CN113907653A - Mopping cleaning robot and work control method thereof - Google Patents
Mopping cleaning robot and work control method thereof Download PDFInfo
- Publication number
- CN113907653A CN113907653A CN202010643743.6A CN202010643743A CN113907653A CN 113907653 A CN113907653 A CN 113907653A CN 202010643743 A CN202010643743 A CN 202010643743A CN 113907653 A CN113907653 A CN 113907653A
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- China
- Prior art keywords
- mop
- cleaning robot
- mopping
- ground
- floor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to a mopping cleaning robot and a working control method thereof, wherein the mopping cleaning robot comprises a machine body, the lower part of the machine body is provided with a mop cloth component which can clean the ground, the bottom of the mop cloth component is provided with a mop cloth, and the mopping cleaning robot is characterized in that: the mop pressure adjusting mechanism used for changing the pressure applied by the mop component to the ground is arranged on the machine body. Compared with the prior art, the invention has the advantages that: the mop pressure adjusting mechanism for changing the pressure exerted by the mop component on the ground is arranged on the machine body, so that when stubborn stains need to be cleaned, the pressure exerted by the mop component on the ground is increased, the pressure exerted by the mop on the ground is increased, if the mop is a wet mop with water in the interior, the water yield of the mop is increased, and the stubborn stains can be cleaned and softened well by the aid of the larger pressure and water yield; under normal state, the pressure applied to the ground by the mop decreases, water stain remained on the ground after mopping becomes less, and air drying is facilitated.
Description
Technical Field
The invention relates to a mopping cleaning robot and a work control method thereof.
Background
The existing cleaning robot realizes cleaning of stains on the ground by arranging mopping devices such as mops at the bottom, and meets the requirements of people on mopping functions. However, stubborn stains such as salt stains and soy sauce stains which are air-dried need to be wiped clean after being soaked in water, and water stains are easy to remain after being wiped after water is too much. Therefore, the existing cleaning robot can leave a large amount of water stains on the ground after being mopped, or stubborn stains and dry stains can not be mopped up. Therefore, the existing mopping cleaning robot is to be further improved.
Disclosure of Invention
The first technical problem to be solved by the present invention is to provide a floor cleaning robot capable of changing the pressure of the mop cloth component on the floor.
A second technical problem to be solved by the present invention is to provide a method for controlling the operation of a floor cleaning robot capable of changing the pressure of a mop assembly against the floor.
The technical scheme adopted by the invention for solving the first technical problem is as follows: the utility model provides a clean machine people mops ground, includes the organism, and the lower part of organism is equipped with the mop subassembly that can wash ground, and the bottom of mop subassembly has the mop, its characterized in that: the mop pressure adjusting mechanism used for changing the pressure applied by the mop component to the ground is arranged on the machine body.
As an improvement, the mop pressure adjusting mechanism comprises a balancing weight and a driving mechanism capable of driving the balancing weight to move far away from or close to the mop component.
The balancing weight is a metal block or a magnet block, and the driving mechanism is an electromagnetic valve capable of generating an electromagnetic field after being electrified.
The mop pressure adjusting mechanism also comprises a spring, one end of the spring is connected with the balancing weight, and the other end of the spring is connected with the driving mechanism.
The balancing weight can adopt a mass block with any larger density, and the driving mechanism can adopt an electric push rod.
The mop pressure adjusting mechanism further comprises a sliding groove, and the balancing weight can move in the sliding groove.
The mop pressure adjusting mechanism is arranged above the mop component.
And the floor recognition module is electrically connected with the mop pressure adjusting mechanism.
Preferably, the ground identification module is an image acquisition identification module.
The technical scheme adopted by the invention for solving the second technical problem is as follows: the work control method of the mopping cleaning robot with the structure is characterized in that: the mopping cleaning robot comprises a mopping cleaning robot body, a floor recognition module, a mop pressure adjusting mechanism and a control module, wherein the mopping cleaning robot body comprises a mopping module, the mopping module is used for monitoring and recognizing the current floor environment of the mopping robot body in real time, if the current floor environment does not have a carpet or a barrier and has stubborn stains or dry stains, the mop pressure adjusting mechanism works to increase the pressure applied to the floor by a mop component, the mopping cleaning robot body is used for mopping and cleaning the floor in a 0.05-1.5 square meter area with the current point as the center, and after the preset time, the mop pressure adjusting mechanism works again to reduce the pressure applied to the floor by the mop component and restore the conventional state.
Compared with the prior art, the invention has the advantages that: the mop pressure adjusting mechanism for changing the pressure exerted by the mop component on the ground is arranged on the machine body, so that when stubborn stains need to be cleaned, the pressure exerted by the mop component on the ground is increased, the pressure exerted by the mop on the ground is increased, if the mop is a wet mop with water in the interior, the water yield of the mop is increased, and the stubborn stains can be cleaned and softened well by the aid of the larger pressure and water yield; under normal state, the pressure applied to the ground by the mop decreases, water stain remained on the ground after mopping becomes less, and air drying is facilitated.
Drawings
Fig. 1 is a side view of a mopping cleaning robot in an embodiment of the present invention.
Fig. 2 is a bottom view of the floor cleaning robot in an embodiment of the present invention.
Fig. 3 is a schematic structural view (solenoid valve not open state) of the mop pressure adjusting mechanism in the embodiment of the present invention.
Fig. 4 is a schematic structural view (solenoid valve open state) of the mop pressure adjusting mechanism in the embodiment of the present invention.
Fig. 5 is another structural schematic view of the mop pressure adjusting mechanism in the embodiment of the present invention (the electric push rod is in a contracted state).
Fig. 6 is another structural view of the mop pressure adjusting mechanism according to the embodiment of the present invention (the electric push rod is unfolded).
Detailed Description
The invention is described in detail below with reference to the accompanying drawings.
The mopping cleaning robot shown in fig. 1 and 2 comprises a machine body 1, wherein two groups of symmetrical mop components 2 which are provided with mops at the bottoms and can clean the ground are arranged at the lower part of the machine body 1, and a walking mechanism 3 with walking wheels is arranged at the lower part of the machine body. The two groups of mop components 2 and the walking mechanism 3 bear the weight of the whole mopping cleaning robot together.
A mop pressure adjusting mechanism for changing the pressure applied by the mop component to the ground is arranged above the mop component 2 on the machine body. Two groups of mop assemblies and running gear 3 are provided, since the weight of the whole mopping robot is constant. Is constant, so that the center of gravity of the entire mopping cleaning robot is changed, the pressure on the mop assembly is greater when the center of gravity is farther away from the drive wheel and closer to the mop assembly 2.
The mop pressure adjusting mechanism has various realization modes, wherein one better realization mode is as follows: including balancing weight 4, spout 5, and can drive balancing weight 4 along the spout to keeping away from mop subassembly removal or be close to the actuating mechanism 6 that mop subassembly removed, one end is connected with balancing weight 4, spring 7 that the other end and actuating mechanism 6 are connected. The counterweight 4 is a metal block or a magnet block, and the driving mechanism 6 is an electromagnetic valve which can generate an electromagnetic field after being electrified, as shown in fig. 3 and 4. Alternatively, the driving mechanism 6 may be an electric push rod instead of the solenoid valve, as shown in fig. 5 and 6.
When the counterweight 4 is a magnet, the electromagnetic valve is not opened in a normal state, the spring is in a normal contraction state, as shown in fig. 3, the distance between the counterweight and the electromagnetic valve is short, the gravity center is close to the traveling mechanism 3, and the pressure on the mop assembly is relatively small. When stubborn stains need to be cleaned, the electromagnetic valve is opened, the magnetic force of the electromagnetic valve and the balancing weight is designed to be mutually repulsive, so that the balancing weight moves towards the mop cloth component under the action of the repulsive force, as shown in figure 4, the gravity center is close to the mop cloth component, the pressure on the mop cloth component is larger at the moment, and if the mop cloth is wet mop cloth containing water inside, the water outlet amount of the mop cloth is increased.
In addition, the balancing weight can also be designed into a metal block without magnetism, under the normal state, the electromagnetic valve is not opened, the spring is in the normal loose state, the distance between the balancing weight and the electromagnetic valve is far, and the force applied to the mop assembly is smaller at the moment. When stubborn stains need to be cleaned, the electromagnetic valve is opened, the electromagnetic valve sucks the balancing weight through magnetic force, so that the balancing weight moves towards the mop assembly under the action of the suction force, the force borne by the mop assembly is larger at the moment, and if the mop is a wet mop with water inside, the water outlet amount of the mop can be increased.
In addition, the machine body is also provided with a ground identification module 8 used for identifying the current ground environment of the sweeping robot, and the ground identification module is electrically connected with the driving mechanism 6. In this embodiment, the ground identification module is an image acquisition identification module.
Above-mentioned clean robot mops ground in the course of the work, ground recognition module real time monitoring and discernment sweep the current ground environment of robot and locate, if there is not carpet or barrier in the current ground environment of locating, and have stubborn spot or dry up spot on the current ground environment of locating, mop pressure adjustment mechanism works, make the pressure grow that the mop subassembly applyed to ground, clean robot mops ground in 0.05-1.5 square metre region with current point as the center, after the preset time, mop pressure adjustment mechanism works once more, make the pressure that the mop subassembly applyed to ground diminish, resume conventional state.
Claims (10)
1. The utility model provides a clean machine people mops ground, includes the organism, and the lower part of organism is equipped with the mop subassembly that can wash ground, and the bottom of mop subassembly has the mop, its characterized in that: the mop pressure adjusting mechanism used for changing the pressure applied by the mop component to the ground is arranged on the machine body.
2. A mopping cleaning robot according to claim 1, wherein: the mop pressure adjusting mechanism comprises a balancing weight and a driving mechanism capable of driving the balancing weight to move away from the mop component or move close to the mop component.
3. A mopping cleaning robot according to claim 2, wherein: the balancing weight is a metal block or a magnet block, and the driving mechanism is an electromagnetic valve capable of generating an electromagnetic field after being electrified.
4. A mopping cleaning robot according to claim 3, wherein: the mop pressure adjusting mechanism also comprises a spring, one end of the spring is connected with the balancing weight, and the other end of the spring is connected with the driving mechanism.
5. A mopping cleaning robot according to claim 2, wherein: the driving mechanism is an electric push rod.
6. A mopping cleaning robot according to claim 2 or 3 or 4 or 5, wherein: the mop pressure adjusting mechanism further comprises a sliding groove, and the balancing weight can move in the sliding groove.
7. A mopping cleaning robot according to claim 6, wherein: the mop pressure adjusting mechanism is arranged above the mop component.
8. A mopping cleaning robot according to claim 1, wherein: the floor cleaning robot further comprises a floor identification module used for identifying the current floor environment of the floor cleaning robot, and the floor identification module is electrically connected with the mop pressure adjusting mechanism.
9. A mopping cleaning robot according to claim 8, wherein: the ground identification module is an image acquisition identification module.
10. A work control method of a floor cleaning robot according to claim 8, wherein: the mopping cleaning robot comprises a mopping cleaning robot body, a floor recognition module, a mop pressure adjusting mechanism and a control module, wherein the mopping cleaning robot body comprises a mopping module, the mopping module is used for monitoring and recognizing the current floor environment of the mopping robot body in real time, if the current floor environment does not have a carpet or a barrier and has stubborn stains or dry stains, the mop pressure adjusting mechanism works to increase the pressure applied to the floor by a mop component, the mopping cleaning robot body is used for mopping and cleaning the floor in a 0.05-1.5 square meter area with the current point as the center, and after the preset time, the mop pressure adjusting mechanism works again to reduce the pressure applied to the floor by the mop component and restore the conventional state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010643743.6A CN113907653B (en) | 2020-07-07 | 2020-07-07 | Mopping cleaning robot and work control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010643743.6A CN113907653B (en) | 2020-07-07 | 2020-07-07 | Mopping cleaning robot and work control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113907653A true CN113907653A (en) | 2022-01-11 |
| CN113907653B CN113907653B (en) | 2022-11-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010643743.6A Active CN113907653B (en) | 2020-07-07 | 2020-07-07 | Mopping cleaning robot and work control method thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742315A (en) * | 2018-07-03 | 2018-11-06 | 苏州大西力环保科技有限公司 | A kind of pulse backblowing type secondary filtration industrial dust collector |
| KR20190089790A (en) * | 2019-07-11 | 2019-07-31 | 엘지전자 주식회사 | Robot cleaner for cleaning in consideration of floor state through artificial intelligence and operating method thereof |
| CN110419989A (en) * | 2019-08-15 | 2019-11-08 | 王丽萍 | It is pressurized floor cleaning machine |
| CN209712769U (en) * | 2019-02-15 | 2019-12-03 | 深圳市得城网络科技有限公司 | Sweeping robot |
| CN210749034U (en) * | 2018-07-13 | 2020-06-16 | 上海楠木机器人科技有限公司 | Cleaning robot |
| CN111345746A (en) * | 2018-12-21 | 2020-06-30 | 苏州宝时得电动工具有限公司 | Cleaning robot, control method thereof and ground processing system |
-
2020
- 2020-07-07 CN CN202010643743.6A patent/CN113907653B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108742315A (en) * | 2018-07-03 | 2018-11-06 | 苏州大西力环保科技有限公司 | A kind of pulse backblowing type secondary filtration industrial dust collector |
| CN210749034U (en) * | 2018-07-13 | 2020-06-16 | 上海楠木机器人科技有限公司 | Cleaning robot |
| CN111345746A (en) * | 2018-12-21 | 2020-06-30 | 苏州宝时得电动工具有限公司 | Cleaning robot, control method thereof and ground processing system |
| CN209712769U (en) * | 2019-02-15 | 2019-12-03 | 深圳市得城网络科技有限公司 | Sweeping robot |
| KR20190089790A (en) * | 2019-07-11 | 2019-07-31 | 엘지전자 주식회사 | Robot cleaner for cleaning in consideration of floor state through artificial intelligence and operating method thereof |
| CN110419989A (en) * | 2019-08-15 | 2019-11-08 | 王丽萍 | It is pressurized floor cleaning machine |
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| Publication number | Publication date |
|---|---|
| CN113907653B (en) | 2022-11-15 |
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