CN113116227B - Cleaning robot maintenance method, cleaning robot, cleaning system, and storage medium - Google Patents
Cleaning robot maintenance method, cleaning robot, cleaning system, and storage medium Download PDFInfo
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- CN113116227B CN113116227B CN201911419289.XA CN201911419289A CN113116227B CN 113116227 B CN113116227 B CN 113116227B CN 201911419289 A CN201911419289 A CN 201911419289A CN 113116227 B CN113116227 B CN 113116227B
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- cleaning
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- 238000004140 cleaning Methods 0.000 title claims abstract description 342
- 238000012423 maintenance Methods 0.000 title claims abstract description 131
- 238000000034 method Methods 0.000 title claims abstract description 40
- 239000000428 dust Substances 0.000 claims abstract description 541
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 238000004590 computer program Methods 0.000 claims description 15
- 239000000126 substance Substances 0.000 claims description 14
- 230000000694 effects Effects 0.000 description 13
- 239000000463 material Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
-
- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4025—Means for emptying
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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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- 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
-
- 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
- A47L2201/024—Emptying dust or waste liquid containers
Abstract
The application relates to the technical field of intelligent home, and particularly discloses a cleaning robot maintenance method, a cleaning robot, a cleaning system and a storage medium. The method comprises the following steps: acquiring dust box use data detected by the dust box detection device, and determining dust containing capacity of the dust box according to the dust box use data; and if the dust containing capacity of the dust box meets the preset maintenance condition, controlling the dust collection interface of the cleaning robot to be correspondingly arranged with the main dust collection interface of the maintenance equipment so that the maintenance equipment can carry out dust collection operation on the cleaning robot. The method improves the working efficiency of the cleaning robot and reduces the workload of users.
Description
Technical Field
The application relates to the technical field of intelligent home, in particular to a cleaning robot maintenance method, a cleaning robot, a cleaning system and a storage medium.
Background
With the improvement of the living standard of people and the development of intelligent home, more and more families purchase cleaning robots to assist users in cleaning home environments. The cleaning robot is generally automatically moved to various locations of the home for cleaning work, but after a period of time, the cleaning robot needs to be manually maintained by a user, including cleaning the cleaning robot with a dust box. The maintenance work of the cleaning robot is troublesome by the user, and great inconvenience is brought to the use of the cleaning robot.
Disclosure of Invention
The application provides a cleaning robot maintenance method, a cleaning robot, a cleaning system and a storage medium, which are used for improving the working efficiency of the cleaning robot and reducing the workload of a user.
In a first aspect, the present application provides a cleaning robot maintenance method applied to a cleaning robot, the cleaning robot including a dust box detection device and a dust box, the dust box being provided with a dust collection interface, the method comprising:
acquiring dust box use data detected by the dust box detection device, and determining dust containing capacity of the dust box according to the dust box use data;
and if the dust containing capacity of the dust box meets the preset maintenance condition, controlling the dust collection interface of the cleaning robot to be correspondingly arranged with the main dust collection interface of the maintenance equipment so that the maintenance equipment can carry out dust collection operation on the cleaning robot.
In a second aspect, the present application also provides a cleaning robot, including a storage, a processor, a dust box detection device, and a dust box, where the dust box is provided with a dust collection port; the dust box detection device is used for detecting the dust box and generating dust box use data; the dust collection interface is used for being correspondingly arranged with the main dust collection interface of the maintenance equipment; the memory is used for storing a computer program; the processor is used for executing the computer program and realizing the cleaning robot maintenance method when executing the computer program.
In a third aspect, the present application also provides a cleaning system comprising a cleaning robot and a maintenance device; the cleaning robot is used for realizing the maintenance method of the cleaning robot; the maintenance device is used for carrying out dust collection operation on the cleaning robot.
In a fourth aspect, the present application also provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement a cleaning robot maintenance method as described above.
The application discloses a cleaning robot maintenance method, a cleaning robot, a cleaning system and a storage medium, wherein the method comprises the following steps: acquiring dust box use data detected by the dust box detection device, and determining dust containing capacity of the dust box according to the dust box use data; and if the dust containing capacity of the dust box meets the preset maintenance condition, controlling the dust collection interface of the cleaning robot to be correspondingly arranged with the main dust collection interface of the maintenance equipment so that the maintenance equipment can carry out dust collection operation on the cleaning robot. The method can detect the use data of the dust box of the cleaning robot, determine the dust containing capacity of the dust box according to the use data of the dust box, and actively collect dust on the cleaning robot when the dust containing capacity is insufficient to support the cleaning progress of the cleaning robot or the dust containing capacity can influence the cleaning effect of the cleaning robot, so that the dust containing capacity of the cleaning robot is improved, the cleaning progress or the cleaning effect of the cleaning robot is prevented from being influenced, the working efficiency of the cleaning robot is improved, meanwhile, a user does not need to manually clean the dust box of the cleaning robot, and the workload of the user is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a maintenance method of a cleaning robot according to an embodiment of the present application;
fig. 2 is a schematic structural view of a cleaning robot and a maintenance apparatus provided by an embodiment of the present application;
fig. 3 is a schematic diagram of an internal structure of a maintenance device according to an embodiment of the present application;
fig. 4 is a block diagram schematically illustrating a structure of a cleaning robot according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
It is to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
The embodiment of the application provides a cleaning robot maintenance method, a cleaning robot, a cleaning system and a storage medium. Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart of a maintenance method of a cleaning robot according to an embodiment of the present application, the method is applied to a cleaning robot, the cleaning robot includes a dust box detection device and a dust box, and a dust collection port is disposed on the dust box.
As shown in fig. 1, the cleaning robot maintenance method specifically includes steps S101 to S102.
S101, acquiring dust box use data detected by the dust box detection device, and determining dust containing capacity of the dust box according to the dust box use data.
The dust box detection device is used for detecting the use condition of the dust box, when the dust box is used for dust collection operation of the cleaning robot, the sucked dust is placed in the cavity, more and more sucked substances can be accumulated in the dust box along with the continuous dust collection operation of the cleaning robot, and the dust collection effect of the cleaning robot can be influenced by the quantity of the substances in the dust box.
Therefore, by providing the dust box detecting device in the cleaning robot, the dust box use data is detected by the dust box detecting device, and the dust holding capacity of the dust box can be determined according to the dust box use data. The dust box use data is the data showing the use condition of the dust box during the period from the highest dust holding capacity to the current moment. The dust-holding capacity of the dust box can be embodied by the dust box use data.
Dust holding capacity is a capacity parameter for reflecting dust that can be carried in the dust box, and may be, for example, weight, volume, time, or the like. The dust box is generally provided with a fixed dust containing space, and as more and more substances are accumulated in the dust box, the dust containing capacity of the dust box can change, and the dust containing capacity of the dust box can influence the dust collection effect of the cleaning robot. For example, if the dust holding capacity of the dust box is at a minimum, i.e. no more dust can be carried in the dust box, the cleaning robot cannot continue to perform the dust suction operation.
Illustratively, the dust box may carry dust of a first weight according to a preset dust-holding capacity of the dust box, and the cleaning robot may suck the dust of the first weight after being used several times or for several times. Therefore, after the dust box use data of the dust box detection device is acquired, the dust containing capacity of the dust box can be determined according to the dust box use data.
S102, if the dust containing capacity of the dust box meets a preset maintenance condition, controlling the dust collection interface of the cleaning robot to be correspondingly arranged with the main dust collection interface of the maintenance equipment so that the maintenance equipment can conduct dust collection operation on the cleaning robot.
The preset maintenance condition is used for judging whether the dust containing capacity of the dust box is insufficient to continue to carry out cleaning progress or the dust containing capacity can influence the cleaning effect of the cleaning robot. If the dust containing capacity of the dust box meets the preset maintenance condition, the dust box of the cleaning robot is insufficient to continuously support the cleaning robot to continuously execute the cleaning progress or the dust containing capacity can influence the cleaning effect of the cleaning robot, and the maintenance equipment can be controlled to carry out dust collecting operation on the cleaning robot. The dust collecting operation is an operation for improving the dust holding capacity of the dust box, and may include extracting a substance carried in the dust box to release a dust holding space of the dust box and improve the dust holding capacity.
The cleaning robot is provided with a dust collection interface, the maintenance equipment is provided with a main dust collection interface, and the maintenance equipment can only maintain the cleaning robot after the dust collection interface of the cleaning robot and the main dust collection interface of the maintenance equipment are correspondingly arranged. The controlling of the dust collection interface of the cleaning robot and the main dust collection interface of the maintenance equipment correspondingly comprises: and opening a dust collection interface of the cleaning robot, wherein the positions of the dust collection interface and the main dust collection interface are corresponding.
The maintenance apparatus includes a dust collection assembly that can take out substances in a dust box of the cleaning robot. The maintenance device performing dust collection operation on the cleaning robot includes: and extracting substances in the dust box of the cleaning robot through the main dust collecting interface and the dust collecting interface of the cleaning robot.
Fig. 2 is a schematic structural view of a cleaning robot and a maintenance device, and as shown in fig. 2, when the cleaning robot 100 is located at the position in fig. 2, i.e., at a maintenance preset position, a main dust collecting interface of the maintenance device 200 is connected to a dust collecting interface of the cleaning robot 100, and the maintenance device 200 can extract substances in a dust box of the cleaning robot through the main dust collecting interface and the dust collecting interface of the cleaning robot.
Fig. 3 is a schematic view illustrating an internal structure of a maintenance apparatus according to an embodiment of the present application, and as shown in fig. 3, the maintenance apparatus 200 includes a dust collection assembly for extracting a material in a dust collection container of a cleaning robot. Illustratively, the dust collection assembly includes a driving motor disposed within the maintenance apparatus 200, a main dust collection interface 12 disposed at the maintenance apparatus 200, a dust collection box 13, and a dust collection passage connected between the main dust collection interface 12 and the dust collection box 14.
For example, when the cleaning robot is located at a maintenance preset position, the main dust collection interface 12 of the maintenance device 200 is connected with the dust collection interface of the cleaning robot, and the maintenance device 200 can extract substances in the dust box of the cleaning robot through the main dust collection interface 12 and the dust collection interface of the cleaning robot.
As shown in fig. 3, the maintenance device 200 further comprises detection means 11 for detecting the position of the cleaning robot 20. For example, the detection means 11 comprise a micro switch, a photo sensitive pair of tubes, etc.
According to the maintenance method for the cleaning robot, provided by the embodiment of the application, the use data of the dust box of the cleaning robot can be detected, the dust containing capacity of the dust box is determined according to the use data of the dust box, when the dust containing capacity is insufficient to support the cleaning progress of the cleaning robot to be continuously executed or the dust containing capacity can influence the cleaning effect of the cleaning robot, dust collection operation can be actively carried out on the cleaning robot, the dust containing capacity of the cleaning robot is improved, the influence on the cleaning progress or the cleaning effect of the cleaning robot is avoided, the working efficiency of the cleaning robot is improved, meanwhile, a user does not need to manually clean the dust box of the cleaning robot, and the workload of the user is reduced.
In one embodiment, the acquiring the dust box usage data detected by the dust box detection device includes:
and acquiring dust box use data detected by the dust box detection device when the cleaning robot performs cleaning operation according to preset cleaning task information.
When the cleaning robot executes cleaning operation according to preset cleaning task information, the cleaning robot can continuously collect dust, and the dust containing capacity of the dust box is continuously changed. Therefore, when the cleaning robot performs cleaning operation according to preset cleaning task information, the dust box use data can be detected, and the dust containing capacity of the dust box can be further determined, if the dust containing capacity is insufficient to support the cleaning progress or the dust containing capacity of the cleaning robot to influence the cleaning effect of the cleaning robot, the cleaning robot can be controlled to perform dust collecting operation so as to improve the dust containing capacity of the cleaning robot, and the cleaning robot can have enough dust containing capacity to complete the residual cleaning operation corresponding to the preset cleaning task information.
In one embodiment, when the cleaning robot performs a cleaning operation according to preset cleaning task information, the cleaning robot further includes:
determining residual cleaning task information according to the preset cleaning task information and the cleaning progress of the cleaning robot; determining a dust-holding requirement according to the residual cleaning task information;
correspondingly, if the dust capacity of the dust box meets a preset maintenance condition, controlling the dust collection interface of the cleaning robot to be correspondingly arranged with the main dust collection interface of the maintenance equipment, including:
and if the dust containing capacity of the dust box accords with the preset maintenance condition and the dust containing requirement is larger than the dust containing capacity, controlling the dust collecting interface of the cleaning robot to be correspondingly arranged with the main dust collecting interface of the maintenance equipment.
The preset cleaning task information generally requires the cleaning robot to perform cleaning operation on the preset area, the cleaning robot generally performs cleaning operation on the preset area according to a preset path to complete execution of the preset cleaning task information for a certain time and a certain process, so that the cleaning robot can continuously acquire the cleaning progress of the cleaning robot when executing the cleaning operation corresponding to the preset cleaning task information, determine the residual cleaning task information of the cleaning task, and judge how much dust containing space is needed for a dust box of the cleaning robot to complete the residual cleaning task according to the residual cleaning task information, thereby determining the dust containing requirement.
Along with the continuous execution of cleaning operation by the cleaning robot, the cleaning progress can be continuously increased, the residual cleaning task information can be gradually reduced, namely the dust containing requirement can be gradually reduced, but simultaneously, the dust containing capacity of a dust box of the cleaning robot can also be continuously reduced, if the reduction rate of the dust containing requirement is lower than the reduction rate of the dust containing capacity, the moment when the dust containing requirement is greater than the dust containing capacity can occur, namely the cleaning robot can not complete the residual cleaning task information.
Therefore, the residual cleaning task information can be determined according to the preset cleaning task information and the cleaning progress of the cleaning robot, and the dust containing requirement can be determined according to the residual cleaning task information, so that when the dust containing capacity of the dust box meets the preset maintenance condition and is larger than the dust containing capacity, the cleaning robot is controlled to execute dust collecting operation. Through this embodiment, can monitor the change of dust holding demand and dust holding ability of cleaning robot in the period of carrying out the cleaning task constantly, carry out dust collection operation to cleaning robot at suitable moment to in time clear up the cleaning robot and to the material in the dirt box, in time release the dirt space of dirt box, can guarantee that cleaning robot accomplishes the cleaning operation that preset cleaning task information corresponds smoothly.
In one embodiment, the acquiring the dust box usage data detected by the dust box detection device includes:
before the cleaning robot performs a cleaning operation according to preset cleaning task information, dust box use data detected by the dust box detection device are acquired.
When the cleaning robot does not execute the cleaning task information, the cleaning robot is generally in a standby state, can be positioned at any corner in a household, can also be positioned at maintenance equipment for standby until the cleaning robot receives the preset cleaning task information, and needs to perform cleaning operation according to the preset cleaning task information, wherein the cleaning operation comprises dust collection operation.
Therefore, before the cleaning robot performs cleaning operation according to the preset cleaning task information, the dust box use data of the dust box is detected, the dust containing capacity of the dust box is further determined, and if the dust containing capacity is insufficient to support the cleaning robot to perform cleaning operation, dust collecting operation can be performed on the cleaning robot, so that the dust containing capacity of the cleaning robot is improved, and the cleaning robot can have enough dust containing capacity to complete cleaning operation corresponding to the preset cleaning task information.
In one embodiment, the controlling the dust collection interface of the cleaning robot is disposed corresponding to a main dust collection interface of a maintenance device, and includes:
and controlling the cleaning robot to move to the maintenance equipment, and controlling the dust collection interface of the cleaning robot to be arranged corresponding to the main dust collection interface of the maintenance equipment.
If the cleaning robot is at any corner in a household or is executing cleaning operation, if dust collection operation is to be performed on the cleaning robot, the cleaning robot can be controlled to move to the maintenance equipment, and then the dust collection interface of the cleaning robot is controlled to be arranged corresponding to the main dust collection interface of the maintenance equipment.
The cleaning robot is further provided with a moving module, the moving module is used for moving on the ground so as to enable the cleaning robot to move, and the moving module can comprise a motor and wheels. By means of the movement module, the cleaning robot can be moved over the floor, for example according to a pre-designed cleaning path.
The cleaning robot is controlled to move to a maintenance preset position of the maintenance device, a dust collection interface of the cleaning robot is started, and the maintenance device can start a main dust collection interface of the maintenance device when detecting that the cleaning robot moves to the maintenance preset position, so that the dust collection interface of the cleaning robot corresponds to the main dust collection interface of the maintenance device.
In one embodiment, the dust box detection device comprises a weight sensor arranged at the dust box;
the determining the dust holding capacity of the dust box according to the dust box use data comprises the following steps:
and determining the dust holding capacity of the dust box according to the weight of the dust box detected by the weight sensor and a preset weight threshold.
Wherein the weight sensor provided at the dust box can detect the weight of the substance contained in the dust box or detect the weight of the whole dust box and generate the weight of the dust box. For example, the weight sensor may be located at the bottom of the dust box.
The preset weight threshold may be a weight parameter for determining the dust holding capacity of the dust box, and the dust holding capacity of the dust box may be determined according to a relationship between the preset weight threshold and the weight of the dust box. For example, if the weight of the dust box is greater than or equal to the preset weight threshold, it is determined that the dust capacity of the dust box is insufficient to continue the cleaning progress or the dust capacity may affect the cleaning effect of the cleaning robot, that is, it is determined that the dust capacity of the dust box meets the preset maintenance condition.
In one embodiment, the preset weight threshold is determined by multiplying the full weight of the dust box by a weight ratio parameter; and if the weight of the dust box detected by the weight sensor is greater than or equal to the preset weight threshold, determining that the dust containing capacity of the dust box meets preset maintenance conditions.
Wherein the full weight of the dust box is the weight of the dust box when the dust box is full of dust material, the full weight of the dust box can be preset. The weight ratio parameter is a weight parameter for determining a frequency of a dust collecting operation of the cleaning robot; the greater the weight ratio parameter, the higher the preset weight threshold, and the frequency of dust collection operation of the cleaning robot may be reduced. The smaller the weight ratio parameter, the lower the preset weight threshold value, and the frequency of dust collection operation of the cleaning robot may be increased. Illustratively, the weight ratio parameter may be greater than or equal to 60%, i.e. when six weight parts of dust materials are loaded in the dust box, the dust capacity of the dust box can be determined to meet the preset maintenance condition; optionally, the weight ratio parameter may be 90%, that is, when the dust box is loaded with nine weight of dust substances with the full weight of the dust box, the dust accommodating capacity of the dust box is determined to be in accordance with a preset maintenance condition, so that the cleaning robot can be controlled to perform dust collecting operation. The weight ratio parameter may be set according to practical application requirements, and is not limited herein.
In one embodiment, the dust box detection device comprises a volume sensor disposed on the dust box;
the determining the dust holding capacity of the dust box according to the dust box use data comprises the following steps:
and determining the dust holding capacity of the dust box according to the residual volume of the dust box detected by the volume sensor and a preset volume threshold.
The volume sensor is arranged on the dust box and can detect the volume of dust substances contained in the dust box, generate dust volume and determine the residual volume of the dust box according to the preset capacity volume of the dust box and the detected dust volume. Alternatively, a plurality of sensors may be provided on the inner wall of the dust box to detect the volume of dust material within the dust box.
The preset volume threshold is a volume parameter for judging the dust holding capacity of the dust box, and the dust holding capacity of the dust box can be determined according to the relation between the residual volume of the dust box and the preset volume threshold. For example, if the remaining volume of the dust box is less than or equal to the preset volume threshold, it is determined that the dust containing capacity of the dust box is insufficient to continue to perform the cleaning process or the dust containing capacity may affect the cleaning effect of the cleaning robot, i.e., it may be determined that the dust containing capacity of the dust box meets the preset maintenance condition.
In one embodiment, the preset volume threshold is determined by multiplying the dustbox capacity volume by a volume ratio parameter; and if the residual volume of the dust box detected by the volume sensor is smaller than or equal to the preset volume threshold value, determining that the dust holding capacity of the dust box meets preset maintenance conditions.
Wherein the dust box volume is the volume of the dust box when the dust box is empty, and the dust box volume can be preset. The volume ratio parameter is a parameter for determining the frequency of the dust collecting operation of the cleaning robot; the greater the volume ratio parameter, the higher the preset volume threshold, and the lower the frequency of dust collection operation of the cleaning robot. The smaller the volume ratio parameter, the smaller the preset volume threshold, and the higher the frequency of dust collection operation of the cleaning robot. Illustratively, the volume ratio parameter may be less than or equal to 60%, i.e. when the dust box is loaded with four volumes of dust material in the capacity volume of the dust box, it may be determined that the dust capacity of the dust box meets the preset maintenance condition; optionally, the volume ratio parameter may be 10%, that is, when the dust box is loaded with a ninety-one-volume dust substance with the capacity of the dust box, the dust capacity of the dust box is determined to meet a preset maintenance condition, so that the cleaning robot can be controlled to perform dust collection operation. The volume ratio parameter may be set according to practical application requirements, and is not limited herein.
In one embodiment, the dust box detection device comprises an air pressure sensor arranged in an air duct or a dust collection cavity of the cleaning robot;
the determining the dust holding capacity of the dust box according to the dust box use data comprises the following steps:
and determining the dust holding capacity of the dust box according to the air pressure data detected by the air pressure sensor and a preset air pressure threshold value.
Wherein, set up dust absorption subassembly in the cleaning robot, dust absorption subassembly includes wind channel and dust collection chamber, and the dust collection chamber can be the dirt box or be used for installing the dirt box. In the cleaning robot with the detachable dust box, the dust box can be arranged in the dust collecting cavity; in the cleaning robot in which the dust box is integrated with the body, the dust collection chamber may be the dust box.
The dust collection assembly can collect dust on the ground in the moving process of the cleaning robot, and sucked substances can enter the dust box through the air duct. The air pressure sensor can be arranged in the air duct or the dust collection cavity, and the air pressure sensor is used for detecting air pressure data in a dust collection assembly of the cleaning robot when the cleaning robot performs cleaning operation.
The air pressure data may include vacuum degree or dust suction pressure, the vacuum degree being the degree of rarefaction of air in a vacuum state, i.e., the vacuum degree in the dust box and the dust suction assembly when the cleaning robot is in dust suction operation; the dust collection pressure can be the pressure in the air duct in the dust collection assembly when the cleaning robot is in dust collection operation, the lower the vacuum degree is, the larger the dust collection pressure is, and the poorer the dust collection effect is.
The preset air pressure threshold is an air pressure parameter for judging the dust holding capacity of the dust box, and the dust holding capacity of the dust box can be determined according to the relation between the air pressure data and the preset air pressure threshold. The preset air pressure threshold value includes a preset vacuum degree and a preset pressure, and if the vacuum degree in the air pressure data is smaller than or equal to the preset vacuum degree, or the dust collection pressure in the air pressure data is larger than or equal to the preset pressure, it is determined that the dust containing capacity of the dust box is insufficient to continue to perform cleaning progress or the dust containing capacity can affect the cleaning effect of the cleaning robot, that is, it can be determined that the dust containing capacity of the dust box meets the preset maintenance condition.
In one embodiment, the preset barometric pressure threshold comprises a vacuum threshold determined from an initial vacuum multiplied by a vacuum scale parameter and/or a pressure threshold determined from an initial pressure multiplied by a pressure scale parameter;
if the vacuum degree in the air pressure data detected by the air pressure sensor is less than or equal to the vacuum degree threshold value, and/or
And if the dust collection pressure in the air pressure data detected by the air pressure sensor is greater than or equal to the pressure threshold value, determining that the dust containing capacity of the dust box meets the preset maintenance condition.
When the initial vacuum degree is the vacuum degree detected by the air pressure sensor when the cleaning robot is used for dust collection and the initial pressure is the pressure data detected by the air pressure sensor when the cleaning robot is used for dust collection operation, the initial vacuum degree and the initial pressure can be preset.
The vacuum degree proportion parameter is a vacuum degree parameter for determining the frequency of dust collection operation of the cleaning robot; the greater the vacuum ratio parameter, the higher the vacuum threshold, and the frequency of dust collection operation of the cleaning robot may be reduced. The smaller the vacuum ratio parameter is, the lower the vacuum threshold value is, and the frequency of dust collection operation of the cleaning robot is increased.
The pressure ratio parameter is a pressure parameter for determining a frequency of a dust collecting operation of the cleaning robot; the greater the pressure ratio parameter, the higher the pressure threshold, and the frequency of dust collection operation of the cleaning robot may be reduced. The smaller the pressure ratio parameter, the lower the pressure threshold value, and the frequency of dust collection operation of the cleaning robot increases. Whether the dust holding capacity of the dust box meets the preset maintenance conditions can be judged through the vacuum degree and/or the dust collection pressure.
Illustratively, the vacuum ratio parameter may be less than or equal to 60%, i.e., the vacuum is 60% or less of the initial vacuum, i.e., it may be determined that the dust holding capacity of the dust box meets the preset maintenance condition; alternatively, the vacuum degree ratio parameter may be 25%, that is, when the vacuum degree is 25% of the initial vacuum degree, it is determined that the dust-holding capacity of the dust box meets a preset maintenance condition, and the cleaning robot may be controlled to perform dust collection operation. The vacuum ratio parameter and the pressure ratio parameter can be set according to practical application requirements, and are not limited herein.
Referring to fig. 4, fig. 4 is a schematic block diagram illustrating a structure of a cleaning robot according to an embodiment of the present application. The cleaning robot may be a sweeping robot.
Referring to fig. 4, the cleaning robot 100 includes a dust box provided with a dust collection interface, a processor 110 connected through a system bus, a memory 120, and a dust box detection device 130, wherein the memory 120 may include a nonvolatile storage medium and an internal memory.
The non-volatile storage medium may store an operating system and a computer program. The computer program comprises program instructions which, when executed, cause the processor to perform any one of the cleaning robot maintenance methods.
The dust box detection device is used for detecting the dust box and generating dust box use data; the dust collection interface is used for being correspondingly arranged with the main dust collection interface of the maintenance equipment.
The processor is used to provide computing and control capabilities to support the operation of the entire cleaning robot.
The internal memory provides an environment for the execution of a computer program in the non-volatile storage medium, which when executed by the processor, causes the processor to perform any one of the cleaning robot maintenance methods.
It will be appreciated by those skilled in the art that the structure shown in fig. 4 is merely a block diagram of a part of the structure related to the present application and does not constitute a limitation of the cleaning robot to which the present application is applied, and that a specific cleaning robot may include more or less components than those shown in the drawings, or may combine some components, or have a different arrangement of components.
It should be appreciated that the processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Wherein in one embodiment the processor is configured to run a computer program stored in the memory to implement the steps of:
acquiring dust box use data detected by the dust box detection device, and determining dust containing capacity of the dust box according to the dust box use data;
and if the dust containing capacity of the dust box meets the preset maintenance condition, controlling the dust collection interface of the cleaning robot to be correspondingly arranged with the main dust collection interface of the maintenance equipment so that the maintenance equipment can carry out dust collection operation on the cleaning robot.
In one embodiment, the processor, when implementing the acquiring the dust box usage data detected by the dust box detection device, is configured to implement:
before the cleaning robot performs a cleaning operation according to preset cleaning task information or while the cleaning robot performs a cleaning operation according to preset cleaning task information, dust box use data detected by the dust box detection device are acquired.
In one embodiment, the processor is further configured to, when implementing that the cleaning robot performs a cleaning operation according to preset cleaning task information, implement:
determining residual cleaning task information according to the preset cleaning task information and the cleaning progress of the cleaning robot;
determining a dust-holding requirement according to the residual cleaning task information;
when the processor realizes that if the dust containing capacity of the dust box meets the preset maintenance condition, the processor controls the dust collection interface of the cleaning robot to be correspondingly arranged with the main dust collection interface of the maintenance equipment, the processor is used for realizing:
and if the dust containing capacity of the dust box accords with the preset maintenance condition and the dust containing requirement is larger than the dust containing capacity, controlling the dust collecting interface of the cleaning robot to be correspondingly arranged with the main dust collecting interface of the maintenance equipment.
In one embodiment, the processor is configured to, when implementing that the controlled dust collection interface of the cleaning robot is configured to correspond to a main dust collection interface of a maintenance device, implement:
and controlling the cleaning robot to move to the maintenance equipment, and controlling the dust collection interface of the cleaning robot to be arranged corresponding to the main dust collection interface of the maintenance equipment.
In one embodiment, the dust box detection device comprises a weight sensor arranged at the dust box; the processor is configured to, when implementing the determining the dust holding capacity of the dust box according to the dust box usage data, implement:
and determining the dust holding capacity of the dust box according to the weight of the dust box detected by the weight sensor and a preset weight threshold.
In one embodiment, the preset weight threshold is determined by multiplying the full weight of the dust box by a weight ratio parameter; and if the weight of the dust box detected by the weight sensor is greater than or equal to the preset weight threshold, determining that the dust containing capacity of the dust box meets preset maintenance conditions.
In one embodiment, the dust box detection device comprises a volume sensor disposed on the dust box; the processor is configured to, when implementing the determining the dust holding capacity of the dust box according to the dust box usage data, implement:
and determining the dust holding capacity of the dust box according to the residual volume of the dust box detected by the volume sensor and a preset volume threshold.
In one embodiment, the preset volume threshold is determined by multiplying the dustbox capacity volume by a volume ratio parameter; and if the residual volume of the dust box detected by the volume sensor is smaller than or equal to the preset volume threshold value, determining that the dust holding capacity of the dust box meets preset maintenance conditions.
In one embodiment, the dust box detection device comprises an air pressure sensor arranged in an air duct or a dust collection cavity of the cleaning robot; the processor is configured to, when implementing the determining the dust holding capacity of the dust box according to the dust box usage data, implement:
and determining the dust holding capacity of the dust box according to the air pressure data detected by the air pressure sensor and a preset air pressure threshold value.
In one embodiment, the preset barometric pressure threshold comprises a vacuum threshold determined from an initial vacuum multiplied by a vacuum scale parameter and/or a pressure threshold determined from an initial pressure multiplied by a pressure scale parameter;
if the vacuum degree in the air pressure data detected by the air pressure sensor is less than or equal to the vacuum degree threshold value, and/or
And if the dust collection pressure in the air pressure data detected by the air pressure sensor is greater than or equal to the pressure threshold value, determining that the dust containing capacity of the dust box meets the preset maintenance condition.
The embodiment of the application also provides a cleaning system, which comprises a cleaning robot and maintenance equipment; the cleaning robot is used for realizing any one of the cleaning robot maintenance methods provided by the embodiment of the application; the maintenance device is used for carrying out dust collection operation on the cleaning robot.
The embodiment of the application also provides a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, the computer program comprises program instructions, and the processor executes the program instructions to realize any cleaning robot maintenance method provided by the embodiment of the application.
The computer readable storage medium may be an internal storage unit of the cleaning robot according to the foregoing embodiment, for example, a hard disk or a memory of the cleaning robot. The computer-readable storage medium may also be an external storage device of the cleaning robot, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, which are equipped on the cleaning robot.
While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (12)
1. A cleaning robot maintenance method, characterized by being applied to a cleaning robot including a dust box detection device and a dust box on which a dust collection port is provided, the method comprising:
acquiring dust box use data detected by the dust box detection device, and determining dust containing capacity of the dust box according to the dust box use data;
if the dust containing capacity of the dust box meets the preset maintenance condition, controlling the dust collection interface of the cleaning robot to be correspondingly arranged with the main dust collection interface of the maintenance equipment so as to enable the maintenance equipment to carry out dust collection operation on the cleaning robot;
the obtaining of the dust box usage data detected by the dust box detection device includes:
acquiring dust box use data detected by the dust box detection device before the cleaning robot performs cleaning operation according to preset cleaning task information or when the cleaning robot performs cleaning operation according to preset cleaning task information;
when the cleaning robot performs a cleaning operation according to preset cleaning task information, the cleaning robot further includes:
determining residual cleaning task information according to the preset cleaning task information and the cleaning progress of the cleaning robot;
determining a dust-holding requirement according to the residual cleaning task information;
if the dust containing capacity of the dust box meets the preset maintenance condition, controlling the dust collection interface of the cleaning robot to be correspondingly arranged with the main dust collection interface of the maintenance equipment, comprising:
and if the dust containing capacity of the dust box accords with the preset maintenance condition and the dust containing requirement is larger than the dust containing capacity, controlling the dust collecting interface of the cleaning robot to be correspondingly arranged with the main dust collecting interface of the maintenance equipment.
2. The cleaning robot maintenance method according to claim 1, wherein the controlling the dust collection interface of the cleaning robot is provided corresponding to a main dust collection interface of a maintenance device, comprising:
and controlling the cleaning robot to move to the maintenance equipment, and controlling the dust collection interface of the cleaning robot to be arranged corresponding to the main dust collection interface of the maintenance equipment.
3. The cleaning robot maintenance method according to claim 1, wherein the dust box detection device includes a weight sensor provided at a dust box;
the determining the dust holding capacity of the dust box according to the dust box use data comprises the following steps:
and determining the dust holding capacity of the dust box according to the weight of the dust box detected by the weight sensor and a preset weight threshold.
4. A cleaning robot maintenance method according to claim 3, wherein the preset weight threshold is determined by multiplying a full-load weight of the dust box by a weight proportion parameter;
and if the weight of the dust box detected by the weight sensor is greater than or equal to the preset weight threshold, determining that the dust containing capacity of the dust box meets preset maintenance conditions.
5. The cleaning robot maintenance method according to claim 1, wherein the dust box detection device includes a volume sensor provided on a dust box;
the determining the dust holding capacity of the dust box according to the dust box use data comprises the following steps:
and determining the dust holding capacity of the dust box according to the residual volume of the dust box detected by the volume sensor and a preset volume threshold.
6. The cleaning robot maintenance method of claim 5, wherein the preset volume threshold is determined by multiplying a dust box capacity volume by a volume ratio parameter;
and if the residual volume of the dust box detected by the volume sensor is smaller than or equal to the preset volume threshold value, determining that the dust holding capacity of the dust box meets preset maintenance conditions.
7. The maintenance method of a cleaning robot according to claim 1, wherein the dust box detecting means includes an air pressure sensor provided in an air duct or a dust collection chamber of the cleaning robot;
the determining the dust holding capacity of the dust box according to the dust box use data comprises the following steps:
and determining the dust holding capacity of the dust box according to the air pressure data detected by the air pressure sensor and a preset air pressure threshold value.
8. The cleaning robot maintenance method according to claim 7, wherein the preset air pressure threshold value includes a vacuum degree threshold value determined according to an initial vacuum degree multiplied by a vacuum degree proportion parameter, and/or a pressure threshold value determined according to an initial pressure multiplied by a pressure proportion parameter;
if the vacuum degree in the air pressure data detected by the air pressure sensor is less than or equal to the vacuum degree threshold value, and/or
And if the dust collection pressure in the air pressure data detected by the air pressure sensor is greater than or equal to the pressure threshold value, determining that the dust containing capacity of the dust box meets the preset maintenance condition.
9. The cleaning robot is characterized by comprising a storage, a processor, a dust box detection device and a dust box, wherein a dust collection port is arranged on the dust box;
the dust box detection device is used for detecting the dust box and generating dust box use data;
the dust collection interface is used for being correspondingly arranged with the main dust collection interface of the maintenance equipment;
the memory is used for storing a computer program;
the processor for executing the computer program and implementing the cleaning robot maintenance method according to any one of claims 1 to 8 when the computer program is executed.
10. A cleaning system, characterized in that the cleaning system comprises a cleaning robot and a maintenance device;
the cleaning robot is used to implement the cleaning robot maintenance method according to any one of claims 1 to 8;
the maintenance device is used for carrying out dust collection operation on the cleaning robot.
11. The cleaning system of claim 10, wherein the dust collection operation comprises: and extracting substances in the dust box of the cleaning robot through the main dust collecting interface and the dust collecting interface of the cleaning robot.
12. A computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, causes the processor to implement the cleaning robot maintenance method according to any one of claims 1 to 8.
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