CN114246516A - Robot cleaning system, cleaning robot and cleaning robot control method - Google Patents

Robot cleaning system, cleaning robot and cleaning robot control method Download PDF

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Publication number
CN114246516A
CN114246516A CN202011003655.6A CN202011003655A CN114246516A CN 114246516 A CN114246516 A CN 114246516A CN 202011003655 A CN202011003655 A CN 202011003655A CN 114246516 A CN114246516 A CN 114246516A
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CN
China
Prior art keywords
cleaning robot
base station
cleaning
distance
assembly
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Pending
Application number
CN202011003655.6A
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Chinese (zh)
Inventor
王彪
姚贤池
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Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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Publication date
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Priority to CN202011003655.6A priority Critical patent/CN114246516A/en
Publication of CN114246516A publication Critical patent/CN114246516A/en
Pending legal-status Critical Current

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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
    • 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
    • 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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes
    • 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
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Abstract

The present disclosure relates to the field of cleaning devices, and in particular, to a robot cleaning system, a cleaning robot, and a cleaning robot control method. The robotic cleaning system includes a cleaning robot, a detection component, a communication component, a cleaning tool detachably connectable to the cleaning robot, and a base station to which the cleaning robot is docked; the cleaning robot includes: a main body and a drive assembly; the base station includes: replacing the component; the driving assembly of the cleaning robot is used for driving the cleaning robot to travel; the detection assembly is used for detecting the distance between the cleaning robot and the base station; the communication component is used for transmitting a replacement instruction when the distance is less than a first preset distance; the replacing component of the base station is used for replacing the cleaning tool of the cleaning robot after the cleaning robot at least partially drives into the base station according to the replacing instruction; the cleaning tool is replaced, an approximately closed space is formed inside the base station, and the reliability of the robot cleaning system is effectively improved.

Description

Robot cleaning system, cleaning robot and cleaning robot control method
Technical Field
The present disclosure relates to the field of cleaning devices, and in particular, to a robot cleaning system, a cleaning robot, and a cleaning robot control method.
Background
Robotic cleaning systems, including base stations and hosts (e.g., cleaning robots), are increasingly used in life. Through the inside operating system of basic station, can realize providing new mop board and retrieving the dirty mop board that the host computer discarded for the host computer. And then realize that the host computer can independently drag ground, keep away the barrier, lose dirty rag, change new rag, the base station provides the function of charging for the host computer simultaneously.
The action of changing the cleaning cloth by the host is realized in the base station, the base station stores new and old cleaning cloth on the upper part of the base station, and the dirty cleaning cloth is lifted and stored and the new cleaning cloth is lifted and released by a set of lifting system. However, in the process of lifting the lifting system, if foreign matters enter the base station, the base station may be stuck or even damaged, and objects entering the base station may be damaged, and if pets and the like may be injured.
Disclosure of Invention
In view of the above, the present disclosure provides a robot cleaning system, a cleaning robot and a cleaning robot control method. The technical scheme comprises the following steps:
according to an aspect of the present disclosure, there is provided a robotic cleaning system comprising a cleaning robot, a detection assembly, a communication assembly, a cleaning tool detachably connectable to the cleaning robot, and a base station to which the cleaning robot is docked; the cleaning robot includes: a main body and a drive assembly; the base station includes: replacing the component;
the driving component of the cleaning robot is used for driving the cleaning robot to travel;
the detection component is used for detecting the distance between the cleaning robot and the base station;
the communication component is used for transmitting a replacement instruction when the distance is smaller than a first preset distance;
the replacement component of the base station is used for replacing the cleaning tool of the cleaning robot after the cleaning robot at least partially enters the base station according to the replacement instruction.
Optionally, the detection assembly includes an infrared emission sensor disposed at the entrance of the base station and an infrared receiving sensor disposed at a side of the cleaning robot;
the infrared receiving sensor is used for determining that the distance between the cleaning robot and the base station is smaller than the first preset distance when receiving the infrared signal sent by the infrared transmitting sensor.
Optionally, the first predetermined distance is greater than 5mm and less than 300 mm.
Optionally, the replacing assembly comprises a lifting frame for carrying the cleaning tool, the lifting frame is provided with a first position and a second position, the first position is an initial position of the lifting frame, and the second position is a target position after the lifting frame finishes descending.
Optionally, the length of the lifting frame is smaller than the outer contour length of the base station, and the absolute value of the difference is greater than 3 mm.
Optionally, the communication component comprises a first communication component of the cleaning robot and a second communication component of the base station;
the first communication component is used for sending the replacement instruction to the base station when the distance is smaller than the first preset distance;
the second communication component is used for receiving the replacement instruction; the lifting frame is used for moving from the first position to the second position;
the driving assembly of the cleaning robot is further used for controlling the cleaning robot to drive into the base station after the lifting frame moves to the second position.
Optionally, the driving component of the cleaning robot is further configured to control the cleaning robot to pause traveling after sending the replacement instruction to the base station; and after the lifting frame moves to the second position, controlling the cleaning robot to drive into the base station.
Optionally, the driving assembly is further configured to drive the cleaning robot to move back away from the base station after the cleaning tool is successfully replaced;
the lifting frame is used for moving from the second position to the first position when the distance between the cleaning robot and the base station after the cleaning robot backs is smaller than a second preset distance.
Optionally, the second predetermined distance is greater than 5mm and less than 300 mm.
Optionally, a distance between a first side of the cleaning robot and a second side of the base station is greater than 1mm and less than 60mm, the first side is any one of the two sides of the cleaning robot, and the second side is a side of the base station that is closest to the first side in the two sides of the base station after the cleaning robot drives into the base station.
According to another aspect of the present disclosure, there is provided a cleaning robot including: the device comprises a main body, a driving component, a detection component and a first communication component;
the driving assembly is used for driving the cleaning robot to travel;
the detection component is used for detecting the distance between the cleaning robot and the base station;
the first communication component is used for sending a replacement instruction to the base station when the distance is smaller than a first preset distance, the replacement instruction is used for instructing the base station to start a replacement component after the cleaning robot at least partially enters the base station, and the replacement component is used for replacing a cleaning tool of the cleaning robot.
Optionally, the detection assembly includes an infrared receiving sensor disposed at a side of the cleaning robot, and the infrared receiving sensor is configured to determine that a distance between the cleaning robot and the base station is smaller than the first predetermined distance when receiving an infrared signal sent by the infrared emitting sensor.
Optionally, the first predetermined distance is greater than 5mm and less than 300 mm.
Optionally, the replacing assembly comprises a lifting frame for carrying the cleaning tool, the lifting frame is provided with a first position and a second position, the first position is an initial position of the lifting frame, and the second position is a target position after the lifting frame finishes descending.
Optionally, the length of the lifting frame is smaller than the outer contour length of the base station, and the absolute value of the difference is greater than 3 mm.
Optionally, the driving assembly is configured to control the cleaning robot to move into the base station after the lifting frame moves from the first position to the second position.
Optionally, the driving component is configured to control the cleaning robot to pause traveling after sending the replacement instruction to the base station; and after the lifting frame moves to the second position, controlling the cleaning robot to drive into the base station.
Optionally, the driving assembly is further configured to drive the cleaning robot to retreat in a direction away from the base station after the cleaning tool is successfully replaced, and a distance between the retreated cleaning robot and the base station is smaller than a second predetermined distance.
Optionally, the second predetermined distance is greater than 5mm and less than 300 mm.
Optionally, a distance between a first side of the cleaning robot and a second side of the base station is greater than 1mm and less than 60mm, the first side is any one of the two sides of the cleaning robot, and the second side is a side of the base station that is closest to the first side in the two sides of the base station after the cleaning robot drives into the base station.
According to another aspect of the present disclosure, there is provided a cleaning robot control method applied to a cleaning robot including a main body, a driving assembly, a detecting assembly, and a first communication assembly, the method including:
driving the cleaning robot to travel by the driving assembly;
detecting, by the detection component, a distance between the cleaning robot and the base station;
when the distance is less than a first preset distance, sending a replacement instruction to the base station through the first communication assembly, wherein the replacement instruction is used for instructing the base station to start a replacement assembly after the cleaning robot at least partially enters the base station, and the replacement assembly is used for replacing a cleaning tool of the cleaning robot.
Optionally, the detecting component includes an infrared receiving sensor disposed at a side of the cleaning robot, and the detecting component detects a distance between the cleaning robot and the base station, including:
detecting whether an infrared signal sent by an infrared emission sensor of the base station is received or not through the infrared receiving sensor;
determining that a distance between the cleaning robot and the base station is less than the first predetermined distance when the infrared signal is received.
Optionally, the first predetermined distance is greater than 5mm and less than 300 mm.
Optionally, the replacing assembly comprises a lifting frame for carrying the cleaning tool, the lifting frame is provided with a first position and a second position, the first position is an initial position of the lifting frame, and the second position is a target position after the lifting frame finishes descending.
Optionally, the length of the lifting frame is smaller than the outer contour length of the base station, and the absolute value of the difference is greater than 3 mm.
Optionally, after the lifting frame moves from the first position to the second position, the cleaning robot is controlled to move into the base station through the driving assembly.
Optionally, after the replacement instruction is sent to the base station, the cleaning robot is controlled by the driving assembly to pause to travel;
and after the lifting frame moves to the second position, the cleaning robot is controlled to drive into the base station through the driving assembly.
Optionally, after the cleaning tool is successfully replaced, the driving assembly drives the cleaning robot to retreat away from the base station, and a distance between the retreated cleaning robot and the base station is greater than a second predetermined distance.
Optionally, the second predetermined distance is greater than 5mm and less than 300 mm.
Optionally, the first side of cleaning machines people with distance between the second side of basic station is greater than 1mm and is less than 60mm, first side does any one side in the cleaning machines people both sides, the second side does distance in the basic station both sides a side that is nearest.
The disclosed embodiments provide a robot cleaning system including a cleaning robot, a detection assembly, a communication assembly, a cleaning tool detachably connectable to the cleaning robot, and a base station to which the cleaning robot is docked; the cleaning robot includes: a main body and a drive assembly; the base station includes: replacing the component; the driving assembly of the cleaning robot is used for driving the cleaning robot to travel; the detection assembly is used for detecting the distance between the cleaning robot and the base station; the communication component is used for transmitting a replacement instruction when the distance is less than a first preset distance; the replacing component of the base station is used for replacing the cleaning tool of the cleaning robot after the cleaning robot at least partially drives into the base station according to the replacing instruction; the base station can replace the cleaning tool of the cleaning robot under the condition that the distance is smaller than the first preset distance by controlling the distance relation between the cleaning robot and the base station, so that the entrance of the base station is blocked by the cleaning robot before the cleaning tool is replaced, an approximately closed space is formed in the base station before the cleaning tool is replaced, the conditions of abnormal operation and possible damage of the base station are avoided, and the reliability of the robot cleaning system is effectively improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic illustration of a cleaning robot provided in accordance with an exemplary embodiment;
FIG. 2 is a block diagram of a cleaning robot provided in accordance with an exemplary embodiment;
FIG. 3 is a schematic illustration of a robotic cleaning system provided in accordance with an exemplary embodiment;
FIG. 4 is a schematic illustration of a robotic cleaning system provided in accordance with another exemplary embodiment;
FIG. 5 is a schematic illustration of a robotic cleaning system provided in accordance with another exemplary embodiment;
FIG. 6 is a schematic illustration of a robotic cleaning system provided in accordance with another exemplary embodiment;
fig. 7 is a flowchart of a cleaning robot control method provided according to an exemplary embodiment.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
FIG. 1 is a schematic illustration of a cleaning robot provided in accordance with an exemplary embodiment. The cleaning robot 10 includes: the device comprises a machine body 11, a detection assembly 12, a left wheel, a motor connected with the left wheel, a right wheel, a motor connected with the right wheel and a mop plate 13.
The body 11 forms an outer case of the cleaning robot and accommodates other components.
Alternatively, the body 11 is flat and cylindrical.
The detection assembly 12 is used to collect sensory data of the cleaning robot in the travel area. The sensing data includes self-position data of the cleaning robot during traveling, traveling speed during traveling, traveling mileage, data related to obstacles, and the like. The obstacles can be base stations, furniture, household appliances, office equipment, brick wall bodies, wood board wall bodies, electric wires on the ground, door passing strips between rooms and the like.
Illustratively, the detection assembly 12 includes at least one of a Laser Distance Sensor (LDS), an infrared Sensor, a Laser Sensor, and an ultrasonic Sensor.
Illustratively, the detection assembly 12 may also include a odometer, cliff sensor, three-axis accelerometer, gyroscope, impact sensor, camera, hall sensor, and the like.
The number and positions of the detecting elements 12 are not limited in this embodiment.
A left wheel is installed on the left side of the cleaning robot body 11, a right wheel is installed on the right side of the cleaning robot body 11, and the left wheel and the right wheel are installed in parallel on the left side and the right side of the cleaning robot body 11. The left wheel and the right wheel are respectively controlled by motors connected with the left wheel and the right wheel.
A motor connected with a left wheel is further installed on the left side of the cleaning robot body 11, a driving circuit of the motor connected with the left wheel is connected with a first control assembly of the cleaning robot, the first control assembly sends first control signals corresponding to different duty ratios to the driving circuit of the motor, and the driving circuit of the motor generates corresponding driving current according to the first control signals to enable the motor to rotate, so that the driving direction and the rotating speed of the left wheel are controlled; the duty ratio refers to the ratio of the energization time to the energization period of the pulse signal, and the larger the duty ratio is, the larger the rotation speed of the left wheel is, and the smaller the duty ratio is, the smaller the rotation speed of the left wheel is. Such as: and a driving circuit of the motor connected with the left wheel receives a first control signal which is sent by the first control assembly and corresponds to 1/2 of duty ratio, generates corresponding driving current according to the first control signal, and controls the driving direction of the left wheel to be a forward direction and the rotating speed to be 50 revolutions per minute under the action of the driving current.
The right side of the cleaning robot body 11 is also provided with a motor connected with the right wheel, a driving circuit of the motor connected with the right wheel is connected with a first control assembly of the cleaning robot, the first control assembly sends second control signals corresponding to different duty ratios to the driving circuit of the motor, and the driving circuit of the motor generates corresponding driving current according to the second control signals to enable the motor to rotate, so that the driving direction and the rotating speed of the right wheel are controlled. Such as: and a driving circuit of the motor connected with the right wheel receives a second control signal which is sent by the first control component and corresponds to 1/2 of the duty ratio, generates corresponding driving current according to the second control signal, and controls the driving direction of the right wheel to be a forward direction and the rotating speed to be 50 revolutions per minute under the action of the driving current.
The left wheel of the cleaning robot 10, the motor connected to the left wheel, the right wheel, and the motor connected to the right wheel constitute a driving assembly of the cleaning robot 10.
Optionally, the cleaning robot 10 further includes a guide wheel provided at a front portion of the body 11 for changing a traveling direction of the cleaning robot 10 during traveling.
The mop plate 13 is arranged at the bottom of the machine body 11, and a mop is arranged on the mop plate 13. Optionally, the mop plate 13 is attached to the mop by a mop attachment surface.
It should be noted that the cleaning robot may further include other modules or components, which are not limited in the embodiments of the present disclosure.
Fig. 2 is a block diagram of a cleaning robot according to an exemplary embodiment. The cleaning robot includes: a drive assembly 21, a detection assembly 22 and a first communication assembly 23.
The driving assembly 21 is used for driving the cleaning robot to travel. Optionally, the drive assembly 21 is used to control the drive direction and rotational speed of the left and/or right wheels.
It should be noted that, in order to describe the behavior of the cleaning robot conveniently, a coordinate system based on the cleaning robot is established, the coordinate system comprises an X axis, a Y axis and a Z axis, the origin of the coordinate system is the central point of the cleaning robot, and any two of the X axis, the Y axis and the Z axis are perpendicular to each other; the X axis and the Y axis are in the same plane, the X axis is parallel to the front and rear axes of the body of the cleaning robot, and the Y axis of the coordinate system is parallel to the transverse axis of the body of the cleaning robot; the Z-axis is perpendicular to the plane defined by the X-axis and the Y-axis, and the Z-axis of the coordinate system is parallel to the vertical axis of the body of the cleaning robot. The driving direction along the X axis is a forward direction, and the driving direction along the X axis is a backward direction.
The driving assembly 21 is used to drive the cleaning robot to travel when the cleaning tool of the cleaning robot needs to be replaced.
Alternatively, whether the cleaning tool needs to be replaced may be determined by a control component (e.g., including a processing unit, etc.) built in the cleaning robot, for example, the control component may time the service life of the currently used cleaning tool (e.g., mop cloth), and when the time reaches a preset time, it indicates that the cleaning tool needs to be replaced, and the control component may send an instruction to the driving component, and the instruction may control the driving component to drive the cleaning robot to move toward the base station entrance.
Alternatively, the drive assembly may be controlled to drive the cleaning robot toward the base station entrance by an external command (e.g., a command sent by an operator via a remote control, control buttons, etc.) indicating that the cleaning tool needs to be replaced.
The cleaning tool of the cleaning robot is detachably connectable to the cleaning robot. The cleaning tool of the cleaning robot comprises a mop plate arranged at the bottom of the machine body, and a mop is arranged on the mop plate. Optionally, the mop plate 13 is attached to the mop by a mop attachment surface.
The detection assembly 22 is used to detect the distance between the cleaning robot and the base station.
Optionally, the distance between the cleaning robot and the base station is the distance between the front of the cleaning robot and the entrance of the base station.
Optionally, the detecting assembly 22 includes an infrared receiving sensor disposed at a side of the cleaning robot, and the infrared receiving sensor is configured to determine that the distance between the cleaning robot and the base station is less than a first predetermined distance when receiving an infrared signal transmitted by the infrared transmitting sensor. Since the infrared signal has a certain effective receiving distance, the infrared receiving sensor may determine that the distance between the cleaning robot and the base station is less than the first predetermined distance when receiving an effective (e.g., a predetermined amplitude) infrared signal.
Optionally, the first predetermined distance is greater than 5mm and less than 300 mm. The preset distance can ensure that the inlet of the base station is shielded by the cleaning robot, and other foreign matters are prevented from entering.
The first communication component 23 is adapted to send a replacement instruction to the base station when the distance is less than a first predetermined distance, the replacement instruction being adapted to instruct the base station to activate a replacement component for replacing a cleaning tool of the cleaning robot after the cleaning robot has at least partially entered the base station. For example, when the detection assembly receives an infrared signal sent by an infrared emission sensor, it may send an instruction to the first communication assembly 23, which may control the first communication assembly 23 to send a replacement instruction to the base station.
Optionally, the first communication assembly 23 is further configured to send a replacement instruction to the base station when detecting that the distance between the cleaning robot and the base station is smaller than a first predetermined distance and the distance between the cleaning robot and the position where the crane of the base station is to be lowered is greater than a first preset value. For example, the first preset value is 5 mm.
Optionally, in the process that the cleaning robot drives into the base station, a distance between a first side edge of the cleaning robot and a second side edge of the base station is greater than 1mm and less than 60mm, the first side edge is any one of the two sides of the cleaning robot, and the second side edge is a side edge closest to the first side edge in the two sides of the base station. Therefore, the design compactness is kept on the premise that the cleaning robot can smoothly enter the base station.
Optionally, the driving assembly 21 is further configured to drive the cleaning robot to retreat away from the base station after the cleaning tool is successfully replaced, and a distance between the retreated cleaning robot and the base station is less than a second predetermined distance. Optionally, the second predetermined distance is greater than 5mm and less than 300 mm. After the cleaning robot retreats to a sufficient distance, a subsequent cleaning operation can be performed. Wherein, the distance between the cleaning robot after retreating and the base station is the distance between the front part of the cleaning robot after retreating and the entrance of the base station.
Optionally, the cleaning robot further comprises a cleaning assembly. The cleaning assembly is used for controlling the mop plate at the bottom of the cleaning robot to clean the contact surface contacted with the mop during the traveling process when the cleaning robot is controlled to travel in the forward direction or the backward direction according to the preset logic after receiving the cleaning command.
Optionally, the cleaning robot further comprises a control assembly 24, and the control assembly 24 is electrically connected to the driving assembly 21, the detecting assembly 22 and the first communication assembly 23 respectively.
Optionally, the control assembly 24 includes a processing unit 242 and a memory unit 244. The processing unit 242 is used to control the overall operation of the cleaning robot. Upon receiving the cleaning command, the processing unit 242 can control the cleaning robot to travel in a forward direction or in a backward direction according to a preset logic and perform cleaning during the travel. Upon receiving the travel command, the processing unit 242 controls the cleaning robot to travel on the travel path in a predetermined travel pattern. In this embodiment, no further description is given to the processing unit 242 receiving other instructions of the user.
The storage unit 244 is also operable to store at least one instruction. The instructions include instructions for performing a predetermined travel pattern and travel path, instructions for performing cleaning, instructions for detecting whether the distance between the cleaning robot and the base station is less than a first predetermined distance, and so on. The storage unit is also used for storing self position data of the cleaning robot during traveling, traveling speed, traveling mileage and the like during traveling, and is also used for storing data related to the base station, such as the absolute value of the difference between the outer contour length of the base station and the length of the lifting frame. Wherein, the outer contour length of the base station and the length of the lifting frame are the length in the X-axis direction.
Optionally, the length of the lifting frame is smaller than the outer contour length of the base station, and the absolute value of the difference between the outer contour length of the base station and the length of the lifting frame is greater than 3 mm.
In an exemplary embodiment, the control assembly 24 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the cleaning robot control method in the embodiments of the present disclosure.
The control assembly 24 is used for controlling the cleaning robot to be driven to travel through the driving assembly 21 when the cleaning tool of the cleaning robot needs to be replaced; detecting a distance between the cleaning robot and the base station by the detecting assembly 22; when the distance is less than the first predetermined distance, a replacement command is sent via the first communication component 23 to the base station, the replacement command being used to instruct the base station to activate a replacement component for replacing the cleaning tool of the cleaning robot after the cleaning robot has at least partially entered the base station.
In an exemplary embodiment, a non-transitory computer-readable storage medium is also provided that includes instructions, such as a memory unit that includes instructions, that are executable by the control assembly 24 through the processing unit to perform the cleaning robot control method in the embodiments of the present disclosure. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
Figure 3 is a schematic diagram of a robotic cleaning system provided in accordance with an exemplary embodiment. As shown in fig. 3: the robotic cleaning system comprises a cleaning robot 31, a detection assembly, a communication assembly, a cleaning tool detachably connectable to the cleaning robot 31, and a base station 32 for docking of the cleaning robot 31. The cleaning robot 31 includes: a main body and a drive assembly. The base station 32 includes: and (6) replacing the components.
The driving component of the cleaning robot 31 is used for driving the cleaning robot 31 to travel; the detection component is used for detecting the distance between the cleaning robot 31 and the base station 32; the communication component is used for transmitting a replacement instruction when the distance is less than a first preset distance; the exchange component of the base station 32 is used to exchange the cleaning tool of the cleaning robot 31 after the cleaning robot 31 has at least partially entered the base station 32 according to the exchange instruction.
The cleaning robot 31 may be the cleaning robot shown in fig. 2.
Optionally, the first predetermined distance is greater than 5mm and less than 300 mm.
Optionally, the cleaning robot 31 is further configured to determine a distance between the cleaning robot 31 and the base station 32 according to the collected sensing data; acquiring a difference absolute value of the outer contour length of the base station 32 and the length of the lifting frame; the distance between the cleaning robot 31 and the position where the crane is to be lowered is determined based on the distance between the cleaning robot 31 and the base station 32 and the absolute value of the difference. Wherein, the position that the crane waits to descend is the second position of crane. For example, the distance between the cleaning robot 31 and the base station 32 may be added to the absolute value of the difference to obtain the distance between the cleaning robot 31 and the position where the crane is to be lowered.
Optionally, the communication components include a first communication component of the cleaning robot 31 and a second communication component of the base station 32. The first communication assembly is also used for sending a replacement instruction to the base station 32 when the distance between the cleaning robot 31 and the base station 32 is less than a first predetermined distance and the distance between the positions where the lifting frames of the cleaning robot 31 and the base station 32 are to be lowered is greater than a first preset value. For example, the first preset value is 5 mm.
In one possible implementation, as shown in fig. 4, the detection assembly includes an infrared emission sensor 322 disposed at the entrance of the base station 32 and an infrared reception sensor 312 disposed at the side of the cleaning robot 31;
the infrared receiving sensor 312 is used to determine that the distance between the cleaning robot 31 and the base station 32 is less than a first predetermined distance upon receiving the infrared signal transmitted from the infrared transmitting sensor 322.
In this implementation, the infrared receiving sensor 312 can receive the infrared signal transmitted by the infrared transmitting sensor 322 of the base station 32 only when the distance between the cleaning robot 31 and the base station 32 is less than the first predetermined distance. When the distance is greater than the first predetermined distance, the infrared receiving sensor 312 does not receive a valid infrared signal.
Optionally, the position of the transmission signal of the infrared emission sensor 322 and/or the infrared receiving sensor 312 is reduced to a slot, so as to ensure that the infrared receiving sensor 312 can only receive the infrared signal sent by the infrared emission sensor 322 when the distance between the cleaning robot 31 and the base station 32 is less than the first predetermined distance. For example, the position of the transmission signal of the infrared emission sensor 322 is a first gap, and the infrared emission sensor 322 is configured to send an infrared signal through the first gap; and/or the transmission signal position of the infrared receiving sensor 312 is a second gap, and the infrared receiving sensor 312 is configured to send the infrared signal through the second gap. In order to ensure that the infrared receiving sensor 312 can only receive the infrared signal sent by the infrared transmitting sensor 322 when the distance between the cleaning robot 31 and the base station 32 is less than the first predetermined distance, the specific arrangement mode of the infrared transmitting sensor 322 and/or the infrared receiving sensor 312 is not limited.
Optionally, the ir receiving sensor 312 is configured to send a replacement instruction to the base station 32 when receiving the ir signal sent by the ir transmitting sensor 322.
The second communication component of the base station 32 is used to receive a change instruction, and the change component is used to change the cleaning tool of the cleaning robot 31 after the cleaning robot 31 has at least partially entered the base station 32.
Optionally, the replacement assembly of the base station 32 comprises a crane for carrying the cleaning tool, the crane having a first position and a second position, the first position being an initial position of the crane, the second position being a target position after the crane has been lowered.
Schematically, the initial position of the lifting frame is the position where the lifting frame ascends to the specified highest height. Wherein the predetermined maximum height is preset. The embodiments of the present disclosure do not limit this.
Schematically, the target position after the crane has been lowered is the end position after the crane has been lowered, i.e. the base station 32 is used to replace the mop plate at the bottom of the cleaning robot 31 by the crane lowered to the second position.
Optionally, the length of the crane is smaller than the outer contour length of the base station 32, and the absolute value of the difference is greater than 3 mm.
The base station 32 is used for providing a new cleaning cloth plate for the cleaning robot 31 and recovering the dirty cleaning cloth plate discarded by the cleaning robot 31 through the internal lifting frame, so that the cleaning robot 31 can independently mop the floor, avoid the obstacle, discard the dirty cleaning cloth and replace the new cleaning cloth.
Optionally, the communication components include a first communication component of the cleaning robot 31 and a second communication component of the base station 32; the first communication component is used for sending a replacement instruction to the base station 32 when the distance is less than a first preset distance; the second communication component is used for receiving a replacement instruction; the lifting frame is used for moving from a first position to a second position; the driving assembly of the cleaning robot 31 is also used to control the cleaning robot 31 to move into the base station 32 after the crane moves to the second position.
Optionally, the driving component of the cleaning robot 31 is further configured to control the cleaning robot 31 to pause the travel after sending the replacement instruction to the base station 32; after the crane moves to the second position, the cleaning robot 31 is controlled to move into the base station 32.
Optionally, the base station 32 is configured to control the crane to descend when receiving the replacement instruction, and replace the mop plate at the bottom of the cleaning robot 31 with the second mop plate from the current first mop plate by the descending crane. Wherein, the second mop plate is a mop plate placed on the lifting frame. Because the base station 32 is when receiving the descending of replacement instruction control crane, the distance between cleaning robot 31 and the base station 32 has been close enough, has sheltered from the base station 32 entry for base station 32 forms airtight space, prevents that the foreign matter from getting into, for example avoids the pet to get into base station 32 when the crane descends, causes the injury. The first predetermined distance between the cleaning robot 31 and the base station 32 may be set in conjunction with the traveling speed of the cleaning robot 31 and the descending speed of the crane, so that the base station 32 controls the crane to descend when receiving the replacement instruction, and when the cleaning robot 31 enters the base station 32, the crane has already descended (i.e., the crane descends to the position to be descended) to prevent the cleaning robot 31 from entering the base station 32 to affect the crane descent.
Schematically, as shown in fig. 5, the replacing component of the base station 32 comprises a lifting frame 324 for carrying the cleaning tool, and the absolute value of the difference between the length of the outer contour of the base station 32 and the length of the lifting frame 324 is a value a, and the value a is more than 3 mm. The distance between the cleaning robot 31 and the position where the crane of the base station 32 is to be lowered is a value b, which is greater than 5 mm. Alternatively, in the case where the value a is stored in the cleaning robot 31, the value b may be calculated by adding the value a to the sum of the distances between the cleaning robot 31 and the base station 32.
Optionally, a distance between the first side of the cleaning robot 31 and the second side of the base station 32 is greater than 1mm and less than 60mm, the first side is any one of the two sides of the cleaning robot 31, and the second side is a side closest to the first side in the two sides of the base station 32 after the cleaning robot 31 drives into the base station 32.
Schematically, as shown in fig. 6, during the process that the cleaning robot 31 enters the base station 32, the distance between the first side edge of the cleaning robot 31 and the second side edge of the base station 32 is a value c, and the value c is greater than 1mm and less than 60 mm.
Optionally, the driving assembly is further configured to drive the cleaning robot 31 to move back away from the base station 32 after the cleaning tool is successfully replaced; the crane is configured to move from the second position to the first position when a distance between the cleaning robot 31 and the base station 32 after the back is less than a second predetermined distance.
Optionally, the base station 32 is further configured to control the internal crane to ascend, i.e., move from the second position to the first position, after the cleaning robot 31 retreats by the second predetermined distance.
Optionally, the second predetermined distance is greater than 5mm and less than 300 mm.
Optionally, the base station 32 is also used to charge the cleaning robot 31. The base station 32 is provided therein with a charging electrode for providing a charging interface for the cleaning robot 31, and the base station 32 charges the cleaning robot 31 when the charging electrode of the body of the cleaning robot 31 is attached to the charging electrode on the base station 32.
It should be noted that the base station 32 may further include other components or only include the above components, which is not limited in this embodiment, and the description is given by taking the base station 32 as an example.
In summary, embodiments of the present disclosure provide a robotic cleaning system including a cleaning robot, a detection assembly, a communication assembly, a cleaning tool detachably connectable to the cleaning robot, and a base station to which the cleaning robot is docked; the cleaning robot includes: a main body and a drive assembly; the base station includes: replacing the component; the driving assembly of the cleaning robot is used for driving the cleaning robot to travel; the detection assembly is used for detecting the distance between the cleaning robot and the base station; the communication component is used for transmitting a replacement instruction when the distance is less than a first preset distance; the replacing component of the base station is used for replacing the cleaning tool of the cleaning robot after the cleaning robot at least partially drives into the base station according to the replacing instruction; the base station can replace the cleaning tool of the cleaning robot under the condition that the distance is smaller than the first preset distance by controlling the distance relation between the cleaning robot and the base station, so that the entrance of the base station is blocked by the cleaning robot before the cleaning tool is replaced, an approximately closed space is formed in the base station before the cleaning tool is replaced, the conditions of abnormal operation and possible damage of the base station are avoided, and the reliability of the robot cleaning system is effectively improved.
The embodiment of the disclosure further provides that the infrared emission sensor is arranged at the inlet of the base station, the infrared receiving sensor is arranged on the side edge of the cleaning robot, and the infrared receiving sensor is used for sending a replacement instruction to the base station when receiving the infrared signal.
The cleaning robot is also used for driving the cleaning robot to retreat in the direction away from the base station after the cleaning tool is successfully replaced through the driving assembly; the lifting frame is used for moving from the second position to the first position when the distance between the cleaning robot and the base station after the cleaning robot retreats is smaller than a second preset distance. The distance between the cleaning robot and the base station after the cleaning robot retreats ensures that the requirement of the movement of the replacement component of the base station cannot be influenced, and the safety and the reliability of the robot cleaning system are further improved.
Referring to fig. 7, which is a flowchart illustrating a method of controlling a cleaning robot applied to the cleaning robot according to an exemplary embodiment, the cleaning robot includes: a main body, a driving assembly, a sensing assembly, and a first communication assembly, such as the cleaning robot described above with reference to fig. 2. The cleaning robot control method includes the steps of:
and step 701, driving the cleaning robot to move by the driving component.
Alternatively, when the cleaning tool of the cleaning robot needs to be replaced, the cleaning robot is controlled to travel to a position in front of the base station by the driving assembly. Wherein the cleaning tool is detachably connectable to the cleaning robot. For example, the cleaning implement is a mop plate.
Step 702, detecting a distance between the cleaning robot and the base station by the detection component.
The cleaning robot collects sensing data through the detection assembly, determines the distance between the cleaning robot and the base station according to the collected sensing data, judges whether the distance between the cleaning robot and the base station is smaller than a first preset distance, and executes step 703 if the distance between the cleaning robot and the base station is smaller than the first preset distance; if the distance between the cleaning robot and the base station is greater than or equal to the first predetermined distance, step 702 is executed to continue detecting the distance between the cleaning robot and the base station through the detecting component.
Optionally, the first predetermined distance is greater than 5mm and less than 300 mm.
In one possible implementation manner, the detecting component includes an infrared receiving sensor disposed at a side of the cleaning robot, and the cleaning robot detects a distance between the cleaning robot and the base station through the detecting component, including: detecting whether an infrared signal sent by an infrared emission sensor of a base station is received or not through an infrared receiving sensor; it is determined that the distance between the cleaning robot and the base station is less than a first predetermined distance when the infrared signal is received.
When the infrared receiving sensor at the side of the cleaning robot receives the infrared signal sent by the infrared transmitting sensor of the base station, that is, it is determined that the distance between the cleaning robot and the base station is less than the first predetermined distance, step 703 is executed.
It should be noted that, for the process of determining that the distance between the cleaning robot and the base station is smaller than the first predetermined distance when the infrared receiving sensor of the cleaning robot receives the infrared signal, reference may be made to relevant details in the foregoing embodiments, and details are not repeated herein.
And 703, sending a replacing instruction to the base station through the first communication component when the distance is less than the first preset distance, wherein the replacing instruction is used for instructing the base station to start the replacing component, and the replacing component is used for replacing the cleaning tool of the cleaning robot.
When the distance between the cleaning robot and the base station is less than a first predetermined distance, the cleaning robot sends a replacement instruction to the base station through the first communication component.
Correspondingly, the base station receives the replacing command, and after the cleaning robot at least partially enters the base station, the base station controls the replacing component to replace the cleaning tool of the cleaning robot.
Optionally, the replacing assembly comprises a lifting frame for bearing the cleaning tool, the lifting frame is provided with a first position and a second position, the first position is an initial position of the lifting frame, and the second position is a target position after the lifting frame finishes descending.
Optionally, the length of the crane is smaller than the outer contour length of the base station, and the absolute value of the difference is larger than 3 mm.
Optionally, the replacement instruction is used to instruct the base station to control the crane to descend. And after the base station receives the replacement instruction, the lifting frame is controlled to descend, namely, the lifting frame is moved from the first position to the second position, and after the lifting frame is moved from the first position to the second position, the cleaning robot is controlled to move into the base station through the driving assembly. And the base station replaces the cleaning tool of the cleaning robot after the cleaning robot at least partially enters the base station according to the replacement instruction. Illustratively, the base station changes the mop plate at the bottom of the cleaning robot from the current first mop plate to the second mop plate by the descending crane. Wherein, the second mop plate is a mop plate placed on the lifting frame.
Optionally, when it is detected that the distance between the cleaning robot and the base station is smaller than a first predetermined distance and the distance between the cleaning robot and the position where the crane of the base station is to be lowered is greater than a first preset value, a replacement instruction is sent to the base station.
Optionally, the cleaning robot determines a distance between the cleaning robot and the base station according to the acquired sensing data; acquiring a difference absolute value of the stored outer contour length of the base station and the length of the lifting frame; and determining the distance between the cleaning robot and the position to be descended of the lifting frame according to the distance between the cleaning robot and the base station and the absolute value of the difference.
Optionally, in the process that the cleaning robot drives into the base station, a distance between a first side edge of the cleaning robot and a second side edge of the base station is greater than 1mm and less than 60mm, the first side edge is any one of two sides of the cleaning robot, and the second side edge is a side edge closest to the first side edge in the two sides of the base station after the cleaning robot drives into the base station.
Optionally, after the cleaning robot sends a replacement instruction to the base station, the cleaning robot is controlled by the driving assembly to pause to travel; after the lifting frame moves to the second position, the cleaning robot is controlled to drive into the base station through the driving assembly.
Optionally, after the cleaning tool is successfully replaced, the cleaning robot is driven by the driving assembly to retreat away from the base station, and the distance between the retreated cleaning robot and the base station is smaller than a second predetermined distance.
Optionally, the second predetermined distance is greater than 5mm and less than 300 mm.
Optionally, after the cleaning robot is driven by the driving assembly to retreat for a certain distance in the direction away from the base station, the base station controls the lifting frame to ascend. Illustratively, after the cleaning tool is replaced successfully, the cleaning robot is driven by the driving assembly to retreat in the direction away from the base station, and when the distance between the cleaning robot retreated and the base station is smaller than a second preset distance, the base station controls the lifting frame to ascend, namely, the lifting frame moves from the second position to the first position.
It should be noted that, for details of each step in the control method of the cleaning robot, reference may be made to the relevant description in the above embodiments, and details are not repeated here.
In summary, the cleaning robot is driven to travel by the cleaning robot through the driving assembly in the embodiment of the disclosure; detecting a distance between the cleaning robot and the base station through the detection assembly; sending a replacement instruction to the base station through the first communication assembly when the distance is less than a first preset distance, wherein the replacement instruction is used for instructing the base station to start a replacement assembly after the cleaning robot at least partially enters the base station, and the replacement assembly is used for replacing a cleaning tool of the cleaning robot; the base station can replace the cleaning tool of the cleaning robot under the condition that the distance is smaller than the first preset distance by controlling the distance relation between the cleaning robot and the base station, so that the inlet of the base station is blocked by the cleaning robot before the cleaning tool is replaced, an approximately closed space is formed in the base station before the cleaning tool is replaced, the conditions of abnormal operation and possible damage of the base station are avoided, and the reliability of the cleaning robot control method is effectively improved.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (19)

1. A robotic cleaning system comprising a cleaning robot, a detection assembly, a communication assembly, a cleaning tool detachably connectable to the cleaning robot, and a base station to which the cleaning robot is docked; characterized in that the cleaning robot comprises: a main body and a drive assembly; the base station includes: replacing the component;
the driving component of the cleaning robot is used for driving the cleaning robot to travel;
the detection component is used for detecting the distance between the cleaning robot and the base station;
the communication component is used for transmitting a replacement instruction when the distance is smaller than a first preset distance;
the replacement component of the base station is used for replacing the cleaning tool of the cleaning robot after the cleaning robot at least partially enters the base station according to the replacement instruction.
2. The robotic cleaning system according to claim 1, wherein the detection assembly includes an infrared emission sensor disposed at the base station entrance and an infrared reception sensor disposed at a side of the cleaning robot;
the infrared receiving sensor is used for determining that the distance between the cleaning robot and the base station is smaller than the first preset distance when receiving the infrared signal sent by the infrared transmitting sensor.
3. A robotic cleaning system as claimed in claim 1 or 2, wherein the change assembly comprises a crane for carrying the cleaning tool, the crane having a first position and a second position, the first position being an initial position of the crane and the second position being a target position after completion of lowering of the crane.
4. The robotic cleaning system of claim 3,
the length of the lifting frame is smaller than the outer contour length of the base station, and the absolute value of the difference is larger than 3 mm.
5. A robotic cleaning system as claimed in claim 3, in which the communication components include a first communication component of the cleaning robot and a second communication component of the base station;
the first communication component is used for sending the replacement instruction to the base station when the distance is smaller than the first preset distance;
the second communication component is used for receiving the replacement instruction; the lifting frame is used for moving from the first position to the second position;
the driving assembly of the cleaning robot is further used for controlling the cleaning robot to drive into the base station after the lifting frame moves to the second position.
6. The robotic cleaning system of claim 5,
the driving component of the cleaning robot is also used for controlling the cleaning robot to pause to travel after the replacement instruction is sent to the base station; and after the lifting frame moves to the second position, controlling the cleaning robot to drive into the base station.
7. The robotic cleaning system of claim 3,
the driving assembly is further used for driving the cleaning robot to retreat in a direction away from the base station after the cleaning tool is successfully replaced;
the lifting frame is used for moving from the second position to the first position when the distance between the cleaning robot and the base station after the cleaning robot backs is smaller than a second preset distance.
8. A robotic cleaning system as claimed in claim 1 or 2,
the distance between a first side edge of the cleaning robot and a second side edge of the base station is larger than 1mm and smaller than 60mm, the first side edge is any one of the two sides of the cleaning robot, and the second side edge is the side edge which is closest to the first side edge in the two sides of the base station after the cleaning robot drives into the base station.
9. A cleaning robot, characterized in that the cleaning robot comprises: the device comprises a main body, a driving component, a detection component and a first communication component;
the driving assembly is used for driving the cleaning robot to travel;
the detection component is used for detecting the distance between the cleaning robot and the base station;
the first communication component is used for sending a replacement instruction to the base station when the distance is smaller than a first preset distance, the replacement instruction is used for instructing the base station to start a replacement component after the cleaning robot at least partially enters the base station, and the replacement component is used for replacing a cleaning tool of the cleaning robot.
10. The cleaning robot of claim 9, wherein the detection assembly includes an infrared receiving sensor disposed at a side of the cleaning robot for determining that the distance between the cleaning robot and the base station is less than the first predetermined distance upon receiving an infrared signal transmitted by the infrared transmitting sensor.
11. The cleaning robot of claim 9 or 10, wherein the exchange assembly includes a crane for carrying the cleaning tool, the crane having a first position and a second position, the first position being an initial position of the crane, the second position being a target position after completion of the descent of the crane.
12. A cleaning robot control method applied to a cleaning robot including a main body, a driving assembly, a detecting assembly, and a first communicating assembly, the method comprising:
driving the cleaning robot to travel by the driving assembly;
detecting, by the detection component, a distance between the cleaning robot and the base station;
when the distance is less than a first preset distance, sending a replacement instruction to the base station through the first communication assembly, wherein the replacement instruction is used for instructing the base station to start a replacement assembly after the cleaning robot at least partially enters the base station, and the replacement assembly is used for replacing a cleaning tool of the cleaning robot.
13. The method of claim 12, wherein the detection assembly comprises an infrared receiving sensor disposed at a side of the cleaning robot, and wherein detecting the distance between the cleaning robot and the base station via the detection assembly comprises:
detecting whether an infrared signal sent by an infrared emission sensor of the base station is received or not through the infrared receiving sensor;
determining that a distance between the cleaning robot and the base station is less than the first predetermined distance when the infrared signal is received.
14. The method according to claim 12 or 13,
the replacing assembly comprises a lifting frame used for bearing the cleaning tool, the lifting frame is provided with a first position and a second position, the first position is an initial position of the lifting frame, and the second position is a target position after the lifting frame finishes descending.
15. The method of claim 14,
the length of the lifting frame is smaller than the outer contour length of the base station, and the absolute value of the difference is larger than 3 mm.
16. The method of claim 14,
after the lifting frame moves from the first position to the second position, the cleaning robot is controlled to drive into the base station through the driving assembly.
17. The method of claim 14,
after the replacement instruction is sent to the base station, controlling the cleaning robot to stop running through the driving assembly;
and after the lifting frame moves to the second position, the cleaning robot is controlled to drive into the base station through the driving assembly.
18. The method of claim 14, further comprising:
after the cleaning tool is replaced successfully, the driving assembly drives the cleaning robot to retreat in the direction away from the base station, and the distance between the retreated cleaning robot and the base station is smaller than a second preset distance.
19. The method of claim 12 or 13, wherein a distance between a first side of the cleaning robot, which is any one of the two sides of the cleaning robot, and a second side of the base station, which is the closest one of the two sides of the base station to the first side, is greater than 1mm and less than 60 mm.
CN202011003655.6A 2020-09-22 2020-09-22 Robot cleaning system, cleaning robot and cleaning robot control method Pending CN114246516A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011003655.6A CN114246516A (en) 2020-09-22 2020-09-22 Robot cleaning system, cleaning robot and cleaning robot control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011003655.6A CN114246516A (en) 2020-09-22 2020-09-22 Robot cleaning system, cleaning robot and cleaning robot control method

Publications (1)

Publication Number Publication Date
CN114246516A true CN114246516A (en) 2022-03-29

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Link
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