CN115054168A - Replenishment robot, cleaning system, and method of controlling replenishment robot - Google Patents
Replenishment robot, cleaning system, and method of controlling replenishment robot Download PDFInfo
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- CN115054168A CN115054168A CN202210640424.9A CN202210640424A CN115054168A CN 115054168 A CN115054168 A CN 115054168A CN 202210640424 A CN202210640424 A CN 202210640424A CN 115054168 A CN115054168 A CN 115054168A
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- cleaning robot
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
Abstract
The embodiment of the application relates to the technical field of cleaning equipment, and discloses a replenishment robot, a cleaning system and a method for controlling the replenishment robot, the replenishment robot comprises a water replenishing module, a first communication module and a first controller, wherein the first controller is used for controlling the water replenishing robot to perform water replenishing according to the water replenishing signal received by the first communication module, driving a first driving module according to the water replenishing signal so as to enable the replenishing robot to actively move to the position of the cleaning robot, and according to the alignment signal of the first alignment module, controlling the water supplementing module to be in butt joint with a liquid inlet of a second water tank of the cleaning robot and controlling the water supplementing module to convey supplementing liquid to the water tank of the cleaning robot, through the mode, the replenishment robot can timely provide water replenishing service for the external cleaning robot, and cleaning efficiency is effectively improved.
Description
Technical Field
The embodiment of the application relates to the technical field of cleaning equipment, in particular to a replenishment robot, a cleaning system and a method for controlling the replenishment robot.
Background
Along with the development of intelligent household equipment technology, more and more intelligent household equipment replaces traditional equipment, brings very big facility for people's life, for example the intelligent robot who is equipped with mop and collection dirt water tank has replaced traditional broom and mop, collects and sweeps floor and mops ground as an organic whole, has improved cleaning efficiency greatly.
In the implementation process of the embodiment of the application, the inventor finds that: in order to ensure the attractiveness and flexibility of the cleaning robot, the volume of the dust collecting water tank is limited, so that the intelligent robot is easy to cause water shortage or the dust collecting cavity is full of collected objects when cleaning a large area, the frequency of returning to a base station is increased, and the cleaning efficiency of the cleaning robot is reduced.
Disclosure of Invention
The technical problem mainly solved by the embodiment of the application is to provide the replenishment robot, the cleaning system and the method for controlling the replenishment robot, the replenishment robot can timely provide water replenishing service for an external cleaning robot, and the cleaning efficiency of the cleaning robot is effectively improved.
In order to solve the above technical problem, an embodiment of the present application provides a replenishment robot, including: a first body; the first driving module is arranged on the first machine body and used for driving the first machine body to move; the first water tank is arranged on the first machine body and provided with a first cavity and a first water outlet communicated with the first cavity, and the first cavity is used for loading supply liquid; the water replenishing module is arranged on the first machine body and is connected with the first water outlet; the first communication module is arranged on the first machine body and used for receiving a water replenishing signal emitted by an external cleaning robot, wherein the water replenishing signal carries position information of the cleaning robot; the first contraposition module is arranged on the side wall of the first machine body; the first controller is arranged on the first machine body, the first controller is respectively connected with the first driving module, the first communication module, the first aligning module and the water supplementing module electrically, and the first controller is used for driving the first driving module according to the water supplementing signal when the first communication module receives the water supplementing signal so as to enable the supplying robot to move to the position where the cleaning robot is located and control the water supplementing module to be in butt joint with the inlet of the second water tank of the cleaning robot according to the aligning signal of the first aligning module and control the water supplementing module to convey the supplying liquid to the water tank of the cleaning robot.
Optionally, the water replenishing module comprises a replenishing head, the replenishing head comprises a plurality of water outlets located in the circumferential direction and an axial end portion, and during water replenishing, the end portion is abutted to the water inlet of the second water tank and extends into the water inlet of the second water tank, so that the water outlets are located in the inner space of the second water tank.
Optionally, the water replenishing module further comprises a first connecting pipe, a second connecting pipe and a water pump, the replenishing head is fixed on the first machine body, the water pump is provided with a water inlet end and a water outlet end, one end of the first connecting pipe is communicated with the water inlet end, the other end of the first connecting pipe is connected to the first water outlet, one end of the second connecting pipe is connected with the water outlet end, and the other end of the second connecting pipe is connected to one end of the replenishing head.
Optionally, the side wall of the other end of the supply head is provided with the plurality of water outlets, the other end of the supply head protrudes out of the side wall of the first machine body, and the other end of the supply head is used for being inserted into a liquid inlet of a second water tank of the external cleaning robot.
Optionally, the replenishment robot further includes a dust suction device and a first dust box, the dust suction device is disposed on the first body, the dust suction device is connected to the first dust box, and the dust suction device is configured to be in butt joint with a dust outlet of a second dust box of the cleaning robot and suck the collected objects in the second dust box of the cleaning robot into the first dust box.
Optionally, the dust collecting device includes a first air duct, a fan and a filter, the first dust collecting box is provided with a first dust collecting cavity and communicates with a first air inlet and a first air outlet of the first dust collecting cavity, one end of the first air duct communicates with the first air inlet, the other end of the first air duct is exposed to the outside so as to communicate with a dust outlet of a second dust collecting box of the cleaning robot, the filter is disposed at the first air outlet, the fan communicates with the first air outlet, and the second cavity is used for accommodating collected objects.
In order to solve the above technical problem, another technical solution adopted in the embodiment of the present application is: providing a cleaning system comprising a cleaning robot and a replenishment robot as described above; the cleaning robot comprises a second machine body, a second water tank, a second dust collecting box, a second communication module, a second driving module, a second aligning module and a second controller; the second water tank, the second dust collecting box, the second communication module, the second driving module, the second aligning module and the second controller are all arranged on the second machine body, the second water tank is provided with a second cavity and a liquid inlet communicated with the second cavity, and the second dust collecting box is provided with a second dust collecting cavity and a dust outlet communicated with the second dust collecting cavity; the second controller is respectively electrically connected with the second communication module, the second driving module and the second aligning module, the second communication module is used for transmitting a water replenishing signal, the second driving module is used for driving the second machine body to move, and the second aligning module is used for being matched and aligned with the first aligning module so as to enable the liquid inlet to be in butt joint with the water replenishing module of the replenishment robot.
Optionally, the cleaning robot includes an elastic member and a sealing plug, two ends of the elastic member are respectively connected to the sealing plug and the inner surface of the first dust box, when the sealing plug is not acted by an external force, the sealing plug is used to seal the liquid inlet, and when the sealing plug is acted by an external force towards the second cavity, the sealing plug moves towards the second cavity, and the liquid inlet is opened.
In order to solve the above technical problem, another technical solution adopted in the embodiments of the present application is: there is provided a method of controlling a replenishment robot, the method being applied to the replenishment robot as described above, the method comprising: receiving a water replenishing signal, wherein the water replenishing signal carries position information of the current position of the cleaning robot; controlling the first driving module to move according to the water supplementing signal so that the supplementing robot moves towards the cleaning robot; acquiring the alignment information of the first alignment module for aligning the cleaning robot; controlling the replenishment robot and the cleaning robot to carry out alignment according to the alignment information so as to enable the water replenishing module to be in butt joint with a liquid inlet of a second water tank of the cleaning robot; and controlling the supply module to inject supply liquid into a second water tank of the cleaning robot.
Optionally, according to the alignment information, the replenishment robot and the cleaning robot are controlled to perform alignment, so that the water replenishment module is in butt joint with a liquid inlet of a second water tank of the cleaning robot, and the step of further comprising: judging whether the water supplementing module is aligned with a liquid inlet of a second water tank of the cleaning robot or not according to the alignment information; if not, controlling the replenishment robot to rotate in situ until the water replenishing module is aligned with a liquid inlet of a second water tank of the cleaning robot; if the water replenishing module is aligned, the water replenishing robot is controlled to move towards the cleaning robot, so that the water replenishing module is in butt joint with a liquid inlet of a second water tank of the cleaning robot.
Optionally, before the step of receiving a water supplement signal, the method further comprises: when the replenishment robot is in a standby state, acquiring water level information of the first water tank; judging whether the water storage capacity in the first water tank meets a preset supply requirement or not according to the water level information; if the preset replenishment requirement is not met, controlling the first water tank to carry out a water adding task so as to ensure that the replenishment robot can execute a water supplementing task on the cleaning robot; and if the preset replenishment requirement is met, executing the step of receiving the water replenishing signal.
The replenishment robot in the embodiment of the application is electrically connected with the first driving module, the first communication module, the first alignment module and the water replenishing module through the first controller respectively, the first controller is used for controlling the first communication module to receive the water replenishing signal, the first driving module is driven according to the water replenishing signal so as to enable the replenishing robot to move to the position of the cleaning robot, and controls the water supplementing module to be in butt joint with a liquid inlet of a second water tank of the cleaning robot and to deliver supplementing liquid to the water tank of the cleaning robot according to the alignment signal of the first alignment module, through the structure, the replenishment robot can receive the replenishment signal transmitted by the external cleaning robot, and the cleaning robot is actively approached to the base station according to the water replenishing signal to perform the water replenishing task, so that the operation of returning the cleaning robot to the base station can be avoided, and the working efficiency of the cleaning robot is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic view of a replenishment robot according to an embodiment of the present disclosure.
FIG. 2 is an exploded view of a replenishment robot in accordance with an embodiment of the present application from a perspective.
Fig. 3 is an enlarged view of a portion a in fig. 2.
FIG. 4 is a schematic view of a first water tank and a first dust box of the replenishment robot according to an embodiment of the present disclosure.
FIG. 5 is a schematic view of a cleaning system according to an embodiment of the present disclosure.
FIG. 6 is a schematic view of a second tank of the cleaning system of the present application from a perspective of the second tank.
Fig. 7 is an exploded view of another perspective of the second tank in the cleaning system of the embodiment of the present application.
Fig. 8 is a sectional view of a portion B of fig. 7.
Fig. 9 is a flowchart of a method of controlling a replenishment robot according to a first embodiment of the present application.
Fig. 10 is a flowchart of step S104 of the method of controlling the replenishment robot according to the first embodiment of the present application.
Fig. 11 is a flowchart of a method of controlling a replenishment robot according to a second embodiment of the present application.
Detailed Description
In order to facilitate an understanding of the present application, the present application is described in more detail below with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used herein, the terms "upper," "lower," "inner," "outer," "vertical," "horizontal," and the like are used in an orientation or positional relationship indicated based on the orientation or positional relationship as shown in the drawings for convenience in describing the present application and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1 and 2, the replenishment robot 100 includes a first body 11, a first driving module 12, a first water tank 13, a water replenishing module 14, a first communication module (not shown), a first alignment module 15, and a first controller (not shown). The first driving module 12 is disposed at the bottom of the first body 11, the first driving module 12 is configured to drive the first body 11 to move, the first water tank 13 is disposed on the first body 11, the first water tank 13 is configured to store a supply liquid, the water supply module 14 is disposed on the first body 11, the water supply module 14 is communicated with the first water tank 13, the water supply module 14 is configured to transmit the supply liquid in the first water tank 13 to the external cleaning robot 200, the first communication module is disposed on the first body 11, the first communication module is configured to receive a supply signal transmitted by the external cleaning robot 200, the first aligning module 15 is disposed on a side wall of the first body 11, and the first aligning module 15 is configured to align with the external cleaning robot 200, so that the water supply module 14 performs a water supply task to the external cleaning robot 200.
The first driving module 12, the water replenishing module 14, the first communication module and the first aligning module 15 are electrically connected with the first controller, when the first communication module receives a water replenishing signal, the first controller controls the first driving module 12 to move so as to drive the first machine body 11 to move towards the cleaning robot 200, and when the first aligning module 15 completes the alignment of the cleaning robot 200 with the replenishing robot 100, the first controller controls the water replenishing module 14 to work so as to transmit the replenishing liquid in the first water tank 13 to the cleaning robot 200. Through the structure, when the external cleaning robot 200 does not have water, the water replenishing signal is sent to the water replenishing robot 100, so that the water replenishing robot actively provides a water replenishing task, the cleaning robot 200 is prevented from returning to a base station to replenish water, and the cleaning efficiency is effectively improved.
Referring to fig. 2 and 4, the first water tank 13 is provided with a first cavity 131, and a first water outlet 132 and a first water inlet (not labeled) communicating with the first cavity 131. The first water inlet is used for supplying outside supply liquid to fill the first cavity 131, and the first water outlet 132 is used for discharging the supply liquid in the first cavity 131.
Referring to fig. 2 and 3, the water replenishing module 14 includes a replenishing head 141, a first connecting pipe 142, a second connecting pipe 143, and a water pump 144. The water pump 144 is disposed on the first body 11, the water pump 144 is provided with a water inlet end (not shown) and a water outlet end (not shown), one end of the first connecting pipe 142 is communicated with the first water outlet 132, the other end of the first connecting pipe 142 is communicated with the water inlet end, one end of the second connecting pipe 143 is communicated with the water outlet end, the other end of the second connecting pipe 143 is communicated with one end of the supply head 141, the supply head 141 is fixedly disposed on a side wall of the first body 11, and the other end of the supply head 141 protrudes out of the side wall of the first body 11, and the supply head 141 is used for being plugged into a water tank of the external cleaning robot 200. The supply head 141 is a hard hollow tube, and the supply head 141 is fixedly connected to the first body 11 such that the supply head 141 can be inserted into the second water tank 22 of the cleaning robot 200 to replenish water when the supply robot 100 moves toward the cleaning robot 200.
The side wall of the other end of the supply head 141 is provided with a plurality of water outlets 1411, and since the supply head 141 needs to be inserted into the second water tank 22 of the cleaning robot 200, in order to prevent the supply head 141 from being blocked after the supply head 141 is inserted, the side wall of the supply head 141 is provided with a plurality of water outlets 1411, so that the supply liquid is discharged from the side wall of the supply head 141.
In some embodiments, the refill module 14 may move relative to the first body 11 in a telescopic manner, so as to protect the refill head 141. The water replenishing module 14 further includes a telescopic tube (not shown) and a driving device (not shown), two ends of the telescopic tube are respectively communicated with the other end of the second connecting tube 143 and one end of the replenishing head 141, the driving device is disposed on the first body 11, the driving device is connected with the replenishing head 141 and electrically connected with the first controller, and the driving device is used for driving the replenishing head 141 to make telescopic motion relative to the first body 11. Specifically, after the replenishment robot 100 is aligned with the cleaning robot 200, the first controller controls the driving device to drive the replenishment head 141 to extend out of the side wall of the first body 11 and to be fixed, so as to perform a water replenishment task, and after the water replenishment is completed, the first controller controls the driving device to drive the replenishment head 141 to retract into the first body 11, so as to prevent the replenishment head 141 from protruding out of the side wall of the first body 11, and during the movement of the replenishment robot 100, the replenishment head 141 collides with other objects to damage the replenishment head 141.
In some embodiments, the refill module 14 may rotate relative to the first body 11 and may also protect the refill head 141. The sidewall of the first body 11 is provided with a receiving groove (not shown) for receiving the supply head 141, the water replenishing module 14 further includes a hose (not shown) and a rotating device (not shown), two ends of the hose are respectively communicated with the other end of the second connecting pipe 143 and one end of the supply head 141, the rotating device is disposed on the first body 11, the rotating device is connected with the supply head 141 and electrically connected with the first controller, and the rotating device is used for driving the supply head 141 to rotate relative to the first body 11. Specifically, after the replenishment robot 100 is aligned with the cleaning robot 200, the first controller controls the rotating device to drive the replenishment head 141 to rotate to a position perpendicular to the side wall of the first body 11 relative to the first body 11 and then fix the replenishment head, and after the replenishment is completed, the first controller controls the rotating device to drive the replenishment head 141 to rotate until the replenishment head 141 is accommodated in the accommodating groove, so as to prevent the replenishment head 141 from protruding out of the side wall of the first body 11, and during the movement of the replenishment robot 100, the replenishment head 141 collides with other objects to damage the replenishment head 141.
In some embodiments, referring to fig. 2 and 4, the replenishment robot 100 further includes a dust extraction device 16 and a first dust bin 17. The dust suction device 16 and the first dust box 17 are both arranged on the first body 11, the dust suction device 16 is communicated with the first dust box 17, the dust suction device 16 is used for being butted with a dust outlet 232 of the second dust box 23 of the cleaning robot 200 so as to suck collected objects in the second dust box 23 of the cleaning robot 200 into the first dust box 17, and the dust suction device 16 is electrically connected with the first controller. In the process of performing the water replenishing task on the cleaning robot 200, the replenishment robot 100 may also clean the collected objects (such as garbage, sundries, etc.) in the cleaning robot 200, so that the cleaning robot 200 may have more accommodating space to recover the collected objects, thereby avoiding the time waste caused by the return of the cleaning robot 200 to the base station and the reduction of the cleaning efficiency.
Referring to fig. 5, the dust suction device 16 includes a first duct 161, a fan 162, and a filter (not shown). The first dust box 17 includes a first dust collecting chamber 171, a first air inlet 172, and a first air outlet 173, and the first air inlet 172 and the first air outlet 173 are both communicated with the first dust collecting chamber 171. The first air duct 161 and the fan 162 are disposed in the first body 11, one end of the first air duct 161 is communicated with the first air inlet 172, the other end of the first air duct 161 is exposed to the outside so as to be communicated with the dust outlet 232 of the second dust collecting box 23 of the cleaning robot 200, the filter is disposed at the first air outlet 173, the fan 162 is communicated with the first air outlet 173, the second cavity 221 is used for accommodating collected objects, the filter is used for filtering impurities in the air flow, so that only the air flow passes through the first air outlet 173, and the impurities in the air flow are separated and accommodated in the first dust collecting cavity 171.
In some embodiments, the first water tank 13 and the first dust box 17 may be integrally formed, and the first dust chamber 171 and the first cavity 131 are independently disposed, so as to save the space layout of the replenishment robot 100.
According to the embodiment of the application, the replenishment robot 100 is electrically connected with the first driving module 12, the first communication module, the first alignment module 15 and the water replenishing module 14 through the first controller, the first controller is used for driving the first driving module 12 according to the water replenishing signal when the first communication module receives the water replenishing signal, so that the replenishment robot 100 moves to the position of the cleaning robot 200, controlling the water replenishing module 14 to be in butt joint with the liquid inlet 222 of the second water tank 22 of the cleaning robot 200 according to the alignment signal of the first alignment module 15, and controlling the water replenishing module 14 to convey the replenishment liquid to the water tank of the cleaning robot 200, through the structure, the replenishment robot 100 can receive the water replenishing signal emitted by the external cleaning robot 200, and actively approach the cleaning robot 200 to perform a water replenishing task according to the water replenishing signal, so that the operation of the cleaning robot 200 returning to a base station can be avoided, the working efficiency of the cleaning robot 200 is effectively improved.
Referring to fig. 5, the cleaning system 1000 includes a cleaning robot 200 and the replenishment robot 100, and for the specific structure and function of the replenishment robot 100, reference may be made to the above embodiments, which are not described in detail herein.
The cleaning robot 200 includes a second body 21, a second water tank 22, a second dust box 23, a second communication module (not shown), a second driving module (not shown), a second alignment module 24, and a second controller (not shown). The second water tank 22 is disposed at the second body 21, and the second water tank 22 is used to store a supply liquid for the cleaning robot 200 to perform a cleaning task. The second dust box 23 is disposed on the second body 21, the second dust box 23 is used for accommodating garbage and other debris collected by the cleaning robot 200 during operation, and the second dust box 23 can communicate with the replenishment robot 100 to transfer the collected objects in the second dust box 23 to the replenishment robot 100, and release the accommodating space of the second dust box 23. The second communication module is disposed on the second body 21, and the second communication module is configured to transmit a water replenishing signal to the replenishment robot 100, so that the replenishment robot 100 actively performs water replenishment in the forward direction. It is to be understood that, in some implementations, the first communication module may transmit the water supplement signal, and the second communication module may receive the water supplement signal.
The second driving module is disposed at the bottom of the second body 21, and is used to drive the second body 21 to move, so that the cleaning robot 200 can perform a cleaning task. The second aligning module 24 is disposed on a sidewall of the second body 21, and the second aligning module 24 is used for aligning with the first aligning module 15 of the replenishment robot 100, so that the replenishment head 141 can be aligned with the second water tank 22 to replenish water. It is understood that, in the present embodiment, the first alignment module 15 is an infrared ray emitting head, and the second alignment module 24 is an infrared ray receiving head. In other embodiments, the first alignment module 15 and the second alignment module 24 may be ultrasonic modules, or laser modules, or radar modules, etc.
The second controller is electrically connected with the second communication module, the second driving module and the second alignment module 24 respectively, the second communication module is used for transmitting a water replenishing signal, the second driving module is used for driving the second machine body 21 to move, and the second alignment module 24 is used for matching and aligning with the first alignment module 15 so as to enable the liquid inlet 222 to be in butt joint with the water replenishing module 14 of the replenishment robot 100.
Referring to fig. 6 to 8, the second water tank 22 and the second dust box 23 are provided with a second cavity 221, a liquid inlet 222 communicating with the second cavity 221, a sealing plug 223 and an elastic member 224, the second cavity 221 is used for containing cleaning liquid for cleaning the cleaning robot 200, the liquid inlet 222 is used for being inserted into the replenishment head 141 of the replenishment robot 100, so that the replenishment robot 100 can perform a water replenishment task on the cleaning robot 200, the sealing plug 223 is provided on the liquid inlet, the sealing plug 223 is used for opening or closing the liquid inlet 222, and two ends of the elastic member 224 are respectively abutted to the second dust box 23 and the sealing plug 223. When the supply head 141 of the supply robot 100 pushes the sealing plug 223 to insert into the second cavity 221 for liquid supply, the elastic member 224 is in a compressed state, and after the water supply task is completed, the supply head 141 exits the second cavity 221, and under the action of the elastic member 224, the sealing plug 223 closes the liquid inlet 222 again, so that the supply liquid in the second water tank 22 is prevented from leaking.
The second dust collecting box 23 is provided with a second dust collecting chamber 231, a dust outlet 232 and a dust collecting baffle 233, the dust outlet 232 is communicated with the second dust collecting chamber 231, the second dust collecting chamber 231 is used for accommodating sundries such as garbage collected by the cleaning robot 200 in the cleaning process, and the dust outlet 232 is exposed on the side wall of the second body 21 so as to be communicated with the other end of the first air duct 161 of the replenishment robot 100 for performing a dust collection task. The dust collecting baffle 233 is disposed at the dust outlet 232, when the cleaning robot 200 is not docked with the replenishment robot 100, the dust collecting baffle 233 is used for closing the dust outlet 232 to prevent the collected objects in the second dust collecting cavity 231 from leaking, when the cleaning robot 200 is docked with the replenishment robot 100, the dust outlet 232 is opened by the dust collecting baffle 233 under the action of the air flow, and the collected objects in the second dust collecting cavity 231 enter the first dust collecting cavity 171 through the dust outlet 232 and the first air duct 161.
Referring to fig. 9, the present application further provides a first embodiment of a method of controlling a replenishment robot, the method being applied to the replenishment robot described above, the method comprising:
and S101, receiving a water supplementing signal, wherein the water supplementing signal carries position information of the current position of the cleaning robot.
When the cleaning robot does not contain cleaning liquid, the cleaning robot stops working, and the currently parked position is sent to the replenishing robot in a path sharing mode, so that the replenishing robot can directly come to the parked position to perform a water replenishing task; certainly, cleaning machines people do not necessarily just send the moisturizing signal when not having the cleaning solution completely, and cleaning machines people can send the stop position in advance when being about to not having the cleaning solution, lets the replenishment robot can arrive the stop position earlier and wait for cleaning machines people, and cleaning machines people is when the position is stopped to the process, directly carries out the moisturizing, avoids the time of waiting, effectively improves cleaning machines people's work efficiency.
And S102, controlling the first driving module to move according to the water supplementing signal so that the replenishing robot moves to the cleaning robot.
When the first communication module receives the water replenishing signal, the replenishment robot can calculate a walking path by combining the shared path of the cleaning robot and the position of the stop point, and drives the first driving module to enable the replenishment robot to move along the walking path.
And step S103, acquiring the alignment information of the first alignment module for aligning the cleaning robot.
Before the water replenishing task is carried out, the water replenishing robot needs to be aligned with the cleaning robot firstly, so that the water replenishing module is aligned with the liquid inlet of the second water tank.
And S104, controlling the replenishment robot and the cleaning robot to carry out alignment according to the alignment information so as to enable the water replenishing module to be in butt joint with a liquid inlet of a second water tank of the cleaning robot.
In some embodiments, referring to fig. 10, step S104 further includes:
and S1041, judging whether the water supplementing module is aligned with a liquid inlet of a second water tank of the cleaning robot or not according to the alignment information.
Only if the infrared signal transmitted by the first aligning module is received by the second aligning module, the water replenishing module of the supplying robot is aligned with the liquid inlet of the second water tank of the cleaning robot.
And step S1042, if not, controlling the replenishment robot to rotate in situ until the water replenishing module is aligned with a liquid inlet of a second water tank of the cleaning robot.
And S1043, if the water tank is aligned, controlling the water supplementing robot to move towards the cleaning robot so as to enable the water supplementing module to be in butt joint with a liquid inlet of a second water tank of the cleaning robot.
When the water replenishing module is aligned with the liquid inlet, the replenishment robot continues to move, so that the replenishment head is inserted into the liquid inlet to replenish water.
And step S105, controlling the supply module to inject supply liquid into a second water tank of the cleaning robot.
Referring to fig. 11, the present application further provides a second embodiment of a method for controlling a replenishment robot, wherein the method of the second embodiment is different from the method of the first embodiment in that the replenishment robot performs a self-check to see whether the amount of stored water meets the replenishment requirement before performing the replenishment task, and specifically, the method further comprises:
and step S106, acquiring water level information of the first water tank when the replenishment robot is in a standby state.
And S107, judging whether the water storage capacity in the first water tank meets the preset replenishment requirement or not according to the water level information.
And step S108, if the preset replenishment requirement is not met, controlling the first water tank to carry out a water adding task so as to ensure that the replenishment robot can execute the water supplementing task for the cleaning robot.
And if the preset replenishment requirement is met, executing the step of receiving the water replenishing signal.
According to the method for controlling the replenishment robot, a water replenishing signal is received; then controlling the first driving module to move according to the water replenishing signal so that the replenishing robot moves towards the cleaning robot; then acquiring the alignment information of the first alignment module for aligning the cleaning robot; then controlling the replenishment robot and the cleaning robot to align according to the alignment information so as to enable the water replenishing module to be in butt joint with a liquid inlet of a second water tank of the cleaning robot; and finally, controlling the supply module to inject supply liquid into a second water tank of the cleaning robot. Through the steps, the replenishing robot can actively move towards the cleaning robot and carry out a water replenishing task, the movement that the cleaning robot returns to the base station is avoided, the cleaning time of the cleaning robot is effectively prolonged, and the cleaning efficiency of the cleaning robot is improved.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are intended to be included within the scope of the present application.
Claims (11)
1. A replenishment robot, comprising:
a first body;
the first driving module is arranged on the first machine body and used for driving the first machine body to move;
the first water tank is arranged on the first machine body and provided with a first cavity and a first water outlet communicated with the first cavity, and the first cavity is used for loading supply liquid;
the water replenishing module is arranged on the first machine body and is connected with the first water outlet;
the first communication module is arranged on the first machine body and used for receiving a water replenishing signal emitted by an external cleaning robot, wherein the water replenishing signal carries position information of the cleaning robot;
the first contraposition module is arranged on the first machine body;
the first controller is arranged on the first machine body, the first controller is respectively connected with the first driving module, the first communication module, the first aligning module and the water replenishing module are electrically connected, the first controller is used for driving the first driving module according to the water replenishing signal when the first communication module receives the water replenishing signal so as to enable the supplying robot to move to the position where the cleaning robot is located, and according to the aligning signal of the first aligning module, the water replenishing module is controlled to be in butt joint with the inlet of the second water tank of the cleaning robot, and the water replenishing module is controlled to convey the supplying liquid to the water tank of the cleaning robot.
2. The replenishment robot of claim 1,
the water replenishing module comprises a replenishing head, the replenishing head comprises a plurality of water outlets located in the circumferential direction and axial end portions, and during water replenishing, the end portions are abutted and extended into the liquid inlet of the second water tank, so that the water outlets are located in the inner space of the second water tank.
3. The replenishment robot of claim 2,
the water replenishing module further comprises a first connecting pipe, a second connecting pipe and a water pump, the replenishing head is fixed on the first machine body, the water pump is provided with a water inlet end and a water outlet end, one end of the first connecting pipe is communicated with the water inlet end, the other end of the first connecting pipe is connected to the first water outlet, one end of the second connecting pipe is connected with the water outlet end, and the other end of the second connecting pipe is connected to one end of the replenishing head.
4. The replenishment robot of claim 3,
the side wall of the other end of the supply head is provided with the water outlets, the other end of the supply head protrudes out of the side wall of the first machine body, and the other end of the supply head is used for being connected with a liquid inlet of a second water tank of an external cleaning robot in an inserting mode.
5. The replenishment robot of claim 4,
the supply robot further comprises a dust suction device and a first dust collection box, the dust suction device is arranged on the first machine body and connected with the first dust collection box, and the dust suction device is used for being in butt joint with a dust outlet of a second dust collection box of the cleaning robot and sucking collected matters in the second dust collection box of the cleaning robot into the first dust collection box.
6. The replenishment robot of claim 5,
the dust collection device comprises a first air duct, a fan and a filter, wherein the first dust collection box is provided with a first dust collection cavity and a first air inlet and a first air outlet which are communicated with the first dust collection cavity, one end of the first air duct is communicated with the first air inlet, the other end of the first air duct is exposed to the outside so as to be communicated with a dust outlet of a second dust collection box of the cleaning robot, the filter is arranged at the first air outlet, the fan is communicated with the first air outlet, and the first dust collection cavity is used for containing collected matters.
7. A cleaning system, characterized in that the cleaning system comprises a cleaning robot and a replenishment robot according to any one of claims 1-6;
the cleaning robot comprises a second machine body, a second water tank, a second dust collecting box, a second communication module, a second driving module, a second aligning module and a second controller;
the second water tank, the second dust collecting box, the second communication module, the second driving module, the second aligning module and the second controller are all arranged on the second machine body, the second water tank is provided with a second cavity and a liquid inlet communicated with the second cavity, and the second dust collecting box is provided with a second dust collecting cavity and a dust outlet communicated with the second dust collecting cavity;
the second controller is respectively electrically connected with the second communication module, the second driving module and the second aligning module, the second communication module is used for transmitting a water replenishing signal, the second driving module is used for driving the second machine body to move, and the second aligning module is used for being matched and aligned with the first aligning module so as to enable the liquid inlet to be in butt joint with the water replenishing module of the replenishment robot.
8. The cleaning system of claim 7,
the cleaning robot comprises an elastic part and a sealing plug, wherein the elastic part is connected with the sealing plug, when the sealing plug is not acted by external force, the sealing plug is used for sealing the liquid inlet, when the sealing plug is acted by the external force towards the second cavity, the sealing plug moves towards the second cavity, and the liquid inlet is opened.
9. A method of controlling a replenishment robot, the method being applied to the replenishment robot of any one of claims 1 to 8, the method comprising:
receiving a water replenishing signal, wherein the water replenishing signal carries position information of the current position of the cleaning robot;
controlling the first driving module to move according to the water supplementing signal so that the supplementing robot moves towards the cleaning robot;
acquiring the alignment information of the first alignment module for aligning the cleaning robot;
controlling the replenishment robot and the cleaning robot to carry out alignment according to the alignment information so as to enable the water replenishing module to be in butt joint with a liquid inlet of a second water tank of the cleaning robot;
and controlling the supply module to inject supply liquid into a second water tank of the cleaning robot.
10. The method of claim 9,
according to counterpoint information, control supply robot and cleaning machines people counterpoint to make the step of moisturizing module and the butt joint of the inlet of cleaning machines people's second water tank, further include:
judging whether the water supplementing module is aligned with a liquid inlet of a second water tank of the cleaning robot or not according to the alignment information;
if not, controlling the replenishment robot to rotate in situ until the water replenishing module is aligned with a liquid inlet of a second water tank of the cleaning robot;
if the water replenishing module is aligned, the water replenishing robot is controlled to move towards the cleaning robot, so that the water replenishing module is in butt joint with a liquid inlet of a second water tank of the cleaning robot.
11. The method of claim 9, wherein prior to the step of receiving a refill signal, the method further comprises:
when the replenishment robot is in a standby state, acquiring water level information of the first water tank;
judging whether the water storage capacity in the first water tank meets a preset supply requirement or not according to the water level information;
if the preset replenishment requirement is not met, controlling the first water tank to carry out a water adding task so as to ensure that the replenishment robot can execute a water supplementing task on the cleaning robot;
and if the preset replenishment requirement is met, executing the step of receiving the water replenishing signal.
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| CN115054168B (en) | 2023-09-26 |
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