CN114052569B - Sweeping and dragging integrated robot and control method thereof - Google Patents
Sweeping and dragging integrated robot and control method thereof Download PDFInfo
- Publication number
- CN114052569B CN114052569B CN202111443927.9A CN202111443927A CN114052569B CN 114052569 B CN114052569 B CN 114052569B CN 202111443927 A CN202111443927 A CN 202111443927A CN 114052569 B CN114052569 B CN 114052569B
- Authority
- CN
- China
- Prior art keywords
- sweeping
- rotating shaft
- central rotating
- component
- mopping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 178
- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000007788 liquid Substances 0.000 claims abstract description 91
- 238000004140 cleaning Methods 0.000 claims abstract description 49
- 238000001514 detection method Methods 0.000 claims abstract description 41
- 239000000428 dust Substances 0.000 claims description 36
- 230000008602 contraction Effects 0.000 claims description 8
- 230000001680 brushing effect Effects 0.000 claims description 3
- 238000003912 environmental pollution Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
-
- 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
-
- 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- 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
Abstract
The invention discloses a sweeping and dragging integrated robot and a control method thereof, wherein the sweeping and dragging integrated robot specifically comprises the following components: a liquid detection device for detecting whether liquid exists in the target area and transmitting a liquid detection result to the control unit; the rotary telescopic sweeping component is used for sweeping the ground; the mopping component is used for mopping the ground; and the control unit is used for controlling the working states of the rotary telescopic sweeping component and the mopping component and controlling the telescopic state of the rotary telescopic sweeping component according to the liquid detection result transmitted by the liquid detection device. The invention realizes that the sweeping component is controlled to shrink when liquid stains exist in the area, so that the area where the liquid stains exist is cleaned by only adopting the mopping component, the problem of environmental pollution caused by liquid splashing in the area where the liquid exists in the structure of sweeping before mopping is solved, and the intelligent degree of the sweeping and mopping integrated robot is improved by adopting different cleaning components for different areas.
Description
Technical Field
The invention relates to the field of sweeping and dragging integrated robots, in particular to a sweeping and dragging integrated robot and a control method thereof.
Background
As robotics mature, more and more cleaning robots are moving into the lives of common people. The cleaning robot mainly comprises a sweeping robot, a mopping robot, a sweeping and mopping robot, a flushing robot and other robots with cleaning functions, wherein the sweeping and mopping robot simultaneously has the sweeping function and the mopping function, and the sweeping and mopping robot becomes a main stream product in the current market. The sweeping and mopping integrated robot has the advantages that the sweeping component and the mopping component are arranged at the bottom of the sweeping and mopping integrated robot respectively front and back at present so as to achieve the purpose of sweeping and mopping firstly, but when liquid stains exist in a region to be cleaned, the sweeping component is easy to splash in the sweeping process, and secondary pollution to the environment is caused.
Disclosure of Invention
In order to solve the problems, the invention provides the sweeping and mopping integrated robot and the control method thereof, which improve the cleaning intelligentization degree of the sweeping and mopping integrated robot and avoid the problem of secondary environmental pollution caused by sweeping liquid by a sweeping component. The specific technical scheme of the invention is as follows:
sweep and drag integrative robot, sweep and drag integrative robot specifically includes: a liquid detection device for detecting whether liquid exists in the target area and transmitting a liquid detection result to the control unit; the rotary telescopic sweeping component is arranged at the bottom of the sweeping and mopping integrated robot body and is used for sweeping the ground; the mopping component is arranged at the bottom of the sweeping and mopping integrated robot body and is used for mopping the ground; and the control unit is used for controlling the working states of the rotary telescopic sweeping component and the mopping component and controlling the telescopic state of the rotary telescopic sweeping component according to the liquid detection result transmitted by the liquid detection device.
Further, the rotary telescopic sweeping component specifically comprises: the rotary chassis is used for controlling the brush to rotate so as to realize the rotary cleaning of the rotary telescopic sweeping component; the brushing tools are uniformly distributed at the bottom and/or the side elevation of the rotary chassis and used for cleaning the ground; the rotary telescopic controller is arranged in the rotary chassis of the rotary telescopic sweeping component, is respectively connected with one ends of the groups of brushes and is used for controlling the telescopic state of the groups of brushes through rotation; one end of each group of brushes is connected with the rotary telescopic controller, and the other end of each group of brushes is exposed out of the rotary chassis.
Further, the rotating chassis specifically includes: the chassis is used for driving the groups of brushes to rotate and clean through the rotation of the chassis; the first central rotating shaft is used for driving the chassis to rotate by controlling the rotation of the first central rotating shaft; a first motor for powering the first central spindle to control its rotation; the brush telescopic port is arranged on the side elevation or the bottom of the chassis and is used for enabling the other ends of the plurality of groups of brushes to be exposed outside the rotary chassis; the bottom end of the first center rotating shaft is connected with the center of the chassis, and the top end of the first center rotating shaft is connected with the first motor.
Further, the rotary telescopic controller specifically includes: the control disc is connected with one ends of the groups of brushes and used for controlling the telescopic state of the groups of brushes through the rotation angle and the direction of the control disc; the second central rotating shaft is used for driving the control disc to rotate by controlling the second central rotating shaft to rotate; a second motor for powering the second central spindle to control its rotation; the bottom end of the second center rotating shaft is connected with the center of the chassis, and the top end of the second center rotating shaft is connected with the second motor.
Further, the first central rotating shaft is of a hollow structure; the second central rotating shaft is arranged inside the first central rotating shaft; the first central rotating shaft and the second central rotating shaft are concentric shafts; a locking structure is arranged between the first central rotating shaft and the second central rotating shaft; the locking structure is used for binding and locking the first central rotating shaft and the second central rotating shaft, so that the first central rotating shaft and the second central rotating shaft synchronously rotate.
Further, the brush extension opening is provided with a saw tooth structure for cleaning hair attached to the brush when the brush is contracted.
Further, the sweeping and towing integrated robot further comprises: a dust collection port, a dust collection device and a dust box; the dust collection opening is arranged between the rotary telescopic sweeping component and the mopping component and is used for absorbing garbage collected by the rotary telescopic sweeping component and the mopping component based on the dust collection device; the dust collection device is used for providing suction force so that garbage is sucked into the dust box from the dust collection opening; the dust box is detachably arranged at the position from the interior of the sweeping and dragging integrated robot to the side elevation of the sweeping and dragging integrated robot and is used for collecting garbage sucked by the dust suction device.
Further, the floor mopping member includes: the mop is used for mopping the ground; a mop base for fixing a mop and controlling the mop to rotate and mop by controlling the mop to rotate; and a third motor for powering the mopping base to control its rotation.
The invention also provides a control method of the sweeping and dragging integrated robot, which is the sweeping and dragging integrated robot as described above, and specifically comprises the following steps: controlling the liquid detection device to detect whether liquid exists in the target area and transmitting a liquid detection result to the control unit; if the liquid detection result shows that liquid exists in the target area, the control unit transmits a contraction instruction to the rotary telescopic sweeping component so as to control the rotary telescopic sweeping component to contract the plurality of groups of brushes, and meanwhile, the control unit controls the mopping component to rotationally drag and wipe in the target area; and if the liquid detection result shows that no liquid exists in the target area, the control unit controls the rotary telescopic sweeping component to rotationally sweep in the target area, and meanwhile, the control unit controls the mopping component to rotationally mop in the target area.
Further, the method for controlling the rotary telescopic sweeping component to retract the plurality of groups of brushes specifically comprises the following steps: the locking structure is controlled to unlock the first central rotating shaft and the second central rotating shaft, the second central rotating shaft is controlled to rotate so as to drive the control disc to rotate, and the control disc rotates so that the lengths of a plurality of groups of brushes connected with the control disc, which are exposed out of the rotating chassis, are shortened, and the plurality of groups of brushes are contracted.
Further, the method for controlling the rotary telescopic sweeping component to rotationally sweep in the target area specifically comprises the following steps: the locking structure is controlled to lock the first central rotating shaft and the second central rotating shaft, the first central rotating shaft and the second central rotating shaft are controlled to synchronously rotate, so that the chassis and the control disc synchronously rotate, and the groups of brushes rotate and clean along with the rotation of the chassis and the control disc.
According to the invention, the sweeping component of the sweeping and mopping integrated robot is configured into a telescopic structure, and the liquid detection result of the liquid detection device is combined, so that the shrinkage of the sweeping component is controlled when liquid stains exist in a region, the region where the liquid stains exist is cleaned by only adopting the mopping component, the problem that the liquid splashing in the region where the liquid stains exist is easy to cause secondary environmental pollution in the prior art is solved, the flexible switching of the telescopic device of the sweeping component is realized, and different cleaning components are adopted for different regions, so that the intelligent degree of the sweeping and mopping integrated robot is improved.
Drawings
Fig. 1 is a schematic block diagram of a sweeping and towing integrated robot according to an embodiment of the invention.
Fig. 2 is a schematic bottom view of a rotary telescopic sweeping component according to an embodiment of the invention.
Fig. 3 is a bottom schematic view of a rotary telescopic sweeping component according to an embodiment of the invention in a contracted state.
Fig. 4 is a side cross-sectional view of a rotary telescopic sweeping component according to an embodiment of the present invention.
Fig. 5 is a flow chart of a control method of a sweeping and dragging integrated robot according to an embodiment of the invention.
1, rotating a chassis; 2. rotating the telescopic controller; 3. a brush; 101. a chassis; 102. a first central spindle; 103. a first motor; 104. a locking structure; 201. a control disc; 202. a second central spindle; 203. and a second motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention will be described and illustrated with reference to the accompanying drawings and examples. It should be understood that the following detailed description is merely illustrative of the invention, and is not intended to limit the invention. It should be further understood that the design, manufacture, or production of the alterations to the present disclosure are conventional and should not be construed as inadequate for the purpose of this disclosure.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The terms "comprising," "including," "having," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such as: a process, method, system article, or apparatus that comprises a list of steps or modules is not limited to only those steps or modules listed but may include additional steps or modules not listed or inherent to such process, method, article, or apparatus.
As a preferred embodiment, a first embodiment of the present invention provides a sweeping and towing integrated robot, as shown in fig. 1, including:
a liquid detection device for detecting whether liquid exists in the target area and transmitting a liquid detection result to the control unit; specifically, the target area is set according to the actual detection requirement of the sweeping and dragging integrated robot, and the target area can be, but is not limited to, the target area, the next area to be cleaned of the sweeping and dragging integrated robot, the current cleaning area of the sweeping and dragging integrated robot, and the like; the liquid detection result refers to a result of the liquid detection device detecting whether or not liquid is present in the target area. The liquid detection device is a device having a function of detecting a liquid when the cleaning robot is located at a predetermined distance from the liquid, and the liquid detection device may detect the liquid by, but not limited to, ultrasonic detection, infrared detection, refractive index analysis, or the like.
The rotary telescopic sweeping component is arranged at the bottom of the sweeping and mopping integrated robot body and is used for sweeping the ground; specifically, the rotary telescopic sweeping component has a telescopic function, and the telescopic function can be realized through a whole structure of the telescopic sweeping component or through a sweeping brush structure on the telescopic sweeping component; the telescopic state of the rotary telescopic sweeping component is controlled by the control unit, and the telescopic state comprises an extension state and a contraction state.
The mopping component is arranged at the bottom of the sweeping and mopping integrated robot body and is used for mopping the ground; specifically, the rotary telescopic sweeping component is arranged at the front half part of the bottom of the sweeping and mopping integrated robot body, and the mopping component is arranged at the rear half part of the bottom of the sweeping and mopping integrated robot body; wherein, the front and the back are determined according to the advancing direction of the sweeping and dragging robot, such as: the direction of travel of the sweeping and dragging integrated robot is from south to north, one side of the sweeping and dragging integrated robot close to the south is the rear half part of the sweeping and dragging integrated robot, and one side of the sweeping and dragging integrated robot close to the north is the front half part of the sweeping and dragging integrated robot.
The control unit is arranged in the sweeping and mopping integrated robot and is used for controlling the working states of the rotary telescopic sweeping component and the mopping component and controlling the telescopic state of the rotary telescopic sweeping component according to the liquid detection result transmitted by the liquid detection device; specifically, the working state of the rotary telescopic sweeping component comprises: a cleaning state and a non-cleaning state, when the rotary telescopic cleaning component is in the cleaning state, the rotary telescopic cleaning component executes rotary cleaning, otherwise, when the rotary telescopic cleaning component is in the non-cleaning state, the rotary telescopic cleaning component is static; the working state of the mopping component comprises: a mopping state and a non-mopping state, wherein when the mopping component is in the mopping state, the mopping component performs rotary mopping, otherwise, when the mopping component is in the non-mopping state, the mopping component is stationary; the telescopic state of the rotary telescopic sweeping component specifically comprises: the rotary telescopic sweeping component comprises an extension state and a contraction state, wherein when the rotary telescopic sweeping component is in the extension state, the working state of the rotary telescopic sweeping component can be in a sweeping state, whereas when the rotary telescopic sweeping component is in the contraction state, the working state of the rotary telescopic sweeping component can not be in a sweeping state, and can only be in a non-sweeping state.
Specifically, when the liquid detection result transmitted by the liquid detection device is that liquid exists in the target area, the control unit controls the rotary telescopic sweeping component to be in a contracted state, so that the working state of the rotary telescopic sweeping component is a non-sweeping state. When the liquid detection result transmitted by the liquid detection device is that no liquid exists in the target area, the control unit controls the rotary telescopic sweeping component to be in an extension state, so that the rotary telescopic sweeping component is in a sweeping state of a working state.
According to the sweeping and mopping integrated robot, the telescopic state of the rotary telescopic sweeping component is switched according to the liquid detection result of the liquid detection device in the target area, the shrinkage of the rotary telescopic sweeping component is controlled when liquid exists in the target area, the problem that the liquid splashes due to the fact that the sweeping component still cleans the area where the liquid exists and secondary pollution is caused to the environment is avoided, the intelligent cleaning degree of the sweeping and mopping integrated robot is effectively improved, and the sweeping component and the mopping component carried on the sweeping and mopping integrated robot body can be called according to the liquid existence conditions of different areas.
Based on the foregoing embodiments, as a preferred embodiment of the present invention, the rotary telescopic sweeping component in the second embodiment of the present invention specifically includes:
the rotary chassis 1 is used for controlling the rotation of a plurality of groups of brushes 3 to realize the rotary cleaning of the rotary telescopic sweeping component; specifically, the rotating chassis has a rotating function, and the rotating chassis rotates by itself to drive the plurality of groups of brushes 3 distributed on the rotating chassis to rotate, so that the plurality of groups of brushes 3 are cleaned in a rotating way.
The brushing tools 3 are uniformly distributed at the bottom or side elevation of the rotary chassis 1 and are used for being driven by the rotary chassis 1 to rotate so as to clean the ground; specifically, the specific number of the brush units 3 is set according to the cleaning requirement in the actual application process.
The rotary telescopic controller 2 is arranged in the rotary chassis 1 of the rotary telescopic sweeping component, is respectively connected with one ends of the groups of brushes 3 and is used for controlling the telescopic state of the groups of brushes 3 through rotation; one end of each group of brushes is connected with the rotary telescopic controller, and the other end of each group of brushes is exposed out of the rotary chassis.
When the rotary telescopic sweeping component performs a rotary sweeping function, the rotation angular velocity of the rotary chassis 1 and the rotation telescopic controller 2 are the same, so that the telescopic state of the plurality of groups of brushes 3 is not changed due to the influence of the difference between the rotation angular velocities of the rotary chassis 1 and the rotation telescopic controller 2.
Specifically, when there is a difference in rotational angular velocity between the rotating chassis 1 and the rotating telescopic controller 2, the telescopic state of the plurality of groups of brushes 3 is changed; the telescopic state of the plurality of groups of brushes 3 comprises an extension state and a contraction state, the change of the telescopic state of the plurality of groups of brushes 3 is determined by the length of the plurality of groups of brushes 3 exposed outside the rotary chassis, if the length of the plurality of groups of brushes 3 exposed outside the rotary chassis 1 is shortened, the plurality of groups of brushes 3 are in the contraction state, otherwise, if the length of the plurality of groups of brushes 3 exposed outside the rotary chassis 1 is lengthened, the plurality of groups of brushes 3 are in the extension state; the length of the brush sets 3 exposed outside the rotary chassis 1 is longer or shorter than the length of the brush sets 3 exposed outside the rotary chassis 1 at the previous time. As shown in fig. 2 and 3, the brush 3 shown in fig. 3 is in a contracted state compared to the length of the brush 3 shown in fig. 2 exposed to the outside of the rotary chassis 1, and the brush 3 shown in fig. 2 is in an extended state compared to the length of the brush 3 shown in fig. 3 exposed to the outside of the rotary chassis 1.
According to the embodiment, the rotary chassis 1 and the rotary telescopic controller 2 are arranged in the rotary telescopic sweeping component, so that the telescopic state of the brush 3 is determined according to the rotation angular velocity of the rotary chassis 1 and the rotary telescopic controller 2, and the telescopic state of the brush 3 is realized by controlling the rotation angular velocity of the rotary chassis 1 and the rotation telescopic controller 2, so that the purpose that the rotary telescopic sweeping component can flexibly stretch is achieved.
Based on the above embodiments, as a preferred embodiment of the present invention, as shown in fig. 4, the rotating chassis in the third embodiment of the present invention specifically includes: the chassis 101 is used for driving the groups of brushes 3 to rotate and clean through the rotation of the chassis; a first central rotating shaft 102 for driving the chassis 101 to rotate by controlling its own rotation; a first motor 103 for powering the first central spindle 102 to control its rotation; the brush telescopic mouth is arranged at the bottom or the side elevation of the chassis 101, and is used for realizing that the other ends of the brush 3 which are not connected with the rotary telescopic controller 2 are exposed outside the rotary chassis 1. Specifically, the bottom end of the first central rotating shaft 102 is connected with the center of the chassis 101, and the top end of the first central rotating shaft 102 is connected with the first motor 103; the sweeping and dragging integrated robot is internally provided with a power supply module, the first motor 103 is connected with the power supply module arranged inside the sweeping and dragging integrated robot, so that electric power provided by the power supply module is obtained, and the electric power is converted into power to be provided to the first central rotating shaft 102, so that the first central rotating shaft 102 can control the first central rotating shaft to rotate, and the chassis 101 is driven to rotate. In this embodiment, by setting the first central rotating shaft 102 in the rotary chassis 1, the chassis 101 is driven to rotate based on the rotation of the first central rotating shaft 102, so that the whole rotation of the rotary telescopic sweeping component is realized, and the purpose of rotary sweeping is achieved.
Based on the above embodiments, as a preferred embodiment of the present invention, as shown in fig. 4, the rotary telescopic controller 2 in the fourth embodiment of the present invention specifically includes: the control disc 201 is connected with one end of the plurality of groups of brushes 3 and is used for controlling the telescopic state of the plurality of groups of brushes 3 through the rotation angle and the direction of the control disc; a second central rotating shaft 202 for driving the control disc 201 to rotate by controlling its own rotation; a second motor 203 for powering the second central spindle 202 to control its rotation. Specifically, the control disc 201 is disposed inside the chassis 101, the other ends of the plurality of groups of brushes 3, one ends of which are connected with the control disc 201, are exposed to the rotating telescopic sweeping component through brush telescopic openings on the chassis 101, when the rotational angular velocities of the control disc 201 and the chassis 101 are inconsistent, the plurality of groups of brushes 3 are in an extended or contracted state, and when the rotational angular velocities of the control disc 201 and the chassis 101 are consistent, the plurality of groups of brushes 3 are in a rotating sweeping or static state. The bottom of the second central rotating shaft 202 is connected with the center of the control disc 201, the top of the second central rotating shaft 202 is connected with the second motor 203, the second motor 203 is connected with a power module configured inside the sweeping and dragging robot, so as to obtain the electric power provided by the power module, and convert the electric power into power and provide the power to the second central rotating shaft 202, so that the second central rotating shaft 202 can control the second central rotating shaft 202 to rotate, and the control disc 201 is driven to rotate. In this embodiment, the second central rotating shaft 202 is disposed in the rotary telescopic controller 2, so that the control disc 201 is driven to rotate based on the rotation of the second central rotating shaft 202, and thus the rotary telescopic controller 2 can flexibly switch the telescopic states of the plurality of groups of brushes 3 by adjusting the difference between the rotation angular velocity of the control disc 201 and the rotation angular velocity of the chassis 101.
Preferably, the brush extension is provided with a saw tooth structure for cleaning hair attached to the brush when the brush is contracted. Specifically, the sawtooth structure includes sawtooth structure and lower sawtooth structure, last sawtooth structure liftable dispose in brush utensil telescopic mouth's upper end, lower sawtooth structure liftable dispose in brush utensil telescopic mouth's lower extreme, go up sawtooth structure with lower sawtooth structure combines to realize sawtooth structure clearance is attached to the hair on the brush utensil, and when the brush utensil is through brush utensil telescopic mouth shrink rotary chassis, brush utensil telescopic mouth's sawtooth structure is with brush utensil on attached hair comb clear away, avoids attaching to the hair on the brush utensil and is inside with brush utensil shrink rotary chassis.
Based on the above embodiments, as a preferred embodiment of the present invention, as shown in fig. 4, the rotary telescopic sweeping component in the fifth embodiment of the present invention further includes: and the locking structure 104 is used for binding and locking the rotary chassis 1 and the rotary telescopic controller 2 to synchronously rotate. Specifically, the first central rotating shaft 102 is configured as a hollow structure, the second central rotating shaft 202 is disposed inside the first central rotating shaft 102, the first central rotating shaft 102 and the second central rotating shaft 202 are concentric rotating shafts, a locking structure is disposed between the first central rotating shaft 102 and the second central rotating shaft 202, when the locking structure 104 locks the first central rotating shaft 102 and the second central rotating shaft 202, the first central rotating shaft 102 and the second central rotating shaft 202 realize synchronous rotation, and when the locking structure 104 unlocks the first central rotating shaft 102 and the second central rotating shaft 202, the first central rotating shaft 102 and the second central rotating shaft 202 realize independent rotation. The locking structure 104 is arranged in the rotary telescopic sweeping component, so that the rotary chassis 1 and the rotary telescopic controller 2 can be flexibly switched between synchronous rotation and independent rotation, and the requirements of flexible adjustment of the brush telescopic state and flexible rotation of the rotary telescopic sweeping component are met.
Based on the foregoing embodiments, as a preferred embodiment of the present invention, the sweeping and towing integrated robot in the sixth embodiment of the present invention further includes: a dust collection port, a dust collection device and a dust box; specifically, the dust collection opening is arranged between the rotary telescopic sweeping component and the mopping component and is used for sucking the garbage collected by the rotary telescopic sweeping component and the mopping component into the dust box based on the suction force provided by the dust collection device; the dust collection device is used for providing suction force so that garbage is sucked into the dust box from the dust collection opening; the dust box is detachably arranged at the position from the interior of the sweeping and dragging integrated robot to the side elevation of the sweeping and dragging integrated robot and is used for collecting garbage sucked by the dust suction device. In this embodiment, will the dust absorption mouth set up rotatory flexible sweeping component with between the component that drags the floor, when it exists to detect liquid spot in the target area of sweeping and dragging integrative robot, rotatory flexible sweeping component shrink, the dust absorption mouth compare in the component that drags the floor cleans liquid spot earlier, based on the suction that dust extraction provided is with liquid spot through the dust absorption mouth inside inhaling the dirt box, drag the cleaning to liquid spot by the component that drags the floor again, avoid the liquid quantity of liquid spot more when the liquid quantity that drags the floor the component unable complete absorption of liquid to drag clean.
Based on the foregoing embodiments, as a preferred embodiment of the present invention, a seventh embodiment of the present invention provides a method for controlling a sweeping and dragging robot, where the sweeping and dragging robot adopted in the present embodiment is the sweeping and dragging robot described in any one of the foregoing embodiments, as shown in fig. 5, and the method for controlling a sweeping and dragging robot specifically includes:
the sweeping and dragging integrated robot controls the liquid detection device to detect whether liquid exists in the target area, and transmits a liquid detection result to a control unit of the sweeping and dragging integrated robot; specifically, the target area may be, but is not limited to, a current area to be cleaned of the sweeping and dragging integrated robot, or a next area to be cleaned of the sweeping and dragging integrated robot, and the setting of the target area is adjusted according to actual application requirements; the liquid detection result includes the presence of liquid in the target area and the absence of liquid in the target area.
If the liquid detection result shows that liquid exists in the target area, the control unit transmits a contraction instruction to the rotary telescopic sweeping component so as to control the rotary telescopic sweeping component to contract the plurality of groups of brushes, and meanwhile, the control unit controls the mopping component to rotationally drag and wipe in the target area; specifically, when the liquid exists in the target area, in order to avoid that the cleaning mode of cleaning before cleaning is performed in the target area where the liquid exists by the cleaning robot, the control unit transmits a control instruction to the rotary telescopic sweeping component to enable the brush in the rotary telescopic sweeping component to shrink, so that the cleaning mode of cleaning after sucking is performed in the target area where the liquid exists by the cleaning robot, and the defect that environmental secondary pollution is caused by liquid splashing in the cleaning mode of cleaning before cleaning is solved; the cleaning mode of sweeping before mopping refers to cleaning by using a rotary telescopic sweeping component and mopping by using a mopping component in the moving process of the sweeping and mopping integrated robot, and the cleaning mode of sucking before mopping refers to sucking garbage and/or liquid by using a dust sucking device and mopping by using the mopping component in the moving process of the sweeping and mopping integrated robot.
If the liquid detection result shows that no liquid exists in the target area, the control unit controls the rotary telescopic sweeping component to rotationally sweep in the target area, and meanwhile, the control unit controls the mopping component to rotationally sweep in the current cleaning area of the sweeping and mopping robot; specifically, when no liquid exists in the target area, the control unit controls the rotary telescopic sweeping component and the mopping component to simultaneously execute sweeping and mopping, so that the sweeping and mopping integrated robot executes a sweeping-before-mopping cleaning mode in the target area, and the cleaning effect can be better in the sweeping-before-mopping cleaning mode compared with a cleaning mode of only sucking-before-mopping.
Preferably, in another embodiment, after the cleaning mode of first suction and then drag is performed by the robot with the integrated sweeping and dragging of the target area where the liquid exists, the liquid detection device is used to detect whether the liquid exists in the target area again, and if the liquid does not exist in the target area, the cleaning mode of first sweeping and then dragging is used to clean again. By detecting whether the liquid exists in the target area again, the sweeping and dragging integrated robot executes cleaning again on the target area after the liquid is absorbed and cleaned in a sweeping and dragging mode, so that the cleanliness of the target area is ensured.
Based on the seventh embodiment, as a preferred embodiment of the present invention, the method for controlling the rotating telescopic sweeping component to retract the plurality of groups of brushes in the eighth embodiment of the present invention specifically includes: the locking structure is controlled to unlock the first central rotating shaft and the second central rotating shaft, the second central rotating shaft is controlled to rotate so as to drive the control disc to rotate, the rotation angular velocity of the control disc is inconsistent with that of the chassis, and the control disc rotates so that the lengths of a plurality of groups of brushes connected with the control disc, which are exposed out of the rotating chassis, are shortened, and the shrinkage of the groups of brushes is realized. Specifically, when the rotary telescopic sweeping component controls the brush to shrink or stretch, the rotation angular velocity of the chassis is equal to 0.
Specifically, the method for controlling the rotary telescopic sweeping component to rotationally sweep in the target area specifically comprises the following steps: the locking structure is controlled to lock the first central rotating shaft and the second central rotating shaft, the first central rotating shaft and the second central rotating shaft are controlled to synchronously rotate, so that the chassis and the control disc synchronously rotate, and the groups of brushes rotate and clean along with the rotation of the chassis and the control disc. According to the embodiment, the first central rotating shaft and the second central rotating shaft are locked and unlocked through the locking structure, so that the rotary telescopic sweeping component can flexibly control the telescopic state of the brush and rotary sweeping.
It is obvious that the above-mentioned embodiments are only some embodiments of the present invention, but not all embodiments, and that the technical solutions of the embodiments may be combined with each other. In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments. In the several embodiments provided in the present invention, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely schematic, for example, the circuit may be divided into a logic function, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or may be integrated into another system, or modules with different functions may be integrated into the same module to implement multiple functions, or some features may be omitted, or not implemented.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the various possible combinations of embodiments of the invention are not described in detail.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (5)
1. The control method of the sweeping and dragging integrated robot is characterized by comprising the following steps of:
controlling a liquid detection device to detect whether liquid exists in the target area and transmitting a liquid detection result to a control unit;
if the liquid detection result shows that liquid exists in the target area, the control unit transmits a contraction instruction to the rotary telescopic sweeping component so as to control the rotary telescopic sweeping component to contract a plurality of groups of brushes, and meanwhile, the control unit controls the mopping component to rotationally mop in the target area;
if the liquid detection result shows that no liquid exists in the target area, the control unit controls the rotary telescopic sweeping component to rotationally sweep in the target area, and meanwhile, the control unit controls the mopping component to rotationally mop in the target area;
wherein, rotatory flexible part of sweeping floor specifically includes: the rotary chassis is used for controlling the brush to rotate so as to realize the rotary cleaning of the rotary telescopic sweeping component; the brushing tools are uniformly distributed at the bottom and/or the side elevation of the rotary chassis and used for cleaning the ground; the rotary telescopic controller is arranged in the rotary chassis of the rotary telescopic sweeping component, is respectively connected with one ends of the groups of brushes and is used for controlling the telescopic state of the groups of brushes through rotation; one end of each group of brushes is connected with the rotary telescopic controller, and the other end of each group of brushes is exposed out of the rotary chassis;
wherein, rotatory chassis specifically includes: the chassis is used for driving the groups of brushes to rotate and clean through the rotation of the chassis; the first central rotating shaft is used for driving the chassis to rotate by controlling the rotation of the first central rotating shaft; a first motor for powering the first central spindle to control its rotation; the brush telescopic port is arranged on the side elevation or the bottom of the chassis and is used for enabling the other ends of the plurality of groups of brushes to be exposed outside the rotary chassis; the bottom end of the first central rotating shaft is connected with the center of the chassis, and the top end of the first central rotating shaft is connected with the first motor;
wherein the rotary telescopic controller specifically includes: the control disc is connected with one ends of the groups of brushes and used for controlling the telescopic state of the groups of brushes through the rotation angle and the direction of the control disc; the second central rotating shaft is used for driving the control disc to rotate by controlling the second central rotating shaft to rotate; a second motor for powering the second central spindle to control its rotation; the bottom end of the second center rotating shaft is connected with the center of the chassis, and the top end of the second center rotating shaft is connected with the second motor;
wherein the first central rotating shaft is of a hollow structure; the second central rotating shaft is arranged inside the first central rotating shaft; the first central rotating shaft and the second central rotating shaft are concentric shafts; a locking structure is arranged between the first central rotating shaft and the second central rotating shaft; the locking structure is used for binding and locking the first central rotating shaft and the second central rotating shaft, so that the first central rotating shaft and the second central rotating shaft synchronously rotate;
the method for controlling the rotary telescopic sweeping component to shrink the plurality of groups of brushes specifically comprises the following steps: the control locking structure unlocks the first central rotating shaft and the second central rotating shaft, controls the second central rotating shaft to rotate so as to drive the control disc to rotate, controls the disc to rotate so that the lengths of a plurality of groups of brushes connected with the control disc exposed out of the rotating chassis are shortened, and the shrinkage of the plurality of groups of brushes is realized.
2. The method for controlling a sweeping and mopping integrated robot according to claim 1, wherein the method for controlling the rotary telescopic sweeping component to rotationally sweep in the target area comprises the following steps:
the control locking structure locks the first central rotating shaft and the second central rotating shaft, and controls the first central rotating shaft and the second central rotating shaft to synchronously rotate so that the chassis and the control disc synchronously rotate, and the plurality of groups of brushes rotate and clean along with the rotation of the chassis and the control disc.
3. The method of claim 1, wherein the brush extension is provided with a saw tooth structure for cleaning hair attached to the brush when the brush is contracted.
4. The method for controlling a sweeping and mopping robot according to claim 1, further comprising: a dust collection port, a dust collection device and a dust box; the dust collection opening is arranged between the rotary telescopic sweeping component and the mopping component and is used for absorbing garbage collected by the rotary telescopic sweeping component and the mopping component based on the dust collection device; the dust collection device is used for providing suction force so that garbage is sucked into the dust box from the dust collection opening; the dust box is detachably arranged at the position from the interior of the sweeping and dragging integrated robot to the side elevation of the sweeping and dragging integrated robot and is used for collecting garbage sucked by the dust suction device.
5. The control method of a sweeping and mopping integrated robot of claim 1, wherein the mopping member includes: the mop is used for mopping the ground; a mop base for fixing a mop and controlling the mop to rotate and mop by controlling the mop to rotate; and a third motor for powering the mopping base to control its rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111443927.9A CN114052569B (en) | 2021-11-30 | 2021-11-30 | Sweeping and dragging integrated robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111443927.9A CN114052569B (en) | 2021-11-30 | 2021-11-30 | Sweeping and dragging integrated robot and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114052569A CN114052569A (en) | 2022-02-18 |
| CN114052569B true CN114052569B (en) | 2024-03-29 |
Family
ID=80277683
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111443927.9A Active CN114052569B (en) | 2021-11-30 | 2021-11-30 | Sweeping and dragging integrated robot and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114052569B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114521844B (en) * | 2022-03-03 | 2022-12-06 | 合肥亚摩斯电气有限公司 | Sweeping, mopping and washing three-in-one mopping machine |
| CN114947610A (en) * | 2022-04-21 | 2022-08-30 | 美智纵横科技有限责任公司 | Cleaning robot, control method and control device thereof, and readable storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005131111A (en) * | 2003-10-30 | 2005-05-26 | Yabuta:Kk | Cleaning apparatus and cleaning brush |
| CN203693448U (en) * | 2014-01-28 | 2014-07-09 | 东莞市雅思电子有限公司 | Cleaning brush with brush hair length adjustable |
| CN108464774A (en) * | 2018-03-30 | 2018-08-31 | 深圳市奈士迪技术研发有限公司 | A kind of sweeping robot with brush head self-cleaning function |
| CN109157165A (en) * | 2018-09-14 | 2019-01-08 | 合肥梦龙电子科技有限公司 | A kind of domestic intelligent cleaning vehicle |
| CN112842141A (en) * | 2019-11-27 | 2021-05-28 | 珠海市一微半导体有限公司 | Robot with edge brush self-cleaning function |
-
2021
- 2021-11-30 CN CN202111443927.9A patent/CN114052569B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005131111A (en) * | 2003-10-30 | 2005-05-26 | Yabuta:Kk | Cleaning apparatus and cleaning brush |
| CN203693448U (en) * | 2014-01-28 | 2014-07-09 | 东莞市雅思电子有限公司 | Cleaning brush with brush hair length adjustable |
| CN108464774A (en) * | 2018-03-30 | 2018-08-31 | 深圳市奈士迪技术研发有限公司 | A kind of sweeping robot with brush head self-cleaning function |
| CN109157165A (en) * | 2018-09-14 | 2019-01-08 | 合肥梦龙电子科技有限公司 | A kind of domestic intelligent cleaning vehicle |
| CN112842141A (en) * | 2019-11-27 | 2021-05-28 | 珠海市一微半导体有限公司 | Robot with edge brush self-cleaning function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114052569A (en) | 2022-02-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114052569B (en) | Sweeping and dragging integrated robot and control method thereof | |
| KR101249864B1 (en) | Robot cleaner | |
| CN107080500B (en) | Intelligent cleaning robot system | |
| CN107080502B (en) | Intelligent cleaning robot system | |
| CN107212818A (en) | A kind of intelligent floor cleaning machine | |
| CN106963296A (en) | Sweeper and sweeper control method | |
| CN209066360U (en) | A kind of washing and brushing device for scrubbing soil pick-up one | |
| CN111466828B (en) | Skirting line and corner cleaning robot and working method thereof | |
| CN106638409A (en) | Multifunctional sweeper | |
| CN216628378U (en) | Cleaning device and dust box assembly thereof | |
| CN107049158A (en) | Roll cloth and its Intelligent cleaning robot | |
| CN216393949U (en) | Cleaning device and dust box thereof | |
| CN2915014Y (en) | Multifunctional dust-collecting floor wiper | |
| CN113768412A (en) | Base station and cleaning system | |
| CN111271859B (en) | Air conditioner | |
| CN209331928U (en) | A kind of sweeping robot of antiwind card plug | |
| CN216020798U (en) | Intelligent robot with clean function | |
| CN216393946U (en) | Base station and cleaning system | |
| CN212591945U (en) | Multifunctional cleaning device and cleaning machine | |
| CN207640329U (en) | Roll cloth and its Intelligent cleaning robot | |
| CN206342418U (en) | It is simple to wipe ground machine | |
| CN113951772B (en) | Cleaning robot and control method thereof | |
| CN220588187U (en) | Side brush structure for sweeping robot | |
| CN211484386U (en) | Floor cleaning robot | |
| CN219940492U (en) | Floor sweeper with filtering and blocking functions |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |