CN113116240A - Mop removal reminding method and device and cleaning robot - Google Patents
Mop removal reminding method and device and cleaning robot Download PDFInfo
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- CN113116240A CN113116240A CN202110366128.XA CN202110366128A CN113116240A CN 113116240 A CN113116240 A CN 113116240A CN 202110366128 A CN202110366128 A CN 202110366128A CN 113116240 A CN113116240 A CN 113116240A
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 239000000463 material Substances 0.000 claims abstract description 146
- 238000001514 detection method Methods 0.000 claims description 55
- 238000009434 installation Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 12
- 238000002791 soaking Methods 0.000 abstract description 7
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- 230000007797 corrosion Effects 0.000 description 9
- 238000010408 sweeping Methods 0.000 description 8
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- 238000005516 engineering process Methods 0.000 description 3
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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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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
- G01N21/3563—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing solids; Preparation of samples therefor
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/04—Systems determining presence of a target
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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Abstract
The application relates to a mop removal reminding method, a mop removal reminding device and a cleaning robot, which can firstly acquire and analyze floor material information of a working environment where the 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 the waterproof pad is arranged in the area where the cleaning robot stops working can be further combined; finally, when the cleaning robot stops working, the cleaning robot can output prompt information of removing the mop to inform a user under the condition that the waterproof pad is not arranged in the area where the cleaning robot is located. Through the scheme, the mop removal reminding device can be combined with actual conditions, the mop removal reminding device can timely remove the mop when the cleaning robot stops working and is not arranged under the condition that the waterproof pad is not arranged at the position, so that the mop is prevented from soaking the floor made of materials prone to being damped and damaged for a long time, the service life of the floor is guaranteed, 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.
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 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 affected with moisture and is damaged, controlling an ultrasonic detector of the cleaning robot to start to detect whether a waterproof pad is arranged in an area where the cleaning robot stops working or not; when the cleaning robot stops working, the cleaning robot pushes the reminding information for removing the mop when the area is not provided with the waterproof pad.
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 susceptible to moisture and corrosion, the step of controlling an ultrasonic detector of the cleaning robot to start detecting whether a waterproof pad is arranged in an area where the cleaning robot stops working 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, the ultrasonic detector of the cleaning robot is controlled to start to detect whether the waterproof pad is arranged in the area where the cleaning robot stops working or not.
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 Hall detector of the cleaning robot to start and operate; and analyzing whether the cleaning robot is provided with a mop bracket or not according to the Hall detection signal output by the Hall detector.
In one embodiment, when the floor material information is a material susceptible to moisture and corrosion, the step of controlling an ultrasonic detector of the cleaning robot to start detecting whether a waterproof pad is arranged in an area where the cleaning robot stops working includes: when floor material information is for easily receiving the tide and rotten the material, at the automatic in-process that fills the charging of last stake of recharging of cleaning machines people, control cleaning machines people's ultrasonic detector opens and detects whether fill electric pile and install waterproof pad, fills electric pile and does not install waterproof pad and show that cleaning machines people stop work the time the region of locating does not be provided with waterproof pad promptly.
In one embodiment, when the floor material information is a material that is easily damaged by moisture, in the process of charging the cleaning robot by automatically recharging the pile, after the step of controlling the cleaning robot to start the detection of whether the waterproof pad is installed 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 controlling an ultrasonic detector of the cleaning robot to start to detect whether a waterproof pad is arranged in an area where the cleaning robot stops working or not when the floor material information is a material which is easy to be affected with moisture and rotten; and the reminding information pushing module is used for pushing reminding information for removing the mop when the cleaning robot stops working and the area is not provided with the waterproof pad.
A cleaning robot comprising a controller and an ultrasonic detector, the controller being connected to the ultrasonic detector, the controller being adapted to perform a mop removal reminder according to the above-mentioned method.
In one embodiment, the cleaning robot further comprises a hall detector connected to the controller.
In one embodiment, the cleaning robot 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, 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 the waterproof pad is arranged in the area where the cleaning robot stops working can be further combined; finally, when the cleaning robot stops working, the cleaning robot can output prompt information of removing the mop to inform a user under the condition that the waterproof pad is not arranged in the area where the cleaning robot is located. Through the scheme, the mop removal reminding device can be combined with actual conditions, the mop removal reminding device can timely remove the mop when the cleaning robot stops working and is not arranged under the condition that the waterproof pad is not arranged at the position, so that the mop is prevented from soaking the floor made of materials prone to being damped and damaged for a long time, the service life of the floor is guaranteed, 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 flow chart of a mop removal reminding method according to still another embodiment;
FIG. 7 is a schematic view of a mop removal reminder in accordance with an embodiment;
FIG. 8 is a schematic view of an embodiment of a cleaning robot;
FIG. 9 is a schematic view of a cleaning robot according to another embodiment;
fig. 10 is a schematic structural view of a cleaning robot in 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.
And step S200, when the local plate material information is a material which is easy to be affected with damp and rotten, controlling an ultrasonic detector of the cleaning robot to start to detect whether a waterproof pad is arranged in an area where the cleaning robot stops working.
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. The stop work refers to that the cleaning robot does not execute the cleaning work any more, and can be stopped running after the power is cut off and placed at a certain position, or automatically recharging and piling for charging. 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.
In this embodiment, the cleaning robot is provided with the ultrasonic detector, and when the controller detects that the floor of the working environment where the robot is currently located is easily affected with damp and decayed, the ultrasonic detector is started to detect whether the waterproof pad is arranged in the area where the robot is currently located. The ultrasonic detector sends ultrasonic waves to a specific position, then receives the ultrasonic waves returned from the specific position for conversion to obtain a corresponding ultrasonic signal, and the ultrasonic signal is analyzed to obtain a detection result of whether the waterproof pad is arranged at the corresponding position.
It should be noted that the location of the ultrasonic detector in the cleaning robot is not exclusive, and in one embodiment, the ultrasonic detector may be located at the bottom of the cleaning robot, and the detection of whether the waterproof pad is located at the bottom of the cleaning robot is directly performed when the controller controls the start operation of the cleaning robot. In other embodiments, the detection device may be disposed at a side surface or other position of the cleaning robot, as long as the detection of whether the waterproof pad is disposed in the area where the cleaning robot stops working can be achieved.
And step S300, when the cleaning robot stops working and is located in an area without a waterproof pad, pushing reminding information for removing the mop.
Specifically, when the controller controls the ultrasonic detector to start to detect the setting of the waterproof pad, after the waterproof pad is not installed in the area where the cleaning robot stops working, the controller pushes the reminding information for removing the mop to the user. Because the floor is the material that easily receives the tide corruption in cleaning robot's operational environment, and when robot stop work place region also for being provided with waterproof pad, will make cleaning robot's mop and floor direct contact, in order to avoid soaking the life who influences the floor for a long time this moment, the controller will push the warning information of removing 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 is further provided with an information prompting device, and the controller is connected with the information prompting device and 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; and step S220, when the cleaning robot starts the floor mopping working mode, controlling an ultrasonic detector of the cleaning robot to start detecting whether a waterproof pad is arranged in the area where the cleaning robot stops working.
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 control the ultrasonic detector to start the detection of whether the waterproof pad is set, but first detects whether the floor mopping mode of the cleaning robot is started, and only when the floor mopping mode of the cleaning robot is started, the detection operation of whether the waterproof pad is set 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.
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 Hall detector of the cleaning robot to start and operate; and analyzing whether the cleaning robot is provided with a mop bracket or not according to the Hall detection signal output by the 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 Hall detector is a Hall sensor, the Hall detector can detect the change of a magnetic field, and then whether the cleaning robot is provided with the mop bracket or not is reflected by the change of the magnetic field. In this embodiment, the mop support is provided with a magnet, and the hall detector is arranged at a mop installation position of the cleaning robot, and after the mop support is installed, the hall detector detects that a surrounding magnetic field changes, and converts the magnetic field change into a hall detection signal and outputs the hall detection signal to the controller for 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 one embodiment, step S200 includes step S230.
And step S230, when the local plate material information is a material which is easy to be affected with damp and rotten, controlling an ultrasonic detector of the cleaning robot to start detecting whether a waterproof pad is installed on the charging pile or not in the process of automatically recharging the charging pile and charging the cleaning robot. The charging pile is not provided with the waterproof pad, namely the area where the cleaning robot stops working is not provided with the waterproof pad.
Specifically, in the present embodiment, the charger robot stops working and is taken as a cleaning robot to perform charging as an example for explanation. When cleaning machines people electric quantity was crossed lowly, generally can open automatic back and fill, return to and fill the automatic stake of going up in electric pile position and charge. In this process, since the user does not participate, the electric quantity is often too low during the cleaning process, and the cleaning robot performs the recharging operation automatically, in which case the phenomenon that the mop of the cleaning robot soaks the floor for a long time is more likely to occur.
So in this embodiment, detect the floor material for easily receiving the tide corruption material when the controller, and cleaning machines people carries out the in-process of recharging, the controller can fill electric pile department and whether be provided with the detection operation of waterproof pad, and then avoid cleaning machines people charging process, the long-time and floor contact's of mop the condition emergence. Ultrasonic detector opens and fills the detection whether electric pile installs waterproof pad, opens the detection cleaning robot when stop work with ultrasonic detector and whether be provided with waterproof pad similarly in the region that locates with above-mentioned embodiment, no longer explains here.
Referring to fig. 6, in an embodiment, after step S230, 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 the waterproof pad is arranged in the area where the cleaning robot stops working can be further combined; finally, when the cleaning robot stops working, the cleaning robot can output prompt information of removing the mop to inform a user under the condition that the waterproof pad is not arranged in the area where the cleaning robot is located. Through the scheme, the mop removal reminding device can be combined with actual conditions, the mop removal reminding device can timely remove the mop when the cleaning robot stops working and is not arranged under the condition that the waterproof pad is not arranged at the position, so that the mop is prevented from soaking the floor made of materials prone to being damped and damaged for a long time, the service life of the floor is guaranteed, and the working reliability of the cleaning robot is effectively improved.
Referring to fig. 7, 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 controlling an ultrasonic detector of the cleaning robot to start to detect whether a waterproof pad is arranged in an area where the cleaning robot stops working or not when the floor material information is a material which is easy to be affected with moisture and rotten; the reminding information pushing module 300 is used for pushing reminding information for removing the mop when the cleaning robot stops working and the area is not provided with a waterproof pad.
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, the ultrasonic detector of the cleaning robot is controlled to start to detect whether the waterproof pad is arranged in the area where the cleaning robot stops working or not.
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 also used to control the 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 Hall detector.
In one embodiment, the waterproof pad installation analysis module 200 is further configured to control the ultrasonic detector of the cleaning robot to start detecting whether the waterproof pad is installed in the charging pile during the process of automatically recharging the pile for charging by the cleaning robot when the floor material information is a material susceptible to moisture and corrosion.
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 the waterproof pad is arranged in the area where the cleaning robot stops working can be further combined; finally, when the cleaning robot stops working, the cleaning robot can output prompt information of removing the mop to inform a user under the condition that the waterproof pad is not arranged in the area where the cleaning robot is located. Through the scheme, the mop removal reminding device can be combined with actual conditions, the mop removal reminding device can timely remove the mop when the cleaning robot stops working and is not arranged under the condition that the waterproof pad is not arranged at the position, so that the mop is prevented from soaking the floor made of materials prone to being damped and damaged for a long time, the service life of the floor is guaranteed, and the working reliability of the cleaning robot is effectively improved.
Referring to fig. 8, a cleaning robot includes a controller 10 and an ultrasonic detector 20, the controller 10 is connected to the ultrasonic detector 20, and the controller 10 is used for performing a mop removal reminder according to the above-described method.
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.
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. After receiving the floor material information, the controller 10 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 will be appreciated that the manner in which the controller 10 performs the analysis of the material of the floor as to whether it is moisture sensitive or not is not exclusive. In an embodiment, the controller 10 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 10 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.
In this embodiment, the cleaning robot is provided with the ultrasonic detector 20, and when the controller 10 detects that the floor of the current working environment of the robot is easily affected by moisture and is rotten, the ultrasonic detector 20 is started to detect whether the waterproof pad is arranged in the current area of the cleaning robot. The ultrasonic detector 20 sends ultrasonic waves to a specific position, receives the ultrasonic waves returned from the specific position, converts the ultrasonic waves to obtain a corresponding ultrasonic signal, and analyzes the ultrasonic signal to obtain a detection result of whether the waterproof pad is arranged at the corresponding position.
It should be noted that the location of the ultrasonic detector 20 in the cleaning robot is not exclusive, and in one embodiment, the location may be at the bottom of the cleaning robot, and the detection of whether the waterproof pad is disposed at the bottom of the cleaning robot is directly performed when the controller 10 controls the start operation thereof. In other embodiments, the detection device may be disposed at a side surface or other position of the cleaning robot, as long as the detection of whether the waterproof pad is disposed in the area where the cleaning robot stops working can be achieved.
When the controller 10 controls the ultrasonic detector 20 to start to perform the setting detection of the waterproof pad, after the cleaning robot stops working and is located in an area where the waterproof pad is not installed, the controller 10 will push a reminding message for removing the mop to the user. Because the floor is made of the material which is easily damaged by moisture in the working environment of the cleaning robot, and the area where the robot stops working is also provided with the waterproof pad, the mop of the cleaning robot can be directly contacted with the floor, and at the moment, in order to avoid long-time soaking and influence on the service life of the floor, the controller 10 can push the reminding information for removing the mop.
It should be noted that the manner in which the controller 10 pushes the removal swab reminder is not exclusive. In one embodiment, referring to fig. 9, the cleaning robot is further provided with an information prompting device 30, the controller 10 is connected with the information prompting device 30, and the controller 10 can push a prompt message for removing the mop to the user through the information prompting device 30. According to different types of the information prompting device 30, the corresponding push modes can be different, and the information prompting device can specifically push and inform the user in the forms of sound, light and the like. In another embodiment, the controller 10 may be in communication with a user terminal, and the user terminal may be directly pushed with a mop removal reminder to notify the user.
Referring to fig. 10, in one embodiment, the cleaning robot further includes a hall sensor 40, and the hall sensor 40 is connected to the controller 10.
In particular, the way of detecting whether the cleaning robot mounts the mop holder is not exclusive, and the present embodiment is implemented using the hall detector 40. The hall detector 40 is a hall sensor, and the hall detector 40 can detect the change of the magnetic field, and further reflect whether the cleaning robot mounts the mop support or not through the change of the magnetic field. In this embodiment, the mop support is provided with a magnet, and the hall sensor 40 is provided at a mop installation position of the cleaning robot, and after the mop support is installed, the hall sensor 40 detects a change in the surrounding magnetic field, and the hall sensor 40 converts the change in the magnetic field into a hall detection signal and outputs the hall detection signal to the controller 10 for analysis. When the hall detection signal received by the controller 10 reaches a preset threshold, it indicates that the cleaning robot is installed with the mop bracket.
The cleaning robot 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 the waterproof pad is arranged in the area where the cleaning robot stops working can be further combined; finally, when the cleaning robot stops working, the cleaning robot can output prompt information of removing the mop to inform a user under the condition that the waterproof pad is not arranged in the area where the cleaning robot is located. Through the scheme, the mop removal reminding device can be combined with actual conditions, the mop removal reminding device can timely remove the mop when the cleaning robot stops working and is not arranged under the condition that the waterproof pad is not arranged at the position, so that the mop is prevented from soaking the floor made of materials prone to being damped and damaged for a long time, the service life of the floor is guaranteed, 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 (12)
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 affected with moisture and is damaged, controlling an ultrasonic detector of the cleaning robot to start to detect whether a waterproof pad is arranged in an area where the cleaning robot stops working or not;
when the cleaning robot stops working, the cleaning robot pushes the reminding information for removing the mop when the area is not provided with the waterproof pad.
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 controlling the ultrasonic detector of the cleaning robot to start detecting whether the area where the cleaning robot stops working is provided with the waterproof pad when the floor material information is a material susceptible to moisture and rot 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, the ultrasonic detector of the cleaning robot is controlled to start to detect whether the waterproof pad is arranged in the area where the cleaning robot stops working or not.
5. 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.
6. A swab removal reminding method according to claim 5, wherein the step of detecting whether the cleaning robot mounts the swab carrier comprises:
controlling a Hall detector of the cleaning robot to start and operate;
and analyzing whether the cleaning robot is provided with a mop bracket or not according to the Hall detection signal output by the Hall detector.
7. A method for reminding removal of mop according to claim 1, wherein when the floor material information is a material which is easily damaged by moisture, the step of controlling the ultrasonic detector of the cleaning robot to start detecting whether the area where the cleaning robot stops working is provided with the waterproof pad comprises:
when floor material information is for easily receiving the tide and rotten the material, at the automatic in-process that fills the charging of last stake of recharging of cleaning machines people, control cleaning machines people's ultrasonic detector opens and detects whether fill electric pile and install waterproof pad, fills electric pile and does not install waterproof pad and show that cleaning machines people stop work the time the region of locating does not be provided with waterproof pad promptly.
8. The method for reminding removal of mop according to claim 7, wherein when the floor material information is a material which is easily damaged by moisture, the method further comprises the following steps after the step of controlling the ultrasonic detector of the cleaning robot to start detecting whether the waterproof pad is installed on the charging pile in the process of automatically recharging and charging the charging pile by 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 controlling an ultrasonic detector of the cleaning robot to start to detect whether a waterproof pad is arranged in an area where the cleaning robot stops working or not when the floor material information is a material which is easy to be affected with moisture and rotten;
and the reminding information pushing module is used for pushing reminding information for removing the mop when the cleaning robot stops working and the area is not provided with the waterproof pad.
10. A cleaning robot characterized by comprising a controller and an ultrasonic detector, the controller being connected to the ultrasonic detector, the controller being adapted to perform a mop removal reminder according to the method of any of claims 1-8.
11. The cleaning robot of claim 10, further comprising a hall detector, the hall detector being connected to the controller.
12. The cleaning robot of claim 10, further comprising an information prompting device coupled to the controller.
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