CN114587188B

CN114587188B - Automatic cleaning equipment control method, device, robot and storage medium

Info

Publication number: CN114587188B
Application number: CN202110727999.XA
Authority: CN
Inventors: 吴奇; 谢濠键
Original assignee: Beijing Stone Innovation Technology Co ltd
Current assignee: Beijing Stone Innovation Technology Co ltd
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2023-06-30
Anticipated expiration: 2041-06-29
Also published as: CN114587188A

Abstract

The present disclosure provides an automatic cleaning device control method, apparatus, robot, and storage medium, the method comprising: when the automatic cleaning equipment and the dust collecting device are in a first state, starting a fan of the automatic cleaning equipment, so that the fan runs for a first preset time with a first preset power; after the fan runs for a first preset time with a first preset power, the automatic cleaning equipment and the dust collecting device are in butt joint and send a butt joint signal to the dust collecting device; in response to a dust collecting operation of the dust collecting device, the automatic cleaning apparatus is placed in a second state of dust collection. According to the method, the opening and closing time and power of the fan of the automatic cleaning equipment are controlled, so that air in the dust bag in the dust collecting device can be reversely pumped out, the dust bag is shrunken, when the dust collecting device starts dust collecting operation, the dust bag can be rapidly opened from a shrunken state, dust on the dust bag can be shaken off, the situation of blockage of the dust bag is effectively relieved, and the service life of the dust bag is prolonged.

Description

Automatic cleaning equipment control method, device, robot and storage medium

Technical Field

The disclosure relates to the technical field of distance measurement of sweeping robots, in particular to a control method and device of an automatic cleaning device, a robot and a storage medium.

Background

After the automatic cleaning equipment works for a period of time, the automatic cleaning equipment is often required to be charged, the existing charging pile can realize the functions of charging and dust collection, namely, the charging pile can suck garbage in a dust box of the automatic cleaning equipment into a dust collection barrel or a dust collection bag of the charging pile when the automatic cleaning equipment is charged, so that when the automatic cleaning equipment starts to execute a cleaning task after being charged, the dust box is free of garbage, and the automatic cleaning equipment can more effectively execute the cleaning task.

However, when the charging pile starts to collect dust for the automatic cleaning equipment, when the dust collecting bag of the charging pile is in an expanded state, the dust collecting bag is filled with gas, so that the dust in the dust box of the automatic cleaning equipment is not easy to suck into the dust collecting bag, and the dust collecting efficiency is affected.

Disclosure of Invention

In view of the above, the embodiments of the present disclosure provide a method, apparatus, robot and storage medium for controlling an automatic cleaning device, so that the automatic cleaning device can better discharge cleaning waste.

In a first aspect, embodiments of the present disclosure provide a method for controlling an automatic cleaning apparatus, including:

when the automatic cleaning equipment and the dust collecting device are in a first state, starting a fan of the automatic cleaning equipment, so that the fan runs for a first preset time with a first preset power;

After the fan runs for a first preset time with a first preset power, the automatic cleaning equipment and the dust collecting device are in butt joint and send a butt joint signal to the dust collecting device;

in response to a dust collecting operation of the dust collecting device, the automatic cleaning apparatus is placed in a second state of dust collection.

Optionally, the first state includes: a state in which the automatic cleaning device contacts the dust collection device to start charging but not to start dust collection; or the dust outlet of the automatic cleaning equipment is in butt joint with the dust collection port of the dust collection device.

Optionally, after the automatic cleaning apparatus is placed in the second state of dust collection in response to the dust collection operation of the dust collection device, the method further includes:

after the automatic cleaning equipment starts dust collection, the automatic cleaning equipment fan is operated at a second preset power, wherein the first preset power is larger than the second preset power; or alternatively, the process may be performed,

and after the automatic cleaning equipment starts dust collection, the fan of the automatic cleaning equipment is turned off.

Optionally, the method further comprises: and after the dust collection of the automatic cleaning equipment is finished, the fan of the automatic cleaning equipment is turned off.

Optionally, after the dust collection of the automatic cleaning device is finished, the automatic cleaning device fan is turned off, and the method further comprises:

And starting the fan of the automatic cleaning equipment again, and enabling the fan to operate for a second preset time.

Optionally, the restarting the automatic cleaning device fan and operating the fan for a second preset time includes:

and starting the fan of the automatic cleaning equipment again, and enabling the fan to operate for a second preset time with the first preset power.

starting the fan of the automatic cleaning equipment again, and enabling the fan to run for a second preset time and then to leave the dust collecting device after being closed; or alternatively, the process may be performed,

and starting the fan of the automatic cleaning equipment again, and enabling the fan to leave the dust collecting device while running for a second preset time.

Optionally, the method further comprises: and after the dust collection of the automatic cleaning equipment is finished, the fan is closed after the fan runs for a third preset time.

In a second aspect, embodiments of the present disclosure provide a control apparatus for an automatic cleaning device, including:

the starting unit is used for starting the fan of the automatic cleaning equipment when the automatic cleaning equipment and the dust collecting device are in a first state, so that the fan runs for a first preset time with a first preset power, wherein the first state is that the automatic cleaning equipment and the dust collecting device are in contact to start charging but not start dust collection;

The sending unit is used for completing the butt joint of the automatic cleaning equipment and the dust collecting device and sending a butt joint signal to the dust collecting device after the fan runs for a first preset time with a first preset power;

and a dust collection unit for placing the automatic cleaning apparatus in a second state of dust collection in response to a dust collection operation of the dust collection device.

In a third aspect, embodiments of the present disclosure provide a robot comprising a processor and a memory, the memory storing computer program instructions executable by the processor, the processor implementing the method steps as described in any one of the above when the computer program instructions are executed.

In a fourth aspect, embodiments of the present disclosure provide a non-transitory computer-readable storage medium storing computer program instructions which, when invoked and executed by a processor, implement the method steps as described in any one of the above.

Compared with the prior art, the invention has at least the following technical effects:

the embodiment of the disclosure provides a control method, a device, a robot and a storage medium for an automatic cleaning device, wherein the method can reversely pump out air in a dust bag in a dust collecting device and suck the dust bag to be flat by controlling the opening and closing time and power of a fan of the automatic cleaning device, so that when the dust collecting device starts dust collecting operation, the dust bag can be rapidly opened in a flat state, on one hand, dust on the dust bag can be shaken off by shaking, the blocking condition of the dust bag can be effectively relieved, the service life of the dust bag can be prolonged, and on the other hand, the air flow speed can be increased, and the dust collecting efficiency can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a robot cleaning apparatus according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of the bottom structure of the robotic cleaning device shown in FIG. 1;

fig. 3 is a schematic structural view of a dust collecting and charging pile according to an embodiment of the present disclosure;

fig. 4 is a schematic view of a scenario after the automatic cleaning device provided in the embodiment of the present disclosure returns to the dust collecting and charging pile;

FIG. 5 is a schematic view of the structure of a dust box provided in an embodiment of the disclosure;

FIG. 6 is a schematic view of the structure of the dust box body of the dust box of FIG. 5;

FIG. 7 is a schematic view of the dust box of FIG. 5 from another perspective;

FIG. 8 is a flow chart of a method for controlling an automatic cleaning device according to an embodiment of the present disclosure;

fig. 9 is a schematic structural view of a control device for an automatic cleaning apparatus according to an embodiment of the present disclosure;

Fig. 10 is an electronic structure schematic diagram of a robot according to an embodiment of the disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two.

It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a commodity or device comprising such element.

Alternative embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The automatic cleaning equipment can be a vacuum floor suction robot, a cleaning robot such as a floor mopping robot, a floor sweeping robot and a window climbing robot and the like, and can comprise a moving platform, a sensing system, a control system, a driving system, a cleaning module, an energy system, a man-machine interaction system and the like. The following description in this disclosure is presented by way of example to the sweeping robot purely for the sake of illustration.

As shown in fig. 1 and 2, the automatic cleaning apparatus 100 includes a steering wheel 120 and a driving wheel 130, and the automatic cleaning apparatus 100 can move on a supporting surface, such as the floor, by the steering wheel 120 and the driving wheel 130. Alternatively, the robot cleaner 100 may move along a predetermined route, and in a specific situation, for example, the robot cleaner 100 itself is under-charged, the robot cleaner 100 itself is fully loaded with garbage, cleaning work is completed, etc., the robot cleaner 100 may move back to the dust collection charging pile to complete charging or discharge the garbage into the dust collection container.

The automatic cleaning apparatus 100 further includes a charging electrode 140 configured to electrically connect with the dust collecting charging post to charge the automatic cleaning apparatus 100 after the automatic cleaning apparatus 100 returns to the dust collecting charging post. As shown in fig. 2, in some embodiments, the charging electrodes 140 are provided on the bottom surface of the automatic cleaning apparatus 100, for example, 2 in number, respectively provided on both sides of the steering wheel 120. It will be appreciated by those skilled in the art that the foregoing is merely an example of the number and arrangement of the charging electrodes, and the present disclosure is not particularly limited to the number and arrangement of the charging electrodes.

The robotic cleaning device 100 also includes a cleaning module 110, such as a dry cleaning module. The cleaning module 110 is configured to clean at least a portion of a support surface, such as a floor, as the robotic cleaning device 100 moves over the support surface, such as a floor. In some embodiments, as shown in fig. 2, the cleaning module 110 is disposed between two drive wheels 130, for example. The cleaning module 110 specifically includes a frame 112, a rolling brush 111 disposed in the frame 112, and a plurality of scraping strips 1111 disposed on an outer circumference of the rolling brush 111. The frame 112 has a vent port 1121 thereon, the vent port 1121 exposing at least a portion of the roller brush 111.

When the cleaning operation is performed by the robot cleaner 100, the rolling brush 111 performs a rotating operation, on which the scraping strip 1111 exposed by the frame 112 may contact the floor, and at the same time, the fan in the robot cleaner 100, for example, the first fan 160, generates an air flow entering the frame 112 through the air port 1121, and under the action of the scraping strip 1111 and the air flow, the garbage enters the frame 112 through the air port 1121 and is collected into the dust box of the robot cleaner 100, and the air port 1121 also serves as a dust collecting port of the robot cleaner 100, that is, the air port 1121 serves as a dust collecting port of the robot cleaner 100 when the cleaning operation is performed by the robot cleaner 100.

The automatic cleaning apparatus 100 further includes a dust box 150 and a first blower 160 disposed therein, the dust box 150 being configured to collect dust and the like while the automatic cleaning apparatus 100 performs a cleaning operation. The dust box 150 communicates with the cleaning module 110. The first blower 160 is configured to provide a suction power source of the robot cleaner 100 when performing a cleaning operation, generating an air flow. When the automatic cleaning apparatus 100 performs a cleaning operation, the garbage enters the frame 112 through the air port 1121 by the air flow generated by the first fan 160, and is collected in the dust box 150 of the automatic cleaning apparatus 100. When the automatic cleaning apparatus performs a cleaning operation, trash in the operation area, such as dust, paper dust, etc., is collected in the dust box. When more garbage is collected in the dust box, a user can take out the dust box in the automatic cleaning equipment and open the dust box to clean the garbage in the dust box. When cleaning dust boxes, it is often necessary to remove the filter screen assembly from the dust box for cleaning.

Fig. 3 is a schematic structural view of a dust collection charging pile 200 integrated with a charging pile and a dust collection pile configured to provide energy supply and garbage collection for the robotic cleaning device 100, provided in some embodiments of the present disclosure. Of course, for an alternative embodiment, the charging pile that charges alone and the dust collecting pile that collects dust alone may be included, the charging pile that charges alone and the automatic cleaning device are in butt joint and then realize the charging function, and the dust collecting pile that collects dust alone and the automatic cleaning device are in butt joint and then realize the dust collecting function, the dust collecting charging pile in this embodiment integrates the functions of the charging pile and the dust collecting pile.

As shown in fig. 3, the dust collection charging pile 200 includes a dust collection charging pile base 210, and a dust collection charging body 220. A dust collection charging body 220 configured to charge the robot cleaner 100 and collect the garbage in the dust box 150 of the robot cleaner 100 is provided on the dust collection charging pile base 210. The dust collecting charging body 220 includes a dust collecting container 222 and a dust collecting fan 223, also referred to as a second fan 223. Dust container 222 includes, but is not limited to, a rigid drum, a flexible dust bag, etc., configured to recover dust within dust box 150 of robotic cleaning device 100, wherein the dust bag may be disposable, replaceable or reusable, and is disposable. The second fan 223 is connected to an air outlet of the dust container 222 to provide power for recycling the garbage in the dust box 150 of the robot cleaner 100 into the dust container 222.

The dust collecting and charging pile 200 includes a charging connector 221 and a dust suction port 211, the charging connector 221 is configured to supply energy to the automatic cleaning apparatus 100, the dust suction port 211 is configured to interface with a dust outlet of the automatic cleaning apparatus 100 (when the automatic cleaning apparatus 100 discharges dust into the dust collecting and charging pile 200, a vent 1121 in the automatic cleaning apparatus 100 serves as the dust outlet), and the dust in the dust box of the automatic cleaning apparatus 100 enters the dust collecting container 222 of the dust collecting and charging main body 220 through the dust suction port 211. For example, as shown in fig. 3, the charging connector 221 is provided on the dust collection charging body 220, and the dust collection port 211 is provided on the dust collection charging pile base 210. In some embodiments, as shown in fig. 3, a sealing rubber pad 214 is further disposed around the dust suction opening 211, and is used for sealing the dust suction opening 211 after being docked with the dust outlet of the automatic cleaning apparatus 100, so as to prevent the leakage of garbage.

The air inlet of the dust collection container 222 is communicated with the dust collection opening 211 through the dust collection air path 215, and the dust in the dust box 150 of the automatic cleaning apparatus 100 can be collected in the dust collection container 222 through the dust collection air path 215 through the air vent 1121 of the automatic cleaning apparatus 100 under the action of the air flow generated by the second fan 223.

Fig. 4 is a schematic view of a scenario after the automatic cleaning apparatus returns to the dust collecting and charging pile provided in some embodiments of the present disclosure, as shown in fig. 4, when the automatic cleaning apparatus 100, such as a sweeping robot, is cleaned, the automatic cleaning apparatus 100 moves onto the dust collecting and charging pile base 210 along the first direction X after the cleaning is completed and returns to the dust collecting and charging pile 200, so that the charging electrode 140 on the automatic cleaning apparatus 100 is electrically connected with the charging connector 221 to charge the automatic cleaning apparatus 100, and the dust outlet of the automatic cleaning apparatus 100, i.e. the air port 1121 is in butt joint with the dust collecting port 211 of the dust collecting and charging pile 200, so as to transfer the garbage in the dust box of the automatic cleaning apparatus 100 into the dust collecting container 222 of the dust collecting and charging pile 200.

Fig. 5 is a schematic structural view of a dust box according to some embodiments of the present disclosure, fig. 6 is a schematic structural view of a dust box body of the dust box in fig. 5, and fig. 7 is a schematic structural view of another view of the dust box in fig. 5. As shown in fig. 5-7, the dust box 150 includes a dust box body 10 and a dust box cover 20. The dust box body 10 comprises a bottom wall 15 and a side wall arranged around the edge of the bottom wall 10, wherein the side wall extends away from the bottom wall 15, the bottom wall 15 and the side wall enclose a containing space 30, and the containing space 30 is configured. As shown in fig. 5-7, the number of side walls is, for example, 4, and the dust box 150 is generally rectangular in overall shape.

The dust box body 10 is substantially rectangular, and its orthographic projection in the plane of the bottom wall 15 is substantially rectangular, and the side walls of the dust box body 10 include two short side walls and two long side walls of the dust box body 10, where the short side walls represent side walls of the rectangular corresponding to the short sides of the rectangular projection, and correspondingly, the long side walls represent side walls of the rectangular corresponding to the long sides of the rectangular projection. The dust box cover 20 can rotate around a pivot shaft relative to a short side wall of the dust box body 10, so as to facilitate the user to clean the dust box 150, clean or replace the filter structure.

In some embodiments, when the dust box cover 20 completely covers the top of the accommodating space 30 and is engaged with the dust box body 10 through the fastening structure, the dust box 150 is in a closed state. When the dust box cover 20 is rotated such that at least a portion of the receiving space 30 is exposed, the dust box 150 is in an opened state. The dust box 150 can be switched between a closed state and an open state to facilitate the user's operations of cleaning the dust box 150 from the waste, cleaning or replacing the filter structure, etc.

The first sidewall 11 of the dust box body 10 is provided with a first through hole 41, which is a passage for the garbage to enter or move out of the accommodating space 30, and the second sidewall 12 of the dust box 150 is provided with a check valve assembly 60. The first sidewall 11 is, for example, a long side sidewall of the dust box body 10, and the second sidewall 12 is, for example, a short side sidewall of the dust box body 10. The check valve assembly 60 is biased in a closed state, and the check valve assembly 60 transitions from the closed state to an open state in response to an external force being applied to the check valve assembly 60 greater than a threshold value. The external force is, for example, suction force generated when the first fan 160 of the automatic cleaning apparatus 100 or the second fan 223 of the dust collecting and charging pile 200 is in an operating state. The threshold is a threshold value of the external force that needs to be provided when the check valve assembly 60 is switched from the closed state to the open state.

In some embodiments, the power of the first fan 160 of the robotic cleaning device 100 is significantly less than the power of the second fan 223 in the dust collection charging stake 200. I.e., the suction generated when the first blower 160 is operated is significantly smaller than the suction generated when the second blower 223 is operated. Specifically, when the automatic cleaning apparatus 100 performs a cleaning operation, that is, when the automatic cleaning apparatus 100 is in the cleaning operation mode, the suction force generated when the first fan 160 is operated is smaller than the threshold value, the check valve assembly 60 is in the closed state, and the garbage enters the frame 112 through the air vent 1121 under the action of the air flow generated by the first fan 160, and is collected into the dust box 150 of the automatic cleaning apparatus 100. When the automatic cleaning apparatus 100 returns to the dust collecting and charging pile 200 to be docked with the dust collecting and charging pile 200, and the collection of the garbage in the dust box 150 into the dust collecting container 222 in the dust collecting and charging pile 200 is performed, specifically, the automatic cleaning apparatus 100 moves onto the dust collecting and charging pile base 210 along the first direction X, so that the dust outlet of the automatic cleaning apparatus 100, that is, the air port 1121 is hermetically docked with the dust collecting port 211 of the dust collecting and charging pile 200, the second fan 223 in the dust collecting pile is in an operating state, the one-way valve assembly 60 is switched from the closed state to the open state under the action of the suction force generated by the second fan 223, and at this time, the one-way valve assembly forms the air inlet on the dust box 150, that is, the air inlet of the whole air flow channel, so that the air flow transfers the garbage such as dust in the dust box 150 into the dust collecting container 222 in the dust collecting and charging pile 200.

In some embodiments, when the automatic cleaning apparatus 100 is positioned on the dust charging pile base 210 of the dust charging pile 200 to collect the garbage in the dust box 150 into the dust collecting container 222 in the dust charging pile 200, that is, when the automatic cleaning apparatus 100 is in the dust discharging mode, the first fan 160 in the automatic cleaning apparatus 100 is also in an operating state while the second fan 223 is operated to generate a strong suction force. Avoiding the strong suction force generated by the second fan from causing the first fan 160 in the automatic cleaning device 100 to reverse, thereby avoiding causing damage to the first fan 160. At this time, the first fan and the second fan are simultaneously operated to generate an external force applied to the check valve assembly greater than the threshold value, the check valve assembly 60 is in an opened state, and the dust in the dust box 150 is collected into the dust collection container 222 in the dust collection charging pile 200 due to the strong air current generated by the second fan 223 having high power.

In some embodiments, as shown in fig. 5-7, the dust box 150 further includes a screen assembly 50, the screen assembly 50 configured to be removably positioned within the receiving space 30. The screen assembly 50 is, for example, a substantially rectangular plate-like shape. The inner wall of the side wall of the dust box body 10 is provided with a step structure, the step structure is configured to support the filter screen assembly 50, the accommodating space 30 is divided into a first accommodating space 31 and a second accommodating space 32 by the filter screen assembly 50, and the first accommodating space 31 and the second accommodating space 32 are respectively positioned on two sides of the filter screen assembly 50. Specifically, the first accommodating space 31 is located at a side of the filter screen assembly 50 near the bottom wall 15, the second accommodating space 32 is located at a side of the filter screen assembly 50 far away from the bottom wall 15, the first accommodating space 31 is used for accommodating the garbage collected by the dust box 150, and the second accommodating space 32 is used as a part of the air path of the air flow passing through the filter screen assembly 50, so as to ensure smooth circulation of the air flow.

In some embodiments, as shown in fig. 5-7, the third sidewall 13 of the dust box 150 is provided with the air outlet 43, and the third sidewall 13 is, for example, another short side sidewall of the dust box 150, and is disposed opposite to the second sidewall 12. The air outlet 43 is provided on a side of the screen assembly 50 remote from the bottom wall 15. The orthographic projection of the second accommodating space 32 on the third sidewall 13 covers the air outlet 43.

As shown in fig. 1-7, the first fan 160 of the automatic cleaning apparatus 100 is connected to the air outlet 43 of the dust box 150, and draws the air flow from the accommodating space 30 through the air outlet 43. The vent port 1121 of the robotic cleaning device 100 communicates with the first through-hole 41 of the dust box 150, the vent port 1121 being a passage for debris into or out of the robotic cleaning device 100.

When the automatic cleaning apparatus is in the cleaning operation mode, the first fan 160 operates to generate the external force applied to the check valve assembly, the external force is smaller than the threshold value, the check valve assembly 60 is in a closed state, the air flow carrying the garbage enters the first accommodating space 31 from the air vent 1121 of the automatic cleaning apparatus 100 through the first through hole 41 of the dust box 150 under the action of the suction force generated by the first fan 160, the garbage is left in the first accommodating space 31 after being filtered by the filter screen assembly, the filtered air flow enters the second accommodating space 32, and is extracted from the dust box 150 through the air outlet 43 under the action of the suction force generated by the first fan 160.

As shown in connection with fig. 1 to 7, when the automatic cleaning apparatus 100, such as a robot for cleaning, is returned to the dust collecting and charging pile 200 after cleaning, the automatic cleaning apparatus 100 is moved to the dust collecting and charging pile base 210 along the first direction X, so that the charging electrode 140 on the automatic cleaning apparatus 100 is electrically connected with the charging connector 221 to charge the automatic cleaning apparatus 100, and so that the dust outlet of the automatic cleaning apparatus 100, i.e., the air vent 1121 is in butt joint with the dust collecting opening 211 of the dust collecting and charging pile 200, in which case the garbage in the dust box of the automatic cleaning apparatus 100 can be transferred into the dust collecting container 222 of the dust collecting and charging pile 200. At this time, the automatic cleaning apparatus 100 is in the dust discharging mode, the dust suction port 211 of the dust collecting charging pile 200 may be used as an inlet of the dust collecting air path 215, and the dust suction port 211 of the dust collecting charging pile 200 is in sealed communication with the air port 1121 of the automatic cleaning apparatus 100 located on the dust collecting charging pile base 210, i.e., the dust outlet of the automatic cleaning apparatus 100. The air inlet of the dust collection container 222 is in sealed communication with the outlet of the dust collection air path 215, and the second fan 223 is connected with the air outlet of the dust collection container 222. Under the action of the air flow generated by the second fan 223, the garbage in the dust box 150 in the automatic cleaning apparatus 100 can be collected in the dust collection container 222 via the dust collection air path 215 through the air vent 1121 in the automatic cleaning apparatus 100.

When the automatic cleaning apparatus 100 is positioned on the dust charging pile base 210 of the dust charging pile 200 to collect the garbage in the dust box 150 into the dust collecting container 222 in the dust charging pile 200, i.e., the automatic cleaning apparatus 100 is in the dust discharging mode, the first fan 160 in the automatic cleaning apparatus 100 is also in an operating state while the second fan 223 in the dust charging pile 200 is operated to generate strong suction. The first fan 160 and the second fan 223 work simultaneously, so that the external acting force applied to the check valve assembly 60 is greater than the threshold value, the check valve assembly 60 is in an open state, at this time, the second through hole 62 is used as an air inlet of the dust box 150, most of the air flow carries the garbage in the dust box 150 under the action of strong suction force generated by the second fan 223 with high power, and the garbage passes through the first through hole 41 of the dust box 150, the air port 1121 of the automatic cleaning device 100, the dust collection opening 211 of the dust collection charging pile 200, the dust collection air path 215 and enters the dust collection container 222, so that the garbage is collected in the dust collection container 222. When the automatic cleaning apparatus 100 is in the dust discharging mode, if only the second fan 223 in the dust collecting and charging pile 200 is operated when the first fan 160 in the automatic cleaning apparatus 100 is not operated, the external force applied to the check valve assembly 60 can still be greater than the threshold value by virtue of the strong suction force generated by the second fan 223, the check valve assembly 60 is in an opened state, so that the smoothness of the whole air flow channel is ensured, but the first fan 160 may be reversed under the action of the strong suction force generated by the second fan 223, so that the first fan 160 is damaged.

In some embodiments, the operating power of the first fan 160 in the robotic cleaning device 100 when the robotic cleaning device 100 is in the dust discharge mode is less than or equal to the operating power of the first fan 160 when the robotic cleaning device 100 is in the cleaning mode. As long as the first fan 160 is not damaged, the smaller the working power of the first fan 160 in the automatic cleaning apparatus 100 in the dust discharging mode of the automatic cleaning apparatus 100 is, the better, thereby reducing the power consumption in the whole process of collecting dust in the dust collecting container of the dust collecting channel.

As shown in fig. 8, as one of the implementation manners, the embodiment of the disclosure provides a control method of an automatic cleaning device, which is applied to the above automatic cleaning device and dust collecting device, and includes the following method steps:

step S802: when the automatic cleaning equipment and the dust collecting device are in a first state, the fan of the automatic cleaning equipment is started, so that the fan runs for a first preset time with a first preset power.

When the automatic cleaning equipment cleans or the electric quantity is insufficient, the automatic cleaning equipment continuously searches for the dust collecting device through the signal receiving equipment, and the dust collecting device comprises a signal transmitting device, for example, the signal transmitting device continuously transmits infrared signals within a certain angle range for the automatic cleaning equipment to capture.

As an alternative embodiment, the dust collecting device may be a separate dust collecting device or a charged dust collecting device, and the automatic cleaning device may determine whether the dust collecting device is a separate dust collecting device or a charged dust collecting device through encoding of an infrared signal when searching for the dust collecting device, and determine whether to move to the dust collecting device according to its own needs. For example, when the automatic cleaning apparatus needs to be charged, the automatic cleaning apparatus is moved to the dust collecting apparatus only when it is judged that the current dust collecting apparatus is the charged dust collecting apparatus; when charging is not required, any dust collection device can be detected to respond, for example, the non-charging dust collection device can be preferentially responded, so that the charging dust collection device is reserved for charging other automatic cleaning equipment which needs to be charged.

As an alternative embodiment, the first state is a state in which the automatic cleaning apparatus is in contact with the dust collecting device to start charging but not to start dust collection. For example, when the automatic cleaning apparatus receives a position signal of the dust collecting device and moves to the dust collecting device base, the charging electrode 140 of the automatic cleaning apparatus is electrically connected to the charging connector 221 of the dust collecting device, and the automatic cleaning apparatus enters the charging mode, but the dust collecting device does not immediately start the dust collecting operation at this time, and the dust collecting operation is delayed for a predetermined time, for example, 1-2 seconds, and the delayed predetermined time is the first state. In this first state, the automatic cleaning device will start the self-fan to operate the fan for a first preset time with a first preset power, optionally, the first preset power is larger than the power of the robot in the normal cleaning mode, for example, the first preset power is 2500Pa or 25000 rpm, and the fan power in the normal cleaning mode is 1200Pa or 10000 rpm. Optionally, the first preset time may be 1-2 seconds, or the first preset time and the first preset power are constructed in an inverse relation, so as to achieve the purpose of quickly deflating the dust bag and saving energy.

When the automatic cleaning equipment starts the fan to operate, the fan is in a reverse process of the dust collection process air path, specifically, at the moment, because the dust collection device fan is not started, the fan of the automatic cleaning equipment can suck gas, dust or a small amount of garbage in the dust collection device dust bag into the dust box of the automatic cleaning equipment along the dust collection device air path, under the action of air pressure, the dust collection device dust bag can be instantly changed into a suction state from an expansion state, and dust attached to the dust bag surface layer can be shaken out in the process.

As an alternative embodiment, the timing of opening the fan of the automatic cleaning device is not limited to the first state, and as long as the automatic cleaning device enters the dust collecting pile base, the air outlet of the automatic cleaning device and the air suction inlet of the dust collecting base are completely or incompletely connected, the fan of the automatic cleaning device can be started, at this time, the air passage is already conducted, the dust bag can be sucked down, and the effects can be obtained.

As an alternative implementation mode, when the fan of the automatic cleaning device is started, the fan of the dust collecting device is not started, so that the fan of the automatic cleaning device is guaranteed to have time to suck dust bags to be shrunken.

As an optional implementation mode, when the fan of the automatic cleaning device is started, the fan of the dust collecting device is started, but the power of the fan is far smaller than that of the fan of the automatic cleaning device, so that the wind power of the fan of the automatic cleaning device can suck dust bags to be shrunken, and at the moment, the fan of the dust collecting device is started to prevent the fan of the dust collecting device from reversely rotating to be damaged.

Step S804: after the fan runs for a first preset time with a first preset power, the automatic cleaning equipment and the dust collecting device are in butt joint and send a butt joint signal to the dust collecting device.

As described above, after the cleaning device fan is operated for a first preset time at a first preset power, the subsequent dust collecting operation can be performed after the adsorption operation of the dust bag of the dust collecting device is completed. In this case, the automatic cleaning device sends an alignment signal to the dust collecting device to determine that the adsorption operation on the dust bag of the dust collecting device is completed, and the dust collecting device can control the fan of the dust collecting device to perform dust collecting operation after receiving the alignment signal.

Step S806: in response to a dust collecting operation of the dust collecting device, the automatic cleaning apparatus is placed in a second state of dust collection.

After receiving the in-place signal of the automatic cleaning equipment, the dust collecting device can automatically start dust collecting operation, namely, the fan of the dust collecting device is started to start adsorbing the garbage in the dust box of the automatic cleaning equipment, and at the moment, the automatic cleaning equipment is in a second dust collecting state, and the garbage in the dust box is adsorbed into the dust bag of the dust collecting device through the air path structure.

As an optional embodiment, after the automatic cleaning apparatus is placed in the second state of dust collection in response to the dust collection operation of the dust collection device, the method further includes the optional steps of:

step S808a: after the automatic cleaning equipment starts dust collection, the automatic cleaning equipment fan is operated at a second preset power, wherein the first preset power is larger than the second preset power; after the automatic cleaning equipment starts dust collection, the automatic cleaning equipment fan is not turned off, but is operated at a reduced power, for example, the power is reduced from 2500Pa to 1200Pa, or from 25000 rpm to 10000 rpm, and the automatic cleaning equipment fan is operated at a low power, so that the automatic cleaning equipment fan is prevented from being damaged due to reverse rotation caused by the adsorption of the dust collecting device fan in the dust collection process.

Or alternatively, the process may be performed,

step S808b: and after the automatic cleaning equipment starts dust collection, the fan of the automatic cleaning equipment is turned off. After the automatic cleaning device starts dust collection, the automatic cleaning device fan is turned off, and at this time, in order to prevent the automatic cleaning device fan from being damaged by reverse rotation due to adsorption of the dust collecting device fan, the adsorption power of the dust collecting device fan may be appropriately reduced, for example, at this time, the adsorption power of the dust collecting device fan is smaller than that of the dust collecting device fan in step S808 a.

As an alternative embodiment, the method further comprises the steps of:

step S810: and after the dust collection of the automatic cleaning equipment is finished, the fan of the automatic cleaning equipment is turned off. For the above step S808a, after the automatic cleaning apparatus completes the dust collecting operation, the fan of the dust collecting device stops working, and the fan of the automatic cleaning apparatus may be synchronously turned off. At this time, the fans of the automatic cleaning equipment and the dust collecting device are all closed, the whole machine is kept in a mute state, the noise of the whole machine is reduced, the automatic cleaning equipment is enabled to be in a charging state or a standby state in a quiet state, and the energy consumption and the environmental noise are reduced.

As an optional implementation manner, after the dust collection of the automatic cleaning device is finished, the automatic cleaning device fan is turned off, and step S812 is further included: and starting the fan of the automatic cleaning equipment again, and enabling the fan to operate for a second preset time.

When the automatic cleaning equipment is in the dust collecting process, the garbage in the dust box can be continuously conveyed to the dust bag, and when the dust collecting operation is stopped, the automatic cleaning equipment fan stops running, and the inevitable garbage residues exist at the positions of the air path, the dust collecting device air suction port, the automatic cleaning equipment air outlet and the like, at the moment, the automatic cleaning equipment fan can be started again, so that the fan runs for a second preset time, for example, 1-5 seconds, the residual garbage is sucked into the dust box, and the cleaning nearby the dust collecting device base is ensured.

As an alternative embodiment, the restarting the automatic cleaning apparatus fan and operating the fan for a second preset time includes:

step S812a: and starting the fan of the automatic cleaning equipment again, and enabling the fan to operate for a second preset time with the first preset power. In order to ensure powerful adsorption of the residual waste, the fan power at this time may be a first preset power as described above. Or alternatively, the process may be performed,

step S812b: and starting the fan of the automatic cleaning equipment again, and enabling the fan to operate for a second preset time and then leave the charging device. At this time, the automatic cleaning equipment is located on the dust collecting device base, and in general, under this state, the air outlet of the automatic cleaning equipment and the air suction inlet of the dust collecting device base can be sealed, and at this time, the fan of the automatic cleaning equipment is started, so that the residual garbage in the air path can be effectively adsorbed into the dust box, and the secondary pollution caused by the outflow of the residual garbage after the automatic cleaning equipment leaves the dust collecting device base is avoided. Or alternatively

Step S812c: and starting the fan of the automatic cleaning equipment again, and enabling the fan to leave the charging device while running for a second preset time. At this time, the automatic cleaning device is located on the dust collecting device base, and the automatic cleaning device fan is started, and when the automatic cleaning device leaves the dust collecting device base, the automatic cleaning device fan still keeps running, so that residual garbage near the periphery of the suction inlet of the dust collecting device base can be adsorbed, and the residual garbage can be caused by the fact that the air outlet of the automatic cleaning device and the suction inlet of the dust collecting device base are not tightly sealed, or can be left when the automatic cleaning device goes to the dust collecting device base, and the automatic cleaning device is not limited. At this time, the fan of the automatic cleaning device is started again, so that the garbage remained on the periphery of the dust collecting device base can be effectively adsorbed into the dust box, and the cleaning nearby the dust collecting device base can be kept.

As an alternative embodiment, the method further comprises the steps of: and after the dust collection of the automatic cleaning equipment is finished, the fan is closed after the fan runs for a third preset time. After dust collection device dust collection finishes, the dust bag is in an expansion state after the rubbish in the dust bag is manually cleared or replaced, at this moment, the fan of the automatic cleaning equipment should be started, air in the dust bag is reversely pumped out, the dust bag is sucked to be flat, the dust bag can be rapidly opened in a flat state when the dust collection operation is started next time, dust on the dust bag can be shaken down and loosened, the situation of blockage of the dust bag is effectively relieved, and the service life of the dust bag is prolonged.

The embodiment of the disclosure provides a control method of an automatic cleaning device, which can reversely pump out air in a dust bag in a dust collecting device by controlling the opening and closing time and power of a fan of the automatic cleaning device, and suck the dust bag to be flat, so that when the dust collecting device starts dust collecting operation, the dust bag can be rapidly opened in a flat state, on one hand, dust on the dust bag can be shaken off by shaking, the blocking condition of the dust bag can be effectively relieved, the service life of the dust bag can be prolonged, on the other hand, the air flow speed can be increased, and the dust collecting efficiency can be improved.

The embodiment of the disclosure further provides a control device for an automatic cleaning apparatus, where each unit executes the method steps described in the foregoing embodiment, and the same method steps have the same technical effects, which are not described herein, and as shown in fig. 9, the control device for an automatic cleaning apparatus specifically includes:

a starting unit 902: and when the automatic cleaning equipment and the dust collecting device are in the first state, the fan of the automatic cleaning equipment is started, so that the fan runs for a first preset time with a first preset power.

As an alternative embodiment, the first state is a state in which the automatic cleaning apparatus is in contact with the dust collecting device to start charging but not to start dust collection.

Transmission unit 904: after the fan runs for a first preset time with a first preset power, the automatic cleaning equipment and the dust collecting device are in butt joint and send a butt joint signal to the dust collecting device.

A dust collection unit 906: for placing the automatic cleaning device in a second state of dust collection in response to a dust collection operation of the dust collection device.

As an optional implementation manner, the dust collector further comprises a control unit, wherein the control unit is used for enabling the fan of the automatic cleaning device to operate at a second preset power after the automatic cleaning device starts dust collection, and the first preset power is larger than the second preset power;

and the control unit is also used for closing the fan of the automatic cleaning equipment after the automatic cleaning equipment starts dust collection.

And the control unit is also used for closing the fan of the automatic cleaning equipment after the dust collection of the automatic cleaning equipment is finished.

And the control unit is also used for starting the fan of the automatic cleaning equipment again and enabling the fan to run for a second preset time.

And the control unit is also used for starting the fan of the automatic cleaning equipment again and enabling the fan to operate for a second preset time with the first preset power.

And the control unit is also used for starting the fan of the automatic cleaning equipment again, and enabling the fan to operate for a second preset time to be closed and then leave the charging device.

And the control unit is also used for starting the fan of the automatic cleaning equipment again and enabling the fan to leave the charging device while running for a second preset time.

And the control unit is also used for closing the fan after the fan runs for a third preset time after the dust collection of the automatic cleaning equipment is finished.

The embodiment of the disclosure provides an automatic cleaning equipment control device, this method is through opening and closing opportunity and power of control automatic cleaning equipment fan, can be with the air reverse extraction in the dirt bag in the dust collecting device, inhale the flat dust bag for when dust collecting device starts dust collection operation, the dust bag can open by flat state fast, and this process can shake the dust shake on the dust bag loose on the one hand, effectively alleviates the circumstances that the dust bag blockked up, prolongs dust bag life, on the other hand also can increase air current speed, improves dust collection efficiency.

The presently disclosed embodiments provide a non-transitory computer readable storage medium storing computer program instructions which, when invoked and executed by a processor, implement the method steps of any of the above.

An embodiment of the disclosure provides a robot comprising a processor and a memory storing computer program instructions executable by the processor, the processor implementing the method steps of any of the previous embodiments when the computer program instructions are executed.

As shown in fig. 10, the robot may include a processing device (e.g., a central processor, a graphic processor, etc.) 1001 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 1002 or a program loaded from a storage device 1008 into a Random Access Memory (RAM) 1003. In the RAM 1003, various programs and data necessary for the operation of the electronic robot are also stored. The processing device 1001, the ROM 1002, and the RAM 1003 are connected to each other by a bus 1004. An input/output (I/O) interface 1005 is also connected to bus 1004.

In general, the following devices may be connected to the I/O interface 1005: input devices 1006 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 1007 including, for example, a Liquid Crystal Display (LCD), speaker, vibrator, etc.; storage 1008 including, for example, a hard disk; and communication means 1009. The communication device 1009 may allow the electronic robot to communicate wirelessly or by wire with other robots to exchange data. While fig. 10 shows a robot having various devices, it should be understood that not all of the illustrated devices are required to be implemented or provided. More or fewer devices may be implemented or provided instead.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Finally, it should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The system or the device disclosed in the embodiments are relatively simple in description, and the relevant points refer to the description of the method section because the system or the device corresponds to the method disclosed in the embodiments.

The above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. A method of controlling an automatic cleaning apparatus, comprising:

when the automatic cleaning equipment and the dust collecting device are in a first state, starting the automatic cleaning equipment fan to enable the fan to operate for a first preset time with a first preset power, and sucking dust bags in the dust collecting device through an air path structure formed by the automatic cleaning equipment and the dust collecting device by the automatic cleaning equipment fan;

in response to a dust collecting operation of the dust collecting device, placing the automatic cleaning device in a second state of dust collection in which the dust in the dust box of the automatic cleaning device is adsorbed into the dust bag through the air path structure;

The first state includes: a state in which the automatic cleaning device contacts the dust collection device to start charging but not to start dust collection; or the dust outlet of the automatic cleaning equipment is in butt joint with the dust collection port of the dust collection device.

2. The method of claim 1, wherein said placing the automatic cleaning apparatus in the second state of dust collection in response to the dust collection operation of the dust collection device, further comprises:

3. The automatic cleaning apparatus control method according to any one of claims 1 to 2, characterized by further comprising:

and after the dust collection of the automatic cleaning equipment is finished, the fan of the automatic cleaning equipment is turned off.

4. The method of claim 3, further comprising, after the automatic cleaning apparatus fan is turned off after dust collection of the automatic cleaning apparatus is completed:

5. The method of claim 4, wherein said restarting said automatic cleaning apparatus blower and operating said blower for a second predetermined time comprises:

6. The method of claim 4, wherein said restarting said automatic cleaning apparatus blower and operating said blower for a second predetermined time comprises:

7. The automatic cleaning apparatus control method according to any one of claims 1 to 2, characterized by further comprising: and after the dust collection of the automatic cleaning equipment is finished, the fan is closed after the fan runs for a third preset time.

8. A control device for an automatic cleaning apparatus, comprising:

the starting unit is used for starting the fan of the automatic cleaning equipment when the automatic cleaning equipment and the dust collecting device are in a first state, so that the fan runs for a first preset time with a first preset power, and the fan of the automatic cleaning equipment sucks dust bags in the dust collecting device through an air path structure formed by the automatic cleaning equipment and the dust collecting device; the first state includes: a state in which the automatic cleaning device contacts the dust collection device to start charging but not to start dust collection; or the dust outlet of the automatic cleaning equipment is in butt joint with the dust collection port of the dust collection device;

and a dust collection unit for making the automatic cleaning device in a second state of dust collection in response to a dust collection operation of the dust collection device, in which the garbage in the dust box of the automatic cleaning device is adsorbed into the dust bag through the air path structure.

9. A robot comprising a processor and a memory, characterized in that the memory stores computer program instructions executable by the processor, which processor, when executing the computer program instructions, carries out the method steps according to any of claims 1-7.

10. A non-transitory computer readable storage medium, characterized in that computer program instructions are stored, which, when being called and executed by a processor, implement the method steps of any of claims 1-7.