaning robot to be started to emit infrared light to the ground; and receiving an infrared detection signal generated by the cliff detector according to the infrared light reflected by the ground, and analyzing to obtain the floor material information.
In one embodiment, when the floor material information is a material easily damaged by moisture, in the process of charging the pile on the cleaning robot, the step of analyzing whether the waterproof pad is installed in the charging pile according to the hall detection signal sent by the first hall detector arranged in the charging pile includes:
when the floor material information is a material which is easy to be affected with damp and damaged, detecting whether the cleaning robot starts a mopping working mode or not; when the cleaning robot starts a floor mopping working mode, in the process of charging the pile on the cleaning robot, whether the waterproof pad is installed in the charging pile or not is analyzed according to Hall detection signals sent by a first Hall detector arranged in the charging pile.
In one embodiment, after the step of detecting whether the cleaning robot starts the mopping mode when the floor material information is a material susceptible to moisture and corrosion, the method further includes: and when the cleaning robot does not start the mopping working mode, controlling the pile on the cleaning robot to charge.
In one embodiment, the step of detecting whether the cleaning robot starts the mopping operation mode includes: whether the cleaning robot is provided with the mop bracket is detected.
In one embodiment, the step of detecting whether the cleaning robot mounts the mop holder includes: controlling a second Hall detector of the cleaning robot to start to operate; and analyzing whether the cleaning robot is provided with a mop bracket or not according to the Hall detection signal output by the second Hall detector.
In one embodiment, when the floor material information is a material that is easily damaged by moisture, in the process of charging the pile on the cleaning robot, after the step of analyzing whether the waterproof pad is installed in the charging pile according to the hall detection signal sent by the first hall detector arranged in the charging pile, the method further includes: when filling the waterproof pad of electric pile installation, the control robot goes up the stake and charges.
A mop removal reminder device comprising: the floor material information acquisition module is used for acquiring the floor material information of the working environment of the cleaner; the waterproof pad installation analysis module is used for analyzing whether the waterproof pad is installed on the charging pile or not according to a Hall detection signal sent by a first Hall detector arranged on the charging pile in the process of charging the pile on the cleaning robot when the floor material information is a material which is easy to be damaged by moisture; and the reminding information pushing module is used for pushing reminding information for removing the mop when the waterproof pad is not installed in the charging pile.
A cleaning robot system comprises a cleaning robot, a charging pile, a controller and a first Hall detector, wherein the controller is arranged on the cleaning robot, the first Hall detector is arranged on the charging pile, the controller is connected with the first Hall detector, and the controller is used for performing mop removal reminding according to the method.
In one embodiment, the cleaning robot system further comprises a second hall detector arranged on the cleaning robot, and the second hall detector is connected with the controller.
In one embodiment, the cleaning robot system further comprises an ultrasonic detector disposed at the cleaning robot, and the ultrasonic detector is connected to the controller.
In one embodiment, the cleaning robot system further comprises an information prompting device connected to the controller.
According to the mop removal reminding method, the mop removal reminding device and the cleaning robot system, firstly, the floor material information of the working environment where the cleaning robot is located can be obtained for analysis; then, when the floor material information is a material which is easy to be affected with moisture and is damaged, the analysis and judgment of whether a waterproof pad is installed in a charging pile which is used for charging the pile on the cleaning robot can be further combined; finally, under the condition that the waterproof pad is not installed in the charging pile, prompt information for removing the mop cloth can be output to inform a user. Through the scheme, the cleaning robot can be combined with actual conditions, the mop removal reminding is timely carried out under the condition that the waterproof pad is not installed in the charging pile for charging the cleaning robot, so that the floor made of materials which are easily damped and damaged is prevented from being soaked by the mop in the charging process for a long time, the service life of the floor is prolonged, and the working reliability of the cleaning robot is effectively improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a mop removal reminding method according to an embodiment;
FIG. 2 is a schematic flow chart of a mop removal reminding method in another embodiment;
FIG. 3 is a schematic flow chart of a mop removal reminding method in another embodiment;
FIG. 4 is a schematic flow chart of a mop removal reminding method according to still another embodiment;
FIG. 5 is a schematic flow chart of a mop removal reminding method in yet another embodiment;
FIG. 6 is a schematic view of a mop removal reminder in accordance with an embodiment;
FIG. 7 is a schematic diagram of an embodiment of a cleaning robot system;
FIG. 8 is a schematic structural diagram of a cleaning robot system in another embodiment;
fig. 9 is a schematic structural diagram of a cleaning robot system in yet another embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are illustrated in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1, a mop removal reminding method includes steps S100, S200 and S300.
And step S100, acquiring floor material information of the working environment of the cleaner.
Specifically, the working environment of the cleaning robot is an area corresponding to the cleaning robot for sweeping and mopping the floor. Because the interior environment fitment style is various, to different users, the floor fitment material is also not completely the same to select, and some of them floor material easily wets and rots (for example wooden floor or easily rusts metal floor etc.), and it is not suitable for long-time moisture keeping, perhaps not suitable for long-time water contact, otherwise life will receive the influence. When the cleaning robot cleans the ground, if the mopping working mode is started, the mop of the cleaning robot inevitably contacts with the floor. When the cleaning robot stops working, the cleaning robot will not move but stop at a certain position, if the mop of the cleaning robot is not removed in time, the mop will soak the same position of the floor for a long time, and the service life of the floor is easily influenced. Therefore, the scheme of the embodiment can be combined with floor material information for analysis, and finally mop removal reminding of the cleaning robot is realized.
It should be noted that the operation of obtaining the floor material information of the cleaning robot may be performed by detecting and analyzing corresponding devices on the cleaning robot during the working process of the cleaning robot (i.e., cleaning and/or mopping the floor), or may be performed by analyzing corresponding devices disposed on the cleaning robot after the cleaning robot stops working. In other embodiments, the floor material information of the working environment of the cleaning robot may be obtained by user input, specifically, by what manner, and may be selected according to user requirements.
Step S200, when the local plate material information is a material which is easy to be affected with damp and rotten, in the process of charging the pile on the cleaning robot, whether the waterproof pad is installed on the charging pile or not is analyzed according to Hall detection signals sent by a first Hall detector arranged on the charging pile.
Specifically, the material which is easily damaged by moisture is a material which is deteriorated after being contacted with water for a long time, and the service life of the material is seriously influenced. A waterproof mat is a mat that is used to prevent the floor from coming into contact with moisture, which may be left behind on the mop of the cleaning robot. After receiving the floor material information, the controller needs to further analyze whether the floor material information belongs to a material which is easy to be damaged by moisture, and if the floor material information belongs to the material which is easy to be damaged by moisture, the controller executes subsequent waterproof pad setting detection operation; if the current material information does not belong to the material which is easy to be damped and damaged, the necessity of continuously detecting whether the waterproof pad is arranged is avoided.
It is understood that the manner in which the controller performs the analysis of the material of the floor to determine whether the information pertains to the material susceptible to moisture and corrosion is not unique. In one embodiment, the controller prestores data of whether various types of floor material information and corresponding floor material information belong to materials prone to moisture and corrosion, and after the controller acquires the floor material information, the controller directly performs matching analysis on the prestored data to obtain a conclusion of whether the current floor material information belongs to the materials prone to moisture and corrosion.
Fill electric pile and be provided with first hall detector, and first hall detector with set up in cleaning machines people's controller communication connection. Hall detector is hall sensor, through the change in hall detector detectable magnetic field, and then reflects whether fill electric pile installation waterproof pad through the change in magnetic field. In this embodiment, waterproof pad is provided with magnet to set up the hall detector in the waterproof pad mounted position department that fills electric pile, after the waterproof pad of installation, the hall detector can detect that magnetic field around changes, and the hall detector changes this magnetic field and converts hall detected signal into and exports to the controller and carry out the analysis. When the controller receives the Hall detection signal and reaches the preset threshold value, the controller indicates that the waterproof pad is installed in the charging pile.
And step S300, when the waterproof pad is not installed in the charging pile, pushing reminding information for removing the mop cloth.
Specifically, after the controller analyzes the received Hall detection information and obtains that the waterproof pad is not installed on the charging pile for charging the pile on the cleaning robot, the controller pushes reminding information for removing the mop to a user. Because the floor is for easily receiving the wet rotten material in cleaning robot's place operational environment, and when filling electric pile and also not installing waterproof pad, will make cleaning robot's mop and the long-time contact of floor in the charging process, in order to avoid soaking the life who influences the floor for a long time this moment, the controller will push the warning information that removes the mop this moment.
It should be noted that the manner in which the controller pushes the reminder to remove a swab is not exclusive. In one embodiment, the cleaning robot or the charging pile is further provided with an information prompting device, the controller is connected with the information prompting device, and the controller can push a prompting message for removing the mop to a user through the information prompting device. According to different types of the information prompting devices, corresponding pushing modes can be distinguished, and the information prompting device can specifically push and inform a user in the forms of sound, light and the like. In another embodiment, the controller may be in communication with the user terminal, and the reminder for removing the mop may be pushed directly to the user terminal to inform the user.
Referring to fig. 2, in one embodiment, step S100 includes step S110 and step S120.
Step S110, controlling an ultrasonic detector of the cleaning robot to start transmitting ultrasonic waves to the ground; and step S120, receiving an ultrasonic detection signal generated by the ultrasonic detector according to the ultrasonic wave reflected by the ground, and analyzing to obtain the floor material information.
Specifically, in the present embodiment, the detection operation of the floor material information is performed by using an ultrasonic detection method. When the cleaning robot is in the cleaning process, the ultrasonic detector arranged on the cleaning robot can emit ultrasonic waves to the ground, and the ultrasonic waves reflected back by the ground can be distinguished according to different ground materials. After receiving the ultrasonic waves reflected by the ground, the ultrasonic detector obtains corresponding ultrasonic detection signals through piezoelectric conversion and sends the corresponding ultrasonic detection signals to the controller. The controller is internally pre-stored with an ultrasonic signal database of the corresponding relation between the ultrasonic detection signal and the floor material information, and after receiving the ultrasonic detection signal, the controller compares the ultrasonic detection signal with the preset ultrasonic signal database for analysis, so that the floor material information of the current working environment can be obtained.
Referring to fig. 3, in one embodiment, step S100 includes step S130 and step S140.
Step S130, controlling a cliff detector of the cleaning robot to start to emit infrared light to the ground; step S140, receiving an infrared detection signal generated by the cliff detector according to the infrared ray reflected by the ground, and analyzing to obtain the floor material information.
Specifically, the cliff detector is a device for detecting information on the distance from the cleaning robot to the ground in the working process of the cleaning robot. The cliff detector utilizes the infrared detection principle to realize distance measurement. When the infrared light irradiates an object, the intensity of the infrared light reflected by the object is different according to the material of different objects, and by utilizing the principle, the cliff detector can be further utilized to realize the detection operation of the floor material information. Similarly, when the cleaning robot is started to work, the cliff detector arranged on the cleaning robot can emit infrared light to the ground, and the infrared light reflected back by the ground can be distinguished according to different ground materials. After receiving the infrared light reflected by the ground, the cliff detector performs photoelectric conversion to obtain a corresponding infrared detection signal and sends the infrared detection signal to the controller. An infrared signal database with the corresponding relation between the infrared detection signals and the floor material information is prestored in the controller, and after the controller receives the infrared detection signals, the controller compares the infrared detection signals with the preset infrared signal database for analysis, so that the floor material information of the current working environment can be obtained. The embodiment does not need to add extra devices, can realize floor material information detection by utilizing the original cliff detector of the cleaning robot, and has the advantages of saving resources and being beneficial to small-volume layout of the cleaning robot.
Referring to fig. 4, in one embodiment, step S200 includes step S210 and step S220.
Step S210, when the local plate material information is a material which is easy to be affected with damp and damaged, detecting whether the cleaning robot starts a mopping working mode; step S220, when the floor mopping working mode is started, in the process of charging the pile on the cleaning robot, whether the waterproof pad is installed on the charging pile is analyzed according to a Hall detection signal sent by a first Hall detector arranged on the charging pile.
Specifically, in this embodiment, when the controller analyzes that the floor material of the working area of the cleaning robot is the material which is easily damaged by moisture, the controller does not directly receive the hall detection signal to detect whether the waterproof pad is installed in the charging pile, but first detects whether the floor mopping working mode is started by the cleaning robot, and only when the floor mopping working mode is started by the cleaning robot, the detection operation whether the waterproof pad is installed is further performed.
It will be appreciated that the manner in which the controller detects whether the cleaning robot is operating in the mopping mode is not exclusive and in one embodiment may be by detecting whether the controller itself has a mopping related execution command to receive or transmit. In another embodiment, since the mopping mode of operation requires the installation of a corresponding mop holder, it can also be achieved by an external detector detecting whether a mop holder is installed or not.
Through the scheme of this embodiment, before the cleaning robot carries out the detection operation of waterproof pad, still can carry out the detection of whether cleaning robot starts the ground mode of operation earlier, only in the circumstances of starting ground mode of operation, just can have the mop and the possibility of the long-time contact of floor, just can further carry out the operation of whether installing waterproof pad detection this moment, otherwise just also do not carry out the necessity of whether installing waterproof pad detection. By means of the solution of this embodiment, the operational reliability of the mop removal reminder method can be further improved.
Therefore, referring to fig. 4, in one embodiment, after step S210, the method further includes step S230.
And step S230, when the floor mopping working mode is not started, controlling the pile on the cleaning robot to charge.
In particular, in this embodiment the cleaning robot does not switch on the mopping mode of operation, and there is no possibility of the mops coming into contact with the floor during charging. Therefore, the pile on the cleaning robot is directly controlled to be charged.
In one embodiment, the step of detecting whether the cleaning robot starts the mopping operation mode includes: whether the cleaning robot is provided with the mop bracket is detected.
Specifically, when the cleaning robot starts the mopping mode to mop the floor, since the process requires the mop of the cleaning robot to operate, in this embodiment, the detection of whether the cleaning robot starts the mopping mode is realized by detecting whether the robot mounts the mop bracket, and the cleaning robot mounts the mop bracket, that is, the cleaning robot starts the mopping mode.
In one embodiment, the step of detecting whether the cleaning robot mounts the mop holder includes: controlling a second Hall detector of the cleaning robot to start to operate; and analyzing whether the cleaning robot is provided with a mop bracket or not according to the Hall detection signal output by the second Hall detector.
In particular, the way of detecting whether the cleaning robot mounts the mop holder is not exclusive, and the present embodiment is implemented using a hall detector. The mop support is provided with magnet to set up the second hall detector in cleaning machines people's mop mounted position department, after the installation mop support, the second hall detector can detect that the magnetic field of surroundings changes, and the second hall detector changes this magnetic field change and changes hall detected signal and export to the controller and carry out the analysis. When the controller receives the Hall detection signal and reaches a preset threshold value, the cleaning robot is indicated to be provided with the mop bracket.
Referring to fig. 5, in an embodiment, after step S200, the method further includes step S400.
And S400, controlling the robot to pile up for charging when the waterproof pad is installed on the charging pile.
Specifically, at cleaning machines people's back fill the in-process of going up the stake and charging, after the operation of detecting whether fill electric pile and install waterproof pad, if it has installed waterproof pad to detect to fill electric pile, the user has already made waterproof measure in filling electric pile department this moment promptly, just also does not remind the necessity of removing the mop yet. In this case, it is only necessary to control the cleaning robot to perform the operation of charging the upper pile.
Through the scheme of this embodiment, both can realize removing the reasonable propelling movement of the warning information of mop, can also avoid installing waterproof under the condition of filling up, cleaning machines people still the propelling movement removes the condition emergence of the warning information of mop, can effectively improve user's use experience.
According to the mop removal reminding method, firstly, the floor material information of the working environment where the cleaning robot is located can be obtained for analysis; then, when the floor material information is a material which is easy to be affected with moisture and is damaged, the analysis and judgment of whether a waterproof pad is installed in a charging pile which is used for charging the pile on the cleaning robot can be further combined; finally, under the condition that the waterproof pad is not installed in the charging pile, prompt information for removing the mop cloth can be output to inform a user. Through the scheme, the cleaning robot can be combined with actual conditions, the mop removal reminding is timely carried out under the condition that the waterproof pad is not installed in the charging pile for charging the cleaning robot, so that the floor made of materials which are easily damped and damaged is prevented from being soaked by the mop in the charging process for a long time, the service life of the floor is prolonged, and the working reliability of the cleaning robot is effectively improved.
Referring to fig. 6, a mop removal reminder includes: the floor material information acquisition module 100, the waterproof pad installation analysis module 200 and the reminding information pushing module 300.
The floor material information acquisition module 100 is used for acquiring floor material information of a working environment of the cleaner; the waterproof pad installation analysis module 200 is used for analyzing whether a waterproof pad is installed in the charging pile according to a Hall detection signal sent by a first Hall detector arranged in the charging pile in the process of charging the pile on the cleaning robot when the floor material information is a material which is easily damaged by moisture; the reminding information pushing module 300 is used for pushing reminding information for removing the mop when the waterproof pad is not installed in the charging pile.
In one embodiment, the floor material information acquisition module 100 is further configured to control the ultrasonic detector of the cleaning robot to start transmitting ultrasonic waves to the ground; and the received ultrasonic detector analyzes an ultrasonic detection signal generated according to the ultrasonic wave reflected by the ground to obtain the floor material information.
In one embodiment, the floor material information acquisition module 100 is further configured to control the cliff detector of the cleaning robot to turn on to emit infrared light to the ground; and the receiving cliff detector analyzes an infrared detection signal generated according to the infrared light reflected by the ground to obtain the floor material information.
In one embodiment, the waterproof pad installation analysis module 200 is further configured to detect whether the cleaning robot starts a mopping mode when the floor material information is a material susceptible to moisture and corrosion; when the cleaning robot starts a floor mopping working mode, in the process of charging the pile on the cleaning robot, whether the waterproof pad is installed in the charging pile or not is analyzed according to Hall detection signals sent by a first Hall detector arranged in the charging pile.
In one embodiment, the waterproof pad installation analysis module 200 is also used to control pile charging on the cleaning robot when the cleaning robot does not turn on the mopping mode of operation.
In one embodiment, the waterproof pad mounting analysis module 200 is also used to detect whether the cleaning robot mounts a mop holder.
In one embodiment, the waterproof pad installation analysis module 200 is further used to control a second hall detector of the cleaning robot to start operation; and analyzing whether the cleaning robot is provided with a mop bracket or not according to the Hall detection signal output by the second Hall detector.
In one embodiment, the reminding information pushing module 300 is further used for controlling the pile on the robot to charge when the waterproof pad is installed on the charging pile.
For specific definitions of the mop removal reminder, reference is made to the above-mentioned definitions of the mop removal reminder method, which are not described in detail here. The modules in the mop removal reminder described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
The mop removal reminding device can firstly acquire the floor material information of the working environment of the cleaning robot for analysis; then, when the floor material information is a material which is easy to be affected with moisture and is damaged, the analysis and judgment of whether a waterproof pad is installed in a charging pile which is used for charging the pile on the cleaning robot can be further combined; finally, under the condition that the waterproof pad is not installed in the charging pile, prompt information for removing the mop cloth can be output to inform a user. Through the scheme, the cleaning robot can be combined with actual conditions, the mop removal reminding is timely carried out under the condition that the waterproof pad is not installed in the charging pile for charging the cleaning robot, so that the floor made of materials which are easily damped and damaged is prevented from being soaked by the mop in the charging process for a long time, the service life of the floor is prolonged, and the working reliability of the cleaning robot is effectively improved.
Referring to fig. 7, a cleaning robot system includes a cleaning robot 10, a charging pile 20, a controller 11 disposed on the cleaning robot 10, and a first hall sensor 21 disposed on the charging pile 20, wherein the controller 11 is connected to the first hall sensor 21 (not shown), and the controller 11 is configured to perform a mop removal reminder according to the above method.
Specifically, the working environment of the cleaning robot is an area corresponding to the cleaning robot 10 sweeping and mopping the floor. Because the interior environment fitment style is various, to different users, the floor fitment material is also not completely the same to select, and some of them floor material easily wets and rots (for example wooden floor or easily rusts metal floor etc.), and it is not suitable for long-time moisture keeping, perhaps not suitable for long-time water contact, otherwise life will receive the influence. When the floor mopping operation mode is turned on while the cleaning robot 10 cleans the floor, the mop of the cleaning robot 10 inevitably comes into contact with the floor. When the cleaning robot 10 stops working, the cleaning robot 10 will not move but stop at a certain position, and if the mop of the cleaning robot 10 is not removed in time, the mop will soak the same position of the floor for a long time, which may easily affect the service life of the floor. Therefore, the scheme of the embodiment can be analyzed by combining with the floor material information, and finally realizes the mop removal reminding of the cleaning robot 10.
It should be noted that the operation of acquiring the floor material information of the cleaning robot 10 may be performed by detecting and analyzing corresponding components on the cleaning robot 10 during the operation of the cleaning robot 10 (i.e., cleaning and/or mopping the floor), or may be performed by analyzing corresponding components disposed on the cleaning robot 10 after the operation of the cleaning robot 10 is stopped. In other embodiments, the floor material information of the working environment of the cleaning robot 10 may be obtained by user input, specifically, by what manner, and the user may make different selections according to the user's requirements.
The material which is easy to be wet and rotten is the material which can be deteriorated after being contacted with water for a long time, and the service life of the material can be seriously influenced. A waterproof mat is a mat that is used to prevent the floor from coming into contact with moisture, which may be left behind on the mop of the cleaning robot 10. After receiving the floor material information, the controller 11 needs to further analyze whether the floor material information at this time belongs to a material which is easily damaged by moisture, and if the floor material information belongs to a material which is easily damaged by moisture, then, execute a subsequent waterproof pad setting detection operation; if the current material information does not belong to the material which is easy to be damped and damaged, the necessity of continuously detecting whether the waterproof pad is arranged is avoided.
It is understood that the manner in which the controller 11 performs the analysis of the material of the floor as to whether the material is susceptible to moisture and rot is not exclusive. In an embodiment, the controller 11 prestores data of whether the information of various floor materials and the corresponding floor materials belong to materials prone to moisture and corrosion, and after the controller 11 acquires the information of the floor materials, the data are directly matched and analyzed with the prestored data, so that a conclusion whether the current information of the floor materials belongs to the materials prone to moisture and corrosion can be obtained.
The charging pile 20 is provided with a first hall detector 21, and the first hall detector 21 is in communication connection with the controller 11 provided in the cleaning robot 10. Hall detector is hall sensor, through the change of hall detector detectable magnetic field, and then reflects whether fill electric pile 20 installation waterproof pad through the change in magnetic field. In this embodiment, the waterproof pad is provided with magnet to set up the hall detector in the waterproof pad mounted position department that fills electric pile 20, after the waterproof pad of installation, the hall detector can detect that the magnetic field around changes, and the hall detector will change this magnetic field and change into hall detected signal and export controller 11 and carry out the analysis. When the controller 11 receives the hall detection signal and reaches the preset threshold value, it indicates that the waterproof pad is installed in the charging pile 20.
When the controller 11 analyzes the received hall detection information to obtain that the waterproof pad is not installed on the charging pile 20 for charging the pile on the cleaning robot 10, the controller 11 will push a reminder to remove the mop to the user. Because the floor is the material that easily receives the damp corruption in cleaning robot 10 place operational environment, and when filling electric pile 20 and not installing waterproof pad, will make cleaning robot 10's mop and the long-time contact of floor in the charging process, in order to avoid soaking the life who influences the floor for a long time this moment, controller 11 will push the warning information of removing the mop this moment.
It should be noted that the manner in which the controller 11 pushes the removal swab reminder is not exclusive. In one embodiment, the cleaning robot 10 or the charging pile 20 is further provided with an information prompting device, and the controller 11 is connected with the information prompting device, and the controller 11 can push a prompt message for removing the mop to the user through the information prompting device. According to different types of the information prompting devices, corresponding pushing modes can be distinguished, and the information prompting device can specifically push and inform a user in the forms of sound, light and the like. In another embodiment, the controller 11 may be in communication with a user terminal, and the reminder to remove the mop may be pushed directly to the user terminal to inform the user.
Referring to fig. 8, in an embodiment, the cleaning robot system further includes a second hall sensor 12 disposed on the cleaning robot 10, and the second hall sensor 12 is connected to the controller 11 (not shown).
Specifically, in this embodiment, when the controller 11 analyzes that the floor material of the working area of the cleaning robot 10 is a material which is easily damaged by moisture, the controller 11 does not directly receive the hall detection signal to detect whether the waterproof pad is installed in the charging pile 20, but first detects whether the floor mopping operation mode is started by the cleaning robot 10, and only when the floor mopping operation mode is started by the cleaning robot 10, the detection operation whether the waterproof pad is installed is further performed.
It is understood that the manner in which the controller 11 detects whether the cleaning robot 10 turns on the mopping mode is not exclusive, and in one embodiment, may be by detecting whether the controller 11 itself has a mopping-related execution command to receive or transmit. In another embodiment, since the mopping mode of operation requires the installation of a corresponding mop holder, it can also be achieved by an external detector detecting whether a mop holder is installed or not.
Through the scheme of this embodiment, before the cleaning robot 10 performs the detection operation of the waterproof pad, it is also detected whether the cleaning robot 10 starts the mopping operation mode, only when the mopping operation mode is started, the possibility that the mop cloth contacts the floor for a long time is existed, at this time, the operation of whether the waterproof pad is installed or not is further performed, otherwise, the necessity of whether the waterproof pad is installed or not is not performed. By means of the solution of this embodiment, the operational reliability of the mop removal reminder method can be further improved.
Referring to fig. 9, in one embodiment, the cleaning robot system further includes an ultrasonic detector 13 disposed on the cleaning robot 10, and the ultrasonic detector 13 is connected to the controller 11 (not shown).
Specifically, in the present embodiment, the detection operation of the floor material information is performed by using an ultrasonic detection method. During the cleaning operation of the cleaning robot 10, the ultrasonic detector 13 disposed on the cleaning robot 10 can emit ultrasonic waves to the ground, and the ultrasonic waves reflected by the ground are different according to the material of the ground. The ultrasonic detector 13 receives the ultrasonic waves reflected by the ground, performs piezoelectric conversion to obtain corresponding ultrasonic detection signals, and sends the ultrasonic detection signals to the controller 11. An ultrasonic signal database with a corresponding relation between the ultrasonic detection signal and the floor material information is prestored in the controller 11, and after the controller 11 receives the ultrasonic detection signal, the ultrasonic detection signal is compared with the preset ultrasonic signal database for analysis, so that the floor material information of the current working environment can be obtained.
The cleaning robot system can firstly acquire the floor material information of the working environment of the cleaning robot for analysis; then, when the floor material information is a material which is easy to be affected with moisture and is damaged, the analysis and judgment of whether a waterproof pad is installed in a charging pile which is used for charging the pile on the cleaning robot can be further combined; finally, under the condition that the waterproof pad is not installed in the charging pile, prompt information for removing the mop cloth can be output to inform a user. Through the scheme, the cleaning robot can be combined with actual conditions, the mop removal reminding is timely carried out under the condition that the waterproof pad is not installed in the charging pile for charging the cleaning robot, so that the floor made of materials which are easily damped and damaged is prevented from being soaked by the mop in the charging process for a long time, the service life of the floor is prolonged, and the working reliability of the cleaning robot is effectively improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A mop removal reminder method, comprising:
acquiring floor material information of a working environment of a cleaner;
when the floor material information is a material which is easy to be damaged by moisture, analyzing whether a waterproof pad is installed in the charging pile or not according to a Hall detection signal sent by a first Hall detector arranged in the charging pile in the process of charging the cleaning robot;
when the waterproof pad is not installed in the charging pile, the reminding information for removing the mop cloth is pushed.
2. A mop removal reminder method according to claim 1, wherein the step of acquiring floor material information of a cleaner work environment includes:
controlling an ultrasonic detector of the cleaning robot to start to emit ultrasonic waves to the ground;
and receiving an ultrasonic detection signal generated by the ultrasonic detector according to the ultrasonic wave reflected by the ground, and analyzing to obtain the floor material information.
3. A mop removal reminder method according to claim 1, wherein the step of acquiring floor material information of a cleaner work environment includes:
controlling a cliff detector of the cleaning robot to be started to emit infrared light to the ground;
and receiving an infrared detection signal generated by the cliff detector according to the infrared light reflected by the ground, and analyzing to obtain the floor material information.
4. A mop removal reminding method according to any of claims 1 to 3, wherein the step of analyzing whether the charging pile is installed with the waterproof pad according to the hall detection signal transmitted from the first hall detector provided in the charging pile during the charging process of the pile on the cleaning robot when the floor material information is a material which is easily damaged by moisture, comprises:
when the floor material information is a material which is easy to be affected with damp and damaged, detecting whether the cleaning robot starts a mopping working mode or not;
when the cleaning robot starts a floor mopping working mode, in the process of charging the pile on the cleaning robot, whether the waterproof pad is installed in the charging pile or not is analyzed according to Hall detection signals sent by a first Hall detector arranged in the charging pile.
5. The method for reminding removal of mop according to claim 4, wherein the step of detecting whether the cleaning robot starts the mopping operation mode when the floor material information is a material which is easily damaged by moisture further comprises:
and when the cleaning robot does not start the mopping working mode, controlling the pile on the cleaning robot to charge.
6. The mop removal reminding method according to claim 4, wherein the step of detecting whether the cleaning robot starts the mopping operation mode comprises:
whether the cleaning robot is provided with the mop bracket is detected.
7. The mop removal reminder method according to claim 6, wherein the step of detecting whether the cleaning robot mounts the mop holder includes:
controlling a second Hall detector of the cleaning robot to start to operate;
and analyzing whether the cleaning robot is provided with a mop bracket or not according to the Hall detection signal output by the second Hall detector.
8. A mop removal reminding method according to claim 1, wherein when the floor material information is a material susceptible to moisture and corrosion, the method further comprises, after the step of analyzing whether the waterproof pad is installed in the charging pile according to the hall detection signal sent by the first hall detector provided in the charging pile during the charging process of the pile on the cleaning robot:
when filling the waterproof pad of electric pile installation, the control robot goes up the stake and charges.
9. A mop removal reminder device, comprising:
the floor material information acquisition module is used for acquiring the floor material information of the working environment of the cleaner;
the waterproof pad installation analysis module is used for analyzing whether the waterproof pad is installed on the charging pile or not according to a Hall detection signal sent by a first Hall detector arranged on the charging pile in the process of charging the pile on the cleaning robot when the floor material information is a material which is easy to be damaged by moisture;
and the reminding information pushing module is used for pushing reminding information for removing the mop when the waterproof pad is not installed in the charging pile.
10. A cleaning robot system, characterized by comprising a cleaning robot, a charging pile, a controller arranged on the cleaning robot and a first hall detector arranged on the charging pile, wherein the controller is connected with the first hall detector, and the controller is used for carrying out mop removal reminding according to the method of any one of claims 1-8.
11. The cleaning robot system of claim 10, further comprising a second hall sensor disposed at the cleaning robot, the second hall sensor being connected to the controller.
12. The cleaning robot system according to claim 10, further comprising an ultrasonic detector provided to the cleaning robot, the ultrasonic detector being connected to the controller.
13. The cleaning robot system of claim 10, further comprising an information presentation device coupled to the controller.
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