CN114431759A - Moving method of cleaner - Google Patents
Moving method of cleaner Download PDFInfo
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- CN114431759A CN114431759A CN202210114078.0A CN202210114078A CN114431759A CN 114431759 A CN114431759 A CN 114431759A CN 202210114078 A CN202210114078 A CN 202210114078A CN 114431759 A CN114431759 A CN 114431759A
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- China
- Prior art keywords
- cleaning device
- wall surface
- cleaned
- cleaner
- cleaning
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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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention provides a moving method of a cleaner, the cleaner comprises a main body and a cleaning device, the cleaning device comprises a first cleaning device and a second cleaning device, and the moving method comprises the following steps: forming a negative pressure space among the main body, the first cleaning device, the second cleaning device and the surface to be cleaned; the first cleaning device is driven to rotate relative to the surface to be cleaned, and the second cleaning device is driven to rotate relative to the surface to be cleaned, any one of the first cleaning device and the second cleaning device is provided with a high friction area and a low friction area which are contacted with the external surface to be cleaned in the rotating process, and the difference between the friction force of the high friction area and the friction force of the low friction area enables the cleaner to generate power advancing along a set direction, so that the cleaner can move on the external surface to be cleaned. Compared with the prior art, the invention can ensure that the cleaner can move on the external surface to be cleaned more stably and more quickly, so that the cleaner can flexibly adapt to the surfaces to be cleaned in various complex environments, the cleaning efficiency of the cleaner is improved, the cleaning time is shortened, and the energy is saved.
Description
Technical Field
The invention relates to the technical field of cleaners, in particular to a moving method of a cleaner.
Background
There are various types of window cleaning machines that conveniently clean door and window among the prior art, but window cleaning machine among the prior art has the defect, for example:
the window cleaning machine in the prior art has large overall weight, is difficult to operate on the surface of a door and window to be cleaned, and is easy to fall off from the vertical surface of the door and window;
and what window cleaning machine on the market generally adopted is that the motion mode of double round one is quiet one moves is walked, and a clean wheel adsorbs on door and window surface promptly, and another clean wheel is rotatory to be walked, and this kind of motion mode is owing to have a clean wheel to be in quiescent condition all the time for window cleaning machine's window cleaning is inefficient, and cleans the window for a long time, still wastes the electric energy, and user's use experience is low.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a moving method of a cleaner, which comprises the following specific technical scheme:
a moving method of a cleaner including a main body and a cleaning device including a first cleaning device and a second cleaning device, comprising:
forming a negative pressure space among the main body, the first cleaning device and the external surface to be cleaned, and forming a negative pressure space among the main body, the second cleaning device and the external surface to be cleaned, so that the cleaner is adsorbed on the external surface to be cleaned;
the first cleaning device is driven to rotate relative to the external surface to be cleaned, and the second cleaning device is driven to rotate relative to the external surface to be cleaned, any one of the first cleaning device and the second cleaning device is provided with a high friction area and a low friction area which are contacted with the external surface to be cleaned during rotation, and the friction force between the high friction area and the surface to be cleaned is larger than that between the low friction area and the surface to be cleaned, so that the cleaner can move on the external surface to be cleaned.
In a specific embodiment, the method further comprises the following steps:
in a first control period, driving the first cleaning device to rotate along a first direction relative to the external surface to be cleaned, and driving the second cleaning device to rotate along a second direction relative to the external surface to be cleaned;
the first direction and the second direction are opposite in direction, and the linear velocity of the first cleaning device is the same as that of the second cleaning device, so that the cleaner can run straight on the outer surface to be cleaned.
In a specific embodiment, the method further comprises the following steps:
in a second control period, driving the first cleaning device to rotate along a first direction relative to the external surface to be cleaned, and driving the second cleaning device to rotate along a second direction relative to the external surface to be cleaned;
the first direction and the second direction are opposite, and the linear velocity of the first cleaning device is different from the linear velocity of the second cleaning device, so that the cleaner turns on an external surface to be cleaned; or the first direction and the second direction are the same, and the linear velocity of the first cleaning device is different from or the same as that of the second cleaning device, so that the cleaner turns on an external surface to be cleaned.
In a specific embodiment, the moving method further includes:
when the first cleaning device and the second cleaning device reach a first wall surface, one of the first cleaning device and the second cleaning device is driven to rotate reversely to be separated from the first wall surface, and the other one of the first cleaning device and the second cleaning device is kept attached to the first wall surface, wherein an included angle is formed between the first wall surface and the surface to be cleaned, and the first wall surface extends out of the surface to be cleaned.
In a specific embodiment, after one of the first cleaning device and the second cleaning device rotates reversely to disengage from the first wall surface, the moving method further comprises:
driving the reversed cleaning device to rotate to be in a preset posture with the other cleaning device;
driving the first cleaning device and the second cleaning device to move forward, and enabling the cleaning device attached to the first wall surface to be kept attached to the first wall surface in the moving process;
driving the first and second cleaning devices to change a direction of travel when both reach a second wall surface;
the second wall surface and the surface to be cleaned are arranged at an included angle, the second wall surface extends out of the surface to be cleaned, and a corner smaller than 180 degrees is formed between the first wall surface and the second wall surface.
In a specific embodiment, the "driving the first cleaning device and the second cleaning device to change the traveling direction" includes:
the drive first cleaning device antiport, and the drive second cleaning device antiport makes first cleaning device with second cleaning device all breaks away from the second wall, and makes the laminating the cleaning device of first wall maintains the laminating at the in-process of marcing first wall.
In a specific embodiment, the "driving the first cleaning device and the second cleaning device to change the traveling direction" includes:
the first cleaning device is driven to rotate reversely, and the second cleaning device is driven to rotate reversely, so that the first cleaning device and the second cleaning device are both separated from the second wall surface and the first wall surface.
In a specific embodiment, the "driving the first cleaning device and the second cleaning device to change the traveling direction" includes:
and driving the cleaning device only attached to the second wall surface to reversely rotate so as to be separated from the second wall surface.
In a specific embodiment, said "driving the cleaning device engaging only said second wall surface to rotate in a reverse direction to disengage said second wall surface" comprises:
in the reverse rotation process of the cleaning device, the driving device is only attached to the second wall surface, and the cleaning device in driving contact with the first wall surface and the second wall surface maintains contact with the first wall surface and the second wall surface.
In a specific embodiment, after one of the first cleaning device and the second cleaning device rotates reversely to disengage from the first wall surface, the moving method further comprises:
driving the reversed cleaning device to rotate to be in a preset posture with the other cleaning device;
driving the first cleaning device and the second cleaning device to move forward, and enabling the cleaning device attached to the first wall surface to be kept attached to the first wall surface in the moving process;
when one cleaning device attached to the first wall surface runs to be separated from the first wall surface, the linear speed of the other cleaning device is increased, and the cleaning device separated from the first wall surface and the other cleaning device reach a third wall surface, wherein an included angle is formed between the third wall surface and the surface to be cleaned, the third wall surface extends out of the surface to be cleaned, and a corner larger than 180 degrees is formed between the first wall surface and the third wall surface.
In a specific embodiment, after the cleaning device separated from the first wall surface reaches the third wall surface, the moving method further comprises the following steps:
the cleaning device with the increased linear velocity is driven to rotate to be in a preset posture with the other cleaning device;
and driving the first cleaning device and the second cleaning device to advance, and enabling the cleaning device attached to the third wall surface to maintain the attachment to the third wall surface in the advancing process.
In a specific embodiment, before driving the first cleaning device and the second cleaning device to travel, the moving method further includes:
driving the cleaning device with the increased linear velocity to rotate to be attached to the third wall surface;
driving one of the first cleaning device and the second cleaning device to be separated from the third wall surface, and enabling the other of the first cleaning device and the second cleaning device to be attached to the third wall surface;
driving the cleaning device disengaged from the third wall surface to reverse so as to be in a preset posture with another cleaning device.
In a specific embodiment, "driving one of the first cleaning device and the second cleaning device to rotate in a reverse direction to disengage the first wall surface when both the first cleaning device and the second cleaning device reach the first wall surface" comprises:
when the first cleaning device and the second cleaning device travel to an obstacle on the first wall surface, one of the first cleaning device and the second cleaning device is driven to travel along the obstacle;
when the first cleaning device and the second cleaning device reach the first wall surface, one of the first cleaning device and the second cleaning device is driven to rotate reversely to be separated from the first wall surface.
In a specific embodiment, the obstacle is formed by a corner greater than 180 degrees and a corner less than 180 degrees; the moving method further includes:
when the cleaner travels to a corner of less than 180 degrees, the cleaner moves according to the above-described moving method;
when the cleaner travels to a corner of more than 180 degrees, the cleaner moves according to the above-described moving method. Compared with the prior art, the invention has the following beneficial effects:
the moving method of the cleaner provided by the invention can enable the cleaner to move on the external surface to be cleaned more stably and rapidly, so that the cleaner can flexibly adapt to the surfaces to be cleaned in various complex environments, the cleaning efficiency of the cleaner is improved, the cleaning time is shortened, the energy is saved, and the use experience of a user is improved.
In the first control period, the moving efficiency of the cleaner can be improved, the cleaner can rapidly and flexibly move forwards or backwards on the surface to be cleaned, and the window wiping effect of the cleaner is improved.
In the second control period, the turning efficiency of the cleaner can be improved, the cleaner can turn on the surface to be cleaned quickly and flexibly, the window cleaning effect of the cleaner is improved, and the cleaner is suitable for various environments to be cleaned.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart showing the steps of the cleaning device moving on the external surface to be cleaned in the embodiment;
FIG. 2 is a schematic view showing the structure of the cleaner in the embodiment;
FIG. 3 is a schematic view showing the forward structure of the cleaner in the embodiment;
FIG. 4 is a schematic view showing a configuration in which the cleaner is retreated in the embodiment;
FIG. 5 is a schematic view showing a first construction in which the cleaner of the embodiment meets a wall surface;
FIG. 6 is a second structural view of the cleaner of the embodiment encountering a wall surface;
FIG. 7 is a schematic view showing a first structure of the cleaner on the surface to be cleaned in the embodiment (the first wall surface and the second wall surface form a corner of less than 180 degrees therebetween);
FIG. 8 is a schematic view showing a second structure of the cleaner on the surface to be cleaned in the embodiment (the first wall surface and the second wall surface form a corner of less than 180 degrees therebetween);
FIG. 9 is a schematic view showing a third structure of the cleaner on the surface to be cleaned in the embodiment (the first wall surface and the second wall surface form a corner of less than 180 degrees therebetween);
FIG. 10 is a fourth schematic view of the embodiment in which the cleaner is located on the surface to be cleaned (the first wall surface and the second wall surface form a corner of less than 180 degrees therebetween);
FIG. 11 is a fifth schematic view of the embodiment in which the cleaner is located on the surface to be cleaned (the first wall surface and the second wall surface form a corner of less than 180 degrees therebetween);
FIG. 12 is a sixth configuration of the embodiment in which the cleaner is located on the surface to be cleaned (the first wall surface and the second wall surface form a corner of less than 180 degrees therebetween);
FIG. 13 is a seventh structural view of the cleaning device of the embodiment on the surface to be cleaned (the first wall surface and the second wall surface form a corner of less than 180 degrees therebetween);
FIG. 14 is a schematic view of the cleaning device attached to only the second wall surface of the embodiment detached from the second wall surface;
FIG. 15 is an eighth schematic view of the embodiment in which the cleaner is located on the surface to be cleaned (the first wall surface and the second wall surface form a corner of more than 180 degrees therebetween);
FIG. 16 is a schematic view showing a ninth structure in which the cleaning device of the embodiment is disposed on the surface to be cleaned (one of the first cleaning means and the second cleaning means travels in conformity with an obstacle).
Description of the main element symbols:
1-a body; 2-a first cleaning device; 3-a second cleaning device; 4-negative pressure space; 5-vacuum pipeline; 6-vacuum device; 7-less than 180 degrees of corner; 8-a first wall surface; 9-a second wall surface; 10-greater than 180 degree corner; 11-a third wall surface; 12-an obstacle; 13-surface to be cleaned.
Detailed Description
Examples
As shown in fig. 1 to 16, the present embodiment provides a moving method of a cleaner including a main body 1 and cleaning means including a first cleaning means 2 and a second cleaning means 3, including:
a negative pressure space 4 is formed among the main body 1, the first cleaning device 2 and the external surface to be cleaned 13, the negative pressure space 4 is formed among the main body 1, the second cleaning device 3 and the external surface to be cleaned 13, so that the cleaner is adsorbed on the external surface to be cleaned 13, specifically, a space is formed among the main body 1, the first cleaning device 2 and the external surface to be cleaned 13, a space is formed among the main body 1, the second cleaning device 3 and the external surface to be cleaned 13, and the main body 1 is preferably connected with an external vacuum device 6 through a vacuum pipeline 5 so that the space generates negative pressure to adsorb the cleaner on the external surface to be cleaned 13; the first cleaning device 2 is driven to rotate relative to the external surface to be cleaned 13, and the second cleaning device 3 is driven to rotate relative to the external surface to be cleaned 13, any one of the first cleaning device 2 and the second cleaning device 3 is provided with a high friction area and a low friction area which are contacted with the external surface to be cleaned 13 in the rotating process, the friction force between the high friction area and the surface to be cleaned 13 is larger than the friction force between the low friction area and the surface to be cleaned 13, so that the cleaner can move on the external surface to be cleaned 13, and specifically, the speed and the direction of the cleaner on the external surface to be cleaned 13 can be adjusted according to the acting size and the acting direction of the resultant force of the high friction area and the low friction area. It will be appreciated that the first cleaning means 2 and the second cleaning means 3 clean the surface to be cleaned 13 during movement of the cleaner over the external surface to be cleaned 13, optionally with the vacuum means 6 being located internally or externally of the cleaner. It will be appreciated that the difference in friction between the high and low friction areas causes the cleaner to generate power to travel in a set direction.
Optionally, the first cleaning device 2 includes a first cleaning turntable and a first mop, and the first mop is sleeved or adhered on the first cleaning turntable; the second cleaning device 3 comprises a second cleaning turntable and a second mopping piece, and the second mopping piece is sleeved or adhered on the second cleaning turntable; the first wiping piece and the second wiping piece are preferably wiping rags, and the cleaner cleans the surface to be cleaned 13 through the wiping rags; the outer surface to be cleaned 13 is preferably the surface of a door or window to be cleaned, in particular the surface of a pane of glass to be cleaned; alternatively, the first cleaning device 2 may be an integral structure directly having a cleaning function and capable of walking (e.g., rotating), and the second cleaning device 3 may be an integral structure directly having a cleaning function and capable of walking (e.g., rotating).
Specifically, in this embodiment, the width of first clean carousel and the width that the clean carousel of second all is greater than main part 1 to the frame of electric current detects, and when the cleaner met the wall, the current sensor in the cleaner both can detect the wall, can detect the corner of wiping the window wall again, and it is clean to reach no dead angle.
Specifically, the embodiment can enable the cleaner to move on the external surface 13 to be cleaned more stably and quickly, so that the cleaner can flexibly adapt to the surfaces 13 to be cleaned in various complex environments, the cleaning efficiency of the cleaner is improved, the cleaning time is shortened, the energy is saved, and the use experience of a user is improved; the vacuum cleaner can be arranged outside based on the vacuum device 6 and connected with the cleaner through the vacuum pipeline 5, so that the cleaner is small in overall size and light in weight, the cleaner is not easy to fall off from the surface 13 to be cleaned, the appearance of the cleaner can be more attractive, and the production cost of the cleaner is saved.
As shown in fig. 3 to fig. 4, in this embodiment, the method further includes: in a first control cycle, the first cleaning device 2 is driven to rotate in a first direction relative to the outer surface 13 to be cleaned, and the second cleaning device 3 is simultaneously driven to rotate in a second direction relative to the outer surface 13 to be cleaned; the first direction and the second direction are opposite in direction, and the linear velocity of the first cleaning device 2 is the same as the linear velocity of the second cleaning device 3, so that the cleaner travels straight on the outer surface to be cleaned 13. The embodiment can improve the moving efficiency of the cleaner, enables the cleaner to rapidly and flexibly move forwards or backwards on the surface 13 to be cleaned, and improves the window cleaning effect of the cleaner.
Specifically, the first direction may be a counterclockwise direction or a clockwise direction, and the second direction may be a counterclockwise direction or a clockwise direction; when the first direction is the anticlockwise direction, the second direction is the clockwise direction; when the first direction is clockwise, the second direction is counterclockwise.
Alternatively, in the present embodiment, when the cleaner advances on the outer surface to be cleaned 13, the first direction is preferably counterclockwise, the second direction is preferably clockwise, the first cleaning means 2 rotates in the counterclockwise direction, and the second cleaning means 3 rotates in the clockwise direction, so that the cleaner advances on the outer surface to be cleaned 13; when the cleaner is retracted on the outer surface 13 to be cleaned, the first direction is preferably clockwise and the second direction is preferably counter-clockwise, the first cleaning means 2 is rotated in the clockwise direction and the second cleaning means 3 is rotated in the counter-clockwise direction, causing the cleaner to be retracted on the outer surface 13 to be cleaned.
Specifically, the first cleaning means 2 is driven by a first motor, the second cleaning means 3 is driven by a second motor, the first motor and the second motor are optionally provided in the main body 1, and the "cleaner moves on the external surface to be cleaned" includes: detecting a first load current of the first motor, and if the first load current is larger than a first threshold value, driving the first motor to rotate reversely, so that the first cleaning device 2 rotates reversely, and the cleaner moves backwards on one side of the first cleaning device 2; and detecting a second load current of the second motor, and if the second load current is larger than a second threshold value, driving the second motor to rotate reversely, so that the second cleaning device 3 rotates reversely, and the cleaner moves backwards on one side of the second cleaning device 3.
Specifically, the first motor is electrically connected with a control system of the cleaner for detecting the current value of the first motor, and the second motor is electrically connected with the control system of the cleaner for detecting the current value of the second motor.
In this embodiment, the method further includes: in a second control period, the first cleaning device 2 is driven to rotate along a first direction relative to the outer surface 13 to be cleaned, and the second cleaning device 3 is driven to rotate along a second direction relative to the outer surface 13 to be cleaned; the first direction and the second direction are opposite, and the linear velocity of the first cleaning device 2 is different from that of the second cleaning device 3, so that the cleaner turns on the external surface to be cleaned 13; or the first direction and the second direction are the same, and the linear velocity of the first cleaning device 2 is different from or the same as that of the second cleaning device 3, so that the cleaner turns on the external surface to be cleaned 13; the turning angle is regulated according to a preset angle in the cleaner, and after the turning angle is regulated to the preset angle, the next step of instruction is carried out. Specifically, the embodiment can improve the turning efficiency of the cleaner, enable the cleaner to turn on the surface 13 to be cleaned quickly and flexibly, improve the window cleaning effect of the cleaner, and enable the cleaner to adapt to various environments to be cleaned. It will be appreciated that when the linear velocity of the first cleaning means 2 is the same as the linear velocity of the second cleaning means 3, the cleaner can make a turn in situ about its central axis.
Specifically, in the present embodiment, the first direction and the second direction may be selected to be opposite, and the turning of the cleaner is realized by a linear velocity difference between the first cleaning device 2 and the second cleaning device 3, for example, the first cleaning device 2 rotates in a counterclockwise direction relative to the external surface to be cleaned 13, the second cleaning device 3 rotates in a clockwise direction relative to the external surface to be cleaned 13, and the linear velocity of the first cleaning device 2 is greater than or less than the linear velocity of the second cleaning device 3, so that the cleaner realizes the turning on the external surface to be cleaned 13.
In the present embodiment, the phrase "the linear velocity of the first cleaning device 2 is different from the linear velocity of the second cleaning device 3" includes: one of the first cleaning device 2 and the second cleaning device 3 has a linear velocity of 0, and the other has a linear velocity of more than 0; or the linear speed of the first cleaning device 2 is larger than that of the second cleaning device 3; alternatively, the linear velocity of the second cleaning device 3 is greater than the linear velocity of the first cleaning device 2. Specifically, in this embodiment, the linear velocity of the first cleaning device 2 may be greater than the linear velocity of the second cleaning device 3, or the linear velocity of the second cleaning device 3 may be greater than the linear velocity of the first cleaning device 2. Alternatively, the linear velocity of the first cleaning device 2 and the linear velocity of the second cleaning device 3 are both not 0.
As shown in fig. 5, in the present embodiment, the "cleaner moves on the external surface to be cleaned 13" further includes identifying an encountered wall surface, and the identifying method includes: the first cleaning device 2 and the second cleaning device 3 do not advance along any wall surface or any edge attached to the external surface 13 to be cleaned, i.e. the first cleaning device 2 and the second cleaning device 3 advance along the non-wall surface or non-edge surface of the external surface 13 to be cleaned; and detecting the first load current and the second load current, if the first load current is larger than a first threshold value and the second load current is larger than a second threshold value, judging that the first cleaning device 2 and the second cleaning device 3 are both attached to the wall surface of the external cleaning surface 13 to be cleaned, and judging that the cleaner is positioned on the wall surface of the external cleaning surface 13 to be cleaned, and meanwhile, the cleaner cannot move forward continuously. After the recognition is finished, the control system controls the cleaner to carry out the next step of instruction, and the azimuth sensor adjusts the azimuth of the machine body to be adjusted. Specifically, the embodiment can accurately and efficiently detect and identify the wall surface on the surface to be cleaned 13, is beneficial to the cleaner to move on the surface to be cleaned 13 and clean, can improve the cleaning efficiency of the cleaner, and enables the cleaner to flexibly adapt to the surface to be cleaned 13 in various environments.
In this embodiment, after the cleaner meets the wall, still include: the first motor and the second motor are driven to rotate reversely, and the first cleaning device 2 and the second cleaning device 3 rotate reversely, so that the cleaner starts to retreat and is away from the wall surface, and continues to perform the next action according to a preset route, such as turning or going straight backwards.
Specifically, the actual cleaner product, when wiping a window, first step: finding the upper left corner point, placing the cleaner on the (vertical) glass to be cleaned, adjusting the state of the machine body under the action of an orientation sensor in the cleaner, starting to perform the next step of instruction after the state of the cleaner moving forwards is adjusted, and driving forwards; when the cleaner runs in a front vertical plane, the cleaner starts to turn 90 degrees and runs leftwards, and when the cleaner runs in the vertical plane, the cleaner is the default upper left corner point, and similarly, the cleaner can be set as follows by default: and when the operation is started, finding an upper right corner point, a lower left corner point and a lower right corner point.
In the present embodiment, the "cleaner moves on the external surface to be cleaned 13" further includes recognizing the corner 7 of less than 180 degrees, and the recognition method includes: one of the first cleaning device 2 and the second cleaning device 3 advances attached to the first wall surface 8 of the external surface 13 to be cleaned, and the other one advances unattached to the first wall surface 8; and detecting a first load current and a second load current, if the first load current is larger than a first threshold value and the second load current is larger than a second threshold value, judging that the first cleaning device 2 and the second cleaning device 3 are both attached to a second wall surface 9 of the external surface to be cleaned 13, and judging that the cleaner is positioned at a corner 7 of the external surface to be cleaned 13, which is smaller than 180 degrees. After the recognition is finished, the control system controls the cleaner to carry out the next step of instruction, and the azimuth sensor adjusts the azimuth of the machine body to be adjusted. Specifically, the embodiment can accurately and efficiently detect and identify the corner 7 smaller than 180 degrees on the surface 13 to be cleaned, so that the cleaner can be turned and cleaned on the corner 7 smaller than 180 degrees, the cleaning efficiency of the cleaner can be improved, and the cleaner can flexibly adapt to the surface 13 to be cleaned in various environments.
In the present embodiment, the "cleaner moves on the external surface to be cleaned 13" further includes recognizing the corner 10 of more than 180 degrees, and the recognition method includes: the first cleaning device 2 is attached to a first wall surface 8 of an external surface 13 to be cleaned and moves forward, and the second cleaning device 3 is not attached to the first wall surface 8 and moves forward; detecting a first load current, if the first load current is smaller than a first threshold value, judging that the first cleaning device 2 is separated from the first wall surface 8, driving the linear velocity of the second cleaning device 3 to be larger than that of the first cleaning device 2, turning the cleaner, and simultaneously detecting a second load current, if the second load current is larger than a second threshold value, judging that the second cleaning device 3 is attached to a third wall surface 11 of an external surface 13 to be cleaned, and judging that the cleaner is positioned at a corner 10 of the external surface 13 to be cleaned, wherein the corner is larger than 180 degrees. After the recognition is finished, the control system controls the cleaner to carry out the next step of instruction, and the azimuth sensor adjusts the azimuth of the machine body to be adjusted. Specifically, the embodiment can accurately and efficiently detect and identify the corner 10 larger than 180 degrees on the surface 13 to be cleaned, so that the cleaner can be turned and cleaned on the corner 10 larger than 180 degrees, the cleaning efficiency of the cleaner can be improved, and the cleaner can flexibly adapt to the surface 13 to be cleaned in various environments.
As shown in fig. 6, in this embodiment, the moving method further includes: when the first cleaning device 2 and the second cleaning device 3 reach the first wall surface 8, one of the first cleaning device 2 and the second cleaning device 3 is driven to rotate reversely to separate from the first wall surface 8, the other one of the first cleaning device 2 and the second cleaning device 3 can rotate reversely, can be static, and can maintain the original rotating direction or maintain the first wall surface 8 in a fit manner, wherein the first wall surface 8 and the surface 13 to be cleaned are arranged at an included angle, and the first wall surface 8 extends out of the surface 13 to be cleaned.
In this embodiment, after one of the first cleaning device 2 and the second cleaning device 3 rotates reversely to be separated from the first wall surface 8, the moving method further includes: driving the reversed cleaning device to rotate to be in a preset posture with the other cleaning device; namely: driving the counter-rotating cleaning device of the first cleaning device 2 and the second cleaning device 3 to be in a preset posture with the other cleaning device; specifically, the cleaner is internally provided with an orientation sensor, and the orientation sensor is used for sensing the first cleaning device 2 and the second cleaning device 3 and enabling the first cleaning device 2 and the second cleaning device 3 to be in a preset posture, wherein the preset posture can be selected to be a state that a central axis connecting line of the first cleaning device 2 and the second cleaning device 3 is basically vertical to the first wall surface 8; specifically, during the process that the cleaner moves straight, the orientation sensor always detects whether the body of the cleaner inclines, and if the body of the cleaner inclines, the rotating speeds of the first cleaning device 2 and the second cleaning device 3 are adjusted to enable the cleaner to keep running straight, so that the cleaner is further ensured to move according to a subsequent preset route; driving the first cleaning device 2 and the second cleaning device 3 to move forward, and enabling the cleaning device attached to the first wall surface 8 to be kept attached to the first wall surface 8 in the moving process; the second wall surface 9 and the surface 13 to be cleaned are arranged in an included angle, the second wall surface 9 extends out of the surface 13 to be cleaned, and a corner 7 with the angle smaller than 180 degrees is formed between the first wall surface 8 and the second wall surface 9; as shown in fig. 7, when both the first cleaning device 2 and the second cleaning device 3 reach the second wall surface 9, the first cleaning device 2 and the second cleaning device 3 are driven to change the traveling direction.
Specifically, when the cleaner runs close to a wall surface, the current sensor and the position sensor in the cleaner control the cleaner to run together, the current sensor detects the condition of close contact with the wall surface, and the position sensor detects the straightening condition of the cleaner body, so that the cleaner can be close to the wall surface and can run linearly.
As shown in fig. 8, in the present embodiment, "driving the first cleaning device 2 and the second cleaning device 3 to change the traveling direction" includes: the first cleaning device 2 is driven to rotate reversely, and the second cleaning device 3 is driven to rotate reversely, so that the first cleaning device 2 and the second cleaning device 3 are separated from the second wall surface 9, and the cleaning device attached to the first wall surface 8 is kept attached to the first wall surface 8 in the advancing process. It is understood that, during the reverse rotation of the first cleaning device 2 and during the reverse rotation of the second cleaning device 3, the first cleaning device 2 and the second cleaning device 3 are required to be in a preset posture; the predetermined posture may be selected in a state where the central axis connecting line of the first cleaning device 2 and the second cleaning device 3 is substantially perpendicular to the first wall surface 8.
As shown in fig. 10, in the present embodiment, "driving the first cleaning device 2 and the second cleaning device 3 to change the traveling direction" may further include: driving the first cleaning device 2 to rotate reversely, and driving the second cleaning device 3 to rotate reversely, so that the first cleaning device 2 and the second cleaning device 3 are both separated from the second wall surface 9 and the first wall surface 8; thus, the cleaner can perform line feed cleaning on the surface to be cleaned 13.
As shown in fig. 14, in the present embodiment, "driving the first cleaning device 2 and the second cleaning device 3 to change the traveling direction" may further include: the cleaning device attached to only the second wall surface 9 is driven to rotate in the opposite direction to disengage from the second wall surface 9.
In this embodiment, the driving the cleaning device attached to only the second wall surface 9 to rotate reversely to separate from the second wall surface 9 includes: in the reverse rotation process of driving the cleaning device only attached to the second wall surface 9, the cleaning device in driving contact with the first wall surface 8 and the second wall surface 9 maintains contact with the first wall surface 8 and the second wall surface 9.
As shown in fig. 14, in this embodiment, the driving the cleaning device attached to the second wall surface 9 only to rotate reversely to separate from the second wall surface 9 may further include: in the process of driving the cleaning device only attached to the second wall surface 9 to rotate in the reverse direction, the cleaning device in driving contact with the first wall surface 8 and the cleaning device in driving contact with the second wall surface 9 are separated from the first wall surface 8 and the second wall surface 9.
As shown in fig. 7 to 13, in the present embodiment, in particular, when the cleaner travels to the right, the edge sensor inside the cleaner starts detecting, and when the cleaning device encounters the corner or edge on the right side, the data is transmitted back to the control unit in the cleaner to start line feed of the cleaner, the coverage area of the line feed and the offset angle of the line feed of the cleaner are related to the program setting, and the cleaner starts traveling to the left, and when the cleaner reaches the corner or edge on the left side, the data is transmitted back to the control unit in the cleaner to start line feed of the cleaner; the reciprocating line changing is carried out in this way, and the cleaning device moves in the forward direction in a reciprocating manner so as to wipe the whole area of the surface to be cleaned 13. When the cleaner reaches the lower right corner point, the cleaning of the whole area is finished, the area of the surface 13 to be cleaned and the original position of the cleaner in the initial mode can be calculated through the path and time of walking stored by the orientation sensor in the cleaner, and then the orientation of the cleaning machine is adjusted to return to the initial position when the cleaning machine is placed.
As shown in fig. 15, in the present embodiment, after one of the first cleaning device 2 and the second cleaning device 3 rotates reversely to be separated from the first wall surface 8, the moving method further includes: driving the reversed cleaning device to rotate to be in a preset posture with the other cleaning device; namely: driving the first cleaning device 2 and the second cleaning device 3 to reversely rotate to be in a preset posture with the other cleaning device, wherein the preset posture can be selected to be a state that the connecting line of the central shafts of the first cleaning device 2 and the second cleaning device 3 is basically vertical to the first wall surface 8; driving the first cleaning device 2 and the second cleaning device 3 to move forward, and enabling the cleaning device attached to the first wall surface 8 to be attached to the first wall surface 8 in the moving process; when a cleaning device attached to the first wall surface 8 runs to be separated from the first wall surface 8, the linear velocity of another cleaning device is increased, the cleaning device is driven to rotate reversely, the cleaning device separated from the first wall surface 8 and the other cleaning device reach the third wall surface 11, an included angle is formed between the third wall surface 11 and the surface to be cleaned 13, the third wall surface 11 extends out of the surface to be cleaned 13, and a corner 10 larger than 180 degrees is formed between the first wall surface 8 and the third wall surface 11.
In this embodiment, after the cleaning devices separated from the first wall surface 8 all reach the third wall surface 11, the moving method further includes: the cleaning device with the increased speed of the drive wire rotates to be in a preset posture with the other cleaning device, for example, the reversely rotating cleaning device of the first cleaning device 2 and the second cleaning device 3 is reversed to be in a preset posture with the other cleaning device, and the preset posture can be selected to be a state that the connecting line of the central axes of the first cleaning device 2 and the second cleaning device 3 is basically vertical to the third wall surface 11; the first cleaning device 2 and the second cleaning device 3 are driven to advance, and the cleaning device attached to the third wall surface 11 is enabled to maintain to be attached to the third wall surface 11 in the advancing process.
As shown in fig. 15, in the present embodiment, before driving the first cleaning device 2 and the second cleaning device 3 to travel, the moving method further includes: the cleaning device with the increased linear speed is driven to rotate to be attached to the third wall surface; that is, the counter-rotating cleaning device of the first cleaning device 2 and the second cleaning device 3 is optionally driven to reverse to abut against the third wall surface 11; at this time, the first cleaning device 2 and the second cleaning device 3 are both in a state of being attached to the third wall surface 11; driving one of the first cleaning device 2 and the second cleaning device 3 to separate from the third wall surface 11 and making the other of the first cleaning device 2 and the second cleaning device 3 adhere to the third wall surface 11; driving the cleaning device detached from the third wall surface 11 to reverse so as to be in a preset posture with another cleaning device; the predetermined posture may be selected in a state where the central axis connecting line of the first cleaning device 2 and the second cleaning device 3 is substantially perpendicular to the third wall surface 11.
As shown in fig. 16, in the present embodiment, "driving one of the first cleaning device 2 and the second cleaning device 3 to rotate reversely to disengage from the first wall surface 8 when both the first cleaning device 2 and the second cleaning device 3 reach the first wall surface 8" includes: driving one of the first and second cleaning devices 2, 3 to travel against the obstacle 12 as the first and second cleaning devices 2, 3 travel to the obstacle 12 on the first wall surface 8; when the first cleaning device 2 and the second cleaning device 3 both reach the first wall surface 8, one of the first cleaning device 2 and the second cleaning device 3 is driven to rotate reversely to separate from the first wall surface 8, optionally, when one of the first cleaning device 2 and the second cleaning device 3 rotates reversely to separate from the first wall surface 8, the other one of the first cleaning device 2 and the second cleaning device 3 can maintain to be attached to the first wall surface 8 or to separate from the first wall surface 8 (the walking mode of attaching to the first wall surface 8 and the walking mode of separating from the first wall surface 8 can be as described above), and the cleaner is driven to perform the next action, for example, move according to a preset route or continue to advance according to the original state. Specifically, the obstacle 12 is formed by a corner 10 greater than 180 degrees and a corner 7 less than 180 degrees; when the side length of the obstacle 12 is smaller than the length of the cleaner body, the obstacle 12 is identified, and if the side length of the obstacle 12 is larger than the length of the cleaner body, the obstacle is determined to be a wall surface, such as the first wall surface 8, the second wall surface 9, and the third wall surface 11.
Compared with the prior art, the moving method of the cleaner provided by the embodiment can enable the cleaner to move on the external surface to be cleaned more stably and more quickly, enables the cleaner to flexibly adapt to the surfaces to be cleaned in various complex environments, improves the cleaning efficiency of the cleaner, shortens the cleaning time, saves energy, and improves the use experience of a user.
In the first control period, the moving efficiency of the cleaner can be improved, the cleaner can rapidly and flexibly move forwards or backwards on the surface to be cleaned, and the window wiping effect of the cleaner is improved.
In the second control period, the turning efficiency of the cleaner can be improved, the cleaner can turn on the surface to be cleaned quickly and flexibly, the window cleaning effect of the cleaner is improved, and the cleaner is suitable for various environments to be cleaned.
Those skilled in the art will appreciate that the drawings are merely schematic representations of preferred embodiments and that the blocks or flowchart illustrations are not necessary to practice the present invention.
Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The above-mentioned invention numbers are merely for description and do not represent the merits of the implementation scenarios.
The above disclosure is only a few specific implementation scenarios of the present invention, however, the present invention is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (14)
1. A moving method of a cleaner including a main body and a cleaning device including a first cleaning device and a second cleaning device, comprising:
forming a negative pressure space among the main body, the first cleaning device and the external surface to be cleaned, and forming a negative pressure space among the main body, the second cleaning device and the external surface to be cleaned, so that the cleaner is adsorbed on the external surface to be cleaned;
the first cleaning device is driven to rotate relative to the external surface to be cleaned, and the second cleaning device is driven to rotate relative to the external surface to be cleaned, any one of the first cleaning device and the second cleaning device is provided with a high friction area and a low friction area which are contacted with the external surface to be cleaned during rotation, and the friction force between the high friction area and the surface to be cleaned is larger than that between the low friction area and the surface to be cleaned, so that the cleaner can move on the external surface to be cleaned.
2. The method of moving a cleaner according to claim 1, further comprising:
in a first control period, driving the first cleaning device to rotate along a first direction relative to the external surface to be cleaned, and driving the second cleaning device to rotate along a second direction relative to the external surface to be cleaned;
the first direction and the second direction are opposite in direction, and the linear velocity of the first cleaning device is the same as that of the second cleaning device, so that the cleaner can run straight on the outer surface to be cleaned.
3. The moving method of a cleaner as claimed in claim 1, further comprising:
in a second control period, driving the first cleaning device to rotate along a first direction relative to the external surface to be cleaned, and driving the second cleaning device to rotate along a second direction relative to the external surface to be cleaned;
the first direction and the second direction are opposite, and the linear velocity of the first cleaning device is different from the linear velocity of the second cleaning device, so that the cleaner turns on an external surface to be cleaned; or the first direction and the second direction are the same, and the linear velocity of the first cleaning device is different from or the same as that of the second cleaning device, so that the cleaner turns on an external surface to be cleaned.
4. The moving method of a cleaner as claimed in claim 1, further comprising:
when the first cleaning device and the second cleaning device reach a first wall surface, one of the first cleaning device and the second cleaning device is driven to rotate reversely to be separated from the first wall surface, and the other one of the first cleaning device and the second cleaning device is kept attached to the first wall surface, wherein an included angle is formed between the first wall surface and the surface to be cleaned, and the first wall surface extends out of the surface to be cleaned.
5. The method of moving a cleaner according to claim 4 wherein after one of said first and second cleaning means counter-rotates to disengage said first wall surface, said method further comprises:
driving the reversed cleaning device to rotate to be in a preset posture with the other cleaning device;
driving the first cleaning device and the second cleaning device to move forward, and enabling the cleaning device attached to the first wall surface to keep attached to the first wall surface in the moving process;
driving the first and second cleaning devices to change a direction of travel when both reach a second wall surface;
the second wall surface and the surface to be cleaned are arranged at an included angle, the second wall surface extends out of the surface to be cleaned, and a corner smaller than 180 degrees is formed between the first wall surface and the second wall surface.
6. The moving method of a cleaner according to claim 5, wherein the "driving the first cleaning means and the second cleaning means to change the traveling direction" includes:
the drive first cleaning device antiport, and the drive second cleaning device antiport makes first cleaning device with second cleaning device all breaks away from the second wall, and makes the laminating the cleaning device of first wall maintains the laminating at the in-process of marcing first wall.
7. The moving method of a cleaner according to claim 5, wherein the "driving the first cleaning means and the second cleaning means to change the traveling direction" includes:
the first cleaning device is driven to rotate reversely, and the second cleaning device is driven to rotate reversely, so that the first cleaning device and the second cleaning device are both separated from the second wall surface and the first wall surface.
8. The moving method of a cleaner according to claim 5, wherein the "driving the first cleaning means and the second cleaning means to change the traveling direction" includes:
and driving the cleaning device only attached to the second wall surface to reversely rotate so as to be separated from the second wall surface.
9. The method of moving a cleaner according to claim 8 wherein said driving the cleaning means engaging only said second wall surface to rotate in a reverse direction to disengage said second wall surface comprises:
in the reverse rotation process of the cleaning device, the driving device is only attached to the second wall surface, and the cleaning device in driving contact with the first wall surface and the second wall surface maintains contact with the first wall surface and the second wall surface.
10. The method of moving a cleaner according to claim 4 wherein after one of said first and second cleaning means counter-rotates to disengage said first wall surface, said method further comprises:
driving the reversed cleaning device to rotate to be in a preset posture with the other cleaning device;
driving the first cleaning device and the second cleaning device to move forward, and enabling the cleaning device attached to the first wall surface to be kept attached to the first wall surface in the moving process;
when one cleaning device attached to the first wall surface runs to be separated from the first wall surface, the linear speed of the other cleaning device is increased, and the cleaning device separated from the first wall surface and the other cleaning device reach a third wall surface, wherein an included angle is formed between the third wall surface and the surface to be cleaned, the third wall surface extends out of the surface to be cleaned, and a corner larger than 180 degrees is formed between the first wall surface and the third wall surface.
11. The method of moving a cleaner according to claim 10, wherein after the cleaning means detached from the first wall surface reaches a third wall surface, the method further comprises:
the cleaning device with the increased linear velocity is driven to rotate to be in a preset posture with the other cleaning device;
and driving the first cleaning device and the second cleaning device to advance, and enabling the cleaning device attached to the third wall surface to maintain the attachment to the third wall surface in the advancing process.
12. The moving method of a cleaner according to claim 11, wherein before driving the first cleaning means and the second cleaning means to travel, the moving method further comprises:
driving the cleaning device with the increased linear velocity to rotate to be attached to the third wall surface;
driving one of the first cleaning device and the second cleaning device to be separated from the third wall surface, and enabling the other of the first cleaning device and the second cleaning device to be attached to the third wall surface;
driving the cleaning device disengaged from the third wall surface to reverse so as to be in a preset posture with another cleaning device.
13. The moving method of a cleaner according to claim 4, wherein "driving one of the first cleaning means and the second cleaning means to rotate reversely to disengage from the first wall surface when both the first cleaning means and the second cleaning means reach the first wall surface" comprises:
when the first cleaning device and the second cleaning device travel to an obstacle on the first wall surface, one of the first cleaning device and the second cleaning device is driven to travel along the obstacle;
when the first cleaning device and the second cleaning device reach the first wall surface, one of the first cleaning device and the second cleaning device is driven to rotate reversely to be separated from the first wall surface.
14. The method of moving a cleaner according to claim 13, said obstacle being formed by a corner greater than 180 degrees and a corner less than 180 degrees; characterized in that the moving method further comprises:
the cleaner moving in accordance with the moving method of claims 5-9 when the cleaner travels to a corner of less than 180 degrees;
the cleaner is moved according to the moving method of claims 10-12 when the cleaner travels to a corner of greater than 180 degrees.
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| CN202210114078.0A CN114431759B (en) | 2022-01-30 | 2022-01-30 | Method for moving cleaner |
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| CN114431759B (en) | 2023-04-28 |
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