CN115054168B - Replenishing robot, cleaning system, and method of controlling replenishing robot - Google Patents
Replenishing robot, cleaning system, and method of controlling replenishing robot Download PDFInfo
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- CN115054168B CN115054168B CN202210640424.9A CN202210640424A CN115054168B CN 115054168 B CN115054168 B CN 115054168B CN 202210640424 A CN202210640424 A CN 202210640424A CN 115054168 B CN115054168 B CN 115054168B
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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 replenishing robot, a cleaning system and a method for controlling the replenishing robot.
Description
Technical Field
The embodiment of the application relates to the technical field of cleaning equipment, in particular to a replenishing robot, a cleaning system and a method for controlling the replenishing robot.
Background
Along with the development of intelligent household equipment technology, more and more intelligent household equipment replaces traditional equipment, brings great convenience for life of people, for example, an intelligent robot provided with a mop and a dust collection water tank replaces traditional besom and mop, sweeping and mopping are integrated, and cleaning efficiency is greatly improved.
In the implementation process of the embodiment of the application, the inventor finds that: in order to ensure the beauty 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 the collected matters when cleaning a large area, the frequency of returning to the base station is increased, and the cleaning efficiency of the cleaning robot is reduced.
Disclosure of Invention
The technical problem to be solved by the embodiment of the application is to provide a replenishing robot, a cleaning system and a method for controlling the replenishing robot, wherein the replenishing 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 problems, a technical solution adopted in the embodiments of the present application is to provide a replenishment robot, including: a first body; the first driving module is arranged on the first machine body and is used for driving the first machine body to move; the first water tank is arranged on the first machine body and is provided with a first cavity and a first water outlet communicated with the first cavity, and the first cavity is used for loading the replenishing liquid; the water supplementing 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 is used for receiving a water supplementing signal transmitted by the external cleaning robot, wherein the water supplementing signal carries the position information of the cleaning robot; the first alignment module is arranged on the side wall of the first machine body; the first controller is arranged on the first machine body, and is respectively connected with the first driving module, the first communication module, the first alignment module and the water supplementing module, and 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 that the supplementing robot moves to the position where the cleaning robot is located, and controlling the water supplementing module to be in butt joint with a liquid inlet of a second water tank of the cleaning robot according to the alignment signal of the first alignment module, and controlling the water supplementing module to convey supplementing 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 positioned in the circumferential direction and an end part positioned in the axial direction, and when replenishing water, the end part is propped against and stretches into the liquid inlet of the second water tank, so that each water outlet is positioned 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 replenishing head is provided with the plurality of water outlets, the other end of the replenishing head protrudes out of the side wall of the first machine body, and the other end of the replenishing head is used for being inserted into a liquid inlet of a second water tank of the external cleaning robot.
Optionally, the replenishing robot further includes a dust collection device and a first dust box, the dust collection device is disposed on the first body, the dust collection device is connected with the first dust box, the dust collection device is used for being in butt joint with a dust outlet of a second dust box of the cleaning robot, and collecting objects in the second dust box of the cleaning robot are sucked into the first dust box.
Optionally, dust extraction includes first wind channel, fan and filter, first dust collection box is equipped with first dust collection chamber and intercommunication first air intake and the first air outlet in first dust collection chamber, the one end in first wind channel with first air intake intercommunication, the other end in first wind channel exposes in the external world to in order to communicate with the dust outlet of cleaning robot's second dust collection box, the filter set up in first air outlet, the fan with first air outlet intercommunication, the second cavity is used for acceping the collection thing.
In order to solve the technical problems, another technical scheme adopted by the embodiment of the application is as follows: 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 collection box, a second communication module, a second driving module, a second alignment module and a second controller; the second water tank, the second dust collection box, the second communication module, the second driving module, the second alignment 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 collection box is provided with a second dust collection cavity and a dust outlet communicated with the second dust collection cavity; the second controller is respectively and electrically connected with the second communication module, the second driving module and the second alignment module, the second communication module is used for transmitting water supplementing signals, the second driving module is used for driving the second machine body to move, and the second alignment module is used for being aligned with the first alignment module in a matching way so that the liquid inlet is in butt joint with the water supplementing module of the replenishing robot.
Optionally, the cleaning robot includes elastic component and sealing plug, the both ends of elastic component respectively with the sealing plug with the internal surface of first dust collection case is connected, when the sealing plug does not receive external force effect, the sealing plug is used for sealing the inlet, when the sealing plug receives the external force effect towards the second cavity, the sealing plug moves towards the second cavity, the inlet is opened.
In order to solve the above technical problems, another technical solution adopted by the embodiment 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 supplementing signal, wherein the water supplementing 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 as to enable the supplementing robot to move towards the cleaning robot; acquiring alignment information of the first alignment module for aligning the cleaning robot; according to the alignment information, controlling the replenishing robot and the cleaning robot to perform alignment so as to enable the replenishing module to be in butt joint with a liquid inlet of a second water tank of the cleaning robot; and controlling the replenishing module to inject replenishing liquid into a second water tank of the cleaning robot.
Optionally, the step of controlling the replenishment robot and the cleaning robot to perform alignment according to the alignment information, so that the replenishment module is in butt joint with the liquid inlet of the second water tank of the cleaning robot, further includes: judging whether the water supplementing module is aligned with a liquid inlet of a second water tank of the cleaning robot according to the alignment information; if the water replenishing module is not aligned, controlling the replenishing 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 if the water replenishing module is aligned, controlling the water replenishing robot to move towards the cleaning robot 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.
Optionally, before the step of receiving the water replenishment signal, the method further comprises: acquiring water level information of the first water tank when the replenishment robot is in a standby state; judging whether the water storage amount in the first water tank meets a preset replenishing requirement or not according to the water level information; if the preset replenishing requirement is not met, controlling the first water tank to perform a water replenishing task so as to ensure that the replenishing robot can perform the water replenishing task for the cleaning robot; and if the preset replenishment requirement is met, executing the step of receiving the replenishment signal.
According to the embodiment of the application, the replenishing robot is respectively and electrically connected with the first driving module, the first communication module, the first alignment module and the replenishing module through the first controller, the first controller is used for driving the first driving module according to the replenishing signal when the first communication module receives the replenishing signal so that the replenishing robot moves to the position where the cleaning robot is located, controlling the replenishing module to butt-joint with the liquid inlet of the second water tank of the cleaning robot according to the alignment signal of the first alignment module, and controlling the replenishing module to convey replenishing liquid to the water tank of the cleaning robot.
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. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
FIG. 1 is a schematic view of a replenishment robot according to an embodiment of the present application.
FIG. 2 is an exploded view of a replenishment robot according to an embodiment of the present application.
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 bin of a replenishment robot according to an embodiment of the present application.
FIG. 5 is a schematic view of a cleaning system according to an embodiment of the application.
Fig. 6 is a schematic view of a second tank in a cleaning system according to an embodiment of the application.
Fig. 7 is an exploded view of a second tank in a cleaning system according to an embodiment of the present application.
Fig. 8 is a sectional view of a portion B in 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 that the application may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be understood that when an element is referred to as being "fixed" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "upper," "lower," "inner," "outer," "vertical," "horizontal," and the like as used in this specification, refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the 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 application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used in this specification 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 application described below can be combined with one another as long as they do not conflict with one another.
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 replenishment 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 used for driving the first body 11 to move, the first water tank 13 is disposed at the first body 11, the first water tank 13 is used for storing replenishing liquid, the replenishing module 14 is disposed at the first body 11, and the replenishing module 14 is communicated with the first water tank 13, the replenishing module 14 is used for transmitting the replenishing liquid in the first water tank 13 to the external cleaning robot 200, the first communication module is disposed at the first body 11, the first communication module is used for receiving replenishing water signals emitted by the external cleaning robot 200, the first alignment module 15 is disposed at the side wall of the first body 11, and the first alignment module 15 is used for aligning with the external cleaning robot 200, so that the replenishing module 14 performs replenishing task to the external cleaning robot 200.
The first driving module 12, the water replenishing module 14, the first communication module and the first alignment module 15 are all electrically connected with the first controller, when the first communication module receives the 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 alignment module 15 finishes alignment of the replenishing robot 100 and the cleaning robot 200, 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 above structure, when the external cleaning robot 200 does not have water, a water replenishing signal is sent to the replenishing robot 100, so that the replenishing robot actively provides a water replenishing task, the cleaning robot 200 is prevented from returning to the base station to replenish water, and cleaning efficiency is effectively improved.
For the first water tank 13 described above, 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 shown) that communicate with the first cavity 131. The first water inlet is used for filling external replenishment liquid into the first cavity 131, and the first water outlet 132 is used for discharging the replenishment liquid in the first cavity 131.
For the above-mentioned water replenishing module 14, 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 arranged on the first machine 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 replenishing head 141, the replenishing head 141 is fixedly arranged on the side wall of the first machine body 11, the other end of the replenishing head 141 protrudes out of the side wall of the first machine body 11, and the replenishing head 141 is used for being spliced with a water tank of the external cleaning robot 200. The replenishment head 141 is a hard hollow pipe, and the replenishment head 141 is fixedly connected with the first body 11, so that the replenishment head 141 can be inserted into the second water tank 22 of the cleaning robot 200 to replenish water when the replenishment robot 100 moves toward the cleaning robot 200.
The side wall of the other end of the replenishment head 141 is provided with a plurality of water outlets 1411, and since the replenishment head 141 is required to be inserted into the second water tank 22 of the cleaning robot 200, in order to avoid the blockage of the replenishment head 141 after the insertion of the replenishment head 141, the side wall of the replenishment head 141 is provided with a plurality of water outlets 1411 to drain the replenishment liquid from the side wall of the replenishment head 141.
In some embodiments, the water replenishment module 14 may be telescopically movable relative to the first body 11 to protect the replenishment head 141. The water replenishing module 14 further includes a telescopic tube (not labeled in the figure) and a driving device (not labeled in the figure), 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 machine 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 do telescopic motion relative to the first machine body 11. Specifically, when 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 sidewall of the first body 11 and fix the replenishment head so as to perform a replenishment task, and when the 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 sidewall 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 water replenishing module 14 may rotate relative to the first body 11, and may also function to protect the replenishment head 141. The side wall of the first body 11 is provided with a containing groove (not shown) for containing the replenishment head 141, the replenishment module 14 further comprises 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 replenishment head 141, the rotating device is arranged on the first body 11 and connected with the replenishment head 141, the rotating device is electrically connected with the first controller, and the rotating device is used for driving the replenishment head 141 to rotate relative to the first body 11. Specifically, when 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 relative to the first body 11 to a position perpendicular to the sidewall of the first body 11, so as to perform a water replenishment task, and when the water 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 from the sidewall 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 collection device 16 and a first dust bin 17. The dust collection device 16 and the first dust box 17 are both disposed on the first body 11, the dust collection device 16 is communicated with the first dust box 17, the dust collection device 16 is used for being in butt joint with a dust outlet 232 of the second dust box 23 of the cleaning robot 200 so as to suck the collected matter in the second dust box 23 of the cleaning robot 200 into the first dust box 17, and the dust collection device 16 is electrically connected with the first controller. In the process of performing the water replenishing task on the cleaning robot 200, the replenishing robot 100 can also clean the collected objects (such as garbage and sundries) in the cleaning robot 200, so that the cleaning robot 200 can have more accommodating spaces to recover the collected objects, the cleaning robot 200 is prevented from returning to the base station, time waste is caused, and cleaning efficiency is reduced.
Referring to fig. 5, the dust collection device 16 includes a first air duct 161, a fan 162, and a filter (not shown). The first dust box 17 includes a first dust collection chamber 171, a first air inlet 172, and a first air outlet 173, and both the first air inlet 172 and the first air outlet 173 are in communication with the first dust collection chamber 171. The first air duct 161 and the fan 162 are both disposed on 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 box 23 of the cleaning robot 200, the filter is disposed on the first air outlet 173, the fan 162 is communicated with the first air outlet 173, the second cavity 221 is used for accommodating the collected matter, and the filter is used for filtering the sundries in the air flow so that only the air flow passes through the first air outlet 173, and the sundries 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 collection chamber 171 and the first chamber 131 may be independently provided to save the space layout of the replenishment robot 100.
The replenishment robot 100 according to the embodiment of the present application is electrically connected to the first driving module 12, the first communication module, the first alignment module 15 and the replenishment module 14 through the first controller, where the first controller is configured to drive the first driving module 12 according to the replenishment signal when the first communication module receives the replenishment signal, so that the replenishment robot 100 moves to the position where the cleaning robot 200 is located, and according to the alignment signal of the first alignment module 15, control the replenishment module 14 to dock with the liquid inlet 222 of the second water tank 22 of the cleaning robot 200, and control the replenishment module 14 to deliver the replenishment liquid to the water tank of the cleaning robot 200, and through the above structure, the replenishment robot 100 can receive the replenishment signal emitted by the external cleaning robot 200, and actively approaches the cleaning robot 200 according to the replenishment signal to perform the replenishment task, so that the operation of the cleaning robot 200 returning to the base station can be avoided, and the working efficiency of the cleaning robot 200 is effectively improved.
Referring to fig. 5, the cleaning system 1000 includes the cleaning robot 200 and the replenishment robot 100, and the specific structure and function of the replenishment robot 100 can be referred to the above embodiment, which is not described 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 on the second body 21, and the second water tank 22 is used for storing a replenishment 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 sundries collected by the cleaning robot 200 during operation, and the second dust box 23 can be communicated with the replenishing robot 100 to transfer the collected objects in the second dust box 23 into the replenishing 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 performs water replenishment actively. It will be appreciated that in some implementations, it is also possible that the first communication module transmits a water replenishment signal and the second communication module receives a water replenishment signal.
The second driving module is disposed at the bottom of the second body 21, and is used for driving the second body 21 to move, so that the cleaning robot 200 can perform a cleaning task. The second alignment module 24 is disposed on a side wall of the second body 21, and the second alignment module 24 is configured to align with the first alignment module 15 of the replenishment robot 100, so that the replenishment head 141 can be aligned with the second water tank 22 for replenishment. It can be understood that in the present embodiment, the first alignment module 15 is an infrared transmitting head, and the second alignment module 24 is an infrared receiving head. In other embodiments, the first alignment module 15 and the second alignment module 24 may be an ultrasonic module, a laser module, a radar module, or the like.
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 the 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 that the liquid inlet 222 is in butt joint with the water replenishing module 14 of the replenishing robot 100.
For the second water tank 22 and the second dust box 23 described above, referring to fig. 6 to 8, the second water tank 22 is provided with a second cavity 221, a liquid inlet 222, a sealing plug 223 and an elastic member 224, wherein the liquid inlet 222 is used for accommodating cleaning liquid for cleaning the cleaning robot 200, the liquid inlet 222 is used for being plugged 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 arranged at 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 against the second dust box 23 and the sealing plug 223. When the replenishment head 141 of the replenishment robot 100 is pushed against the sealing plug 223 and is inserted into the second cavity 221 for replenishing liquid, the elastic member 224 is in a compressed state, and after the water replenishing task is completed, the replenishment head 141 is withdrawn from 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 replenishment liquid in the second water tank 22 is prevented from leaking.
The second dust 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 to the side wall of the second machine body 21 so as to be communicated with the other end of the first air duct 161 of the replenishing robot 100 for dust collection. 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 collection in the second dust collecting chamber 231 from leaking, when the cleaning robot 200 is docked with the replenishment robot 100, the dust collecting baffle 233 opens the dust outlet 232 under the action of air flow, and the collection in the second dust collecting chamber 231 passes through the dust outlet 232 and the first air duct 161 and enters the first dust collecting chamber 171.
The cleaning system 1000 according to the embodiment of the application includes the cleaning robot 200 and the replenishment robot 100, the cleaning robot 200 is provided with the second communication module capable of transmitting the replenishment signal, the replenishment robot 100 is provided with the first communication module capable of receiving the replenishment signal, and the replenishment robot 100 can actively perform the replenishment task when the cleaning robot 200 does not have water through the cooperation of the first communication module and the second communication module, so that the working efficiency of the cleaning robot 200 is effectively improved.
Referring to fig. 9, the present application also provides a first embodiment of a method for controlling a replenishment robot, the method being applied to the replenishment robot, the method comprising:
step 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 have cleaning liquid, stopping working, and sending the current stopping position to the replenishing robot in a shared path mode so as to facilitate the replenishing robot to directly come to the stopping position for replenishing water; of course, the cleaning robot does not necessarily send the water replenishing signal when no cleaning liquid is completely provided, the cleaning robot can send the parking position in advance when no cleaning liquid is provided, the replenishing robot can reach the parking position to wait for the cleaning robot, the cleaning robot directly supplements water when passing the parking position, waiting time is avoided, and working efficiency of the cleaning robot is effectively improved.
Step S102, controlling the first driving module to move according to the water supplementing signal so as to enable the supplementing robot to move towards the cleaning robot.
When the first communication module receives the water supplementing signal, the supplementing robot can calculate a walking path by combining the shared path of the cleaning robot and the position of the stop point, and the first driving module is driven to enable the supplementing robot to move along the walking path.
Step S103, obtaining alignment information of the first alignment module for aligning the cleaning robot.
Before the water replenishing task, the replenishing robot needs to be aligned with the cleaning robot, so that the water replenishing module is aligned with the liquid inlet of the second water tank.
And step S104, controlling the replenishing robot and the cleaning robot to conduct alignment according to the alignment information so as to enable the 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:
step S1041, determining whether the water replenishing module is aligned with the liquid inlet of the second water tank of the cleaning robot according to the alignment information.
Only the infrared signal emitted by the first alignment module is received by the second alignment module, and the water replenishing module of the replenishing robot is aligned with the liquid inlet of the second water tank of the cleaning robot.
And step S1042, if not, controlling the replenishing robot to rotate in situ until the replenishing module is aligned with the liquid inlet of the second water tank of the cleaning robot.
And step S1043, if the water replenishing robot is aligned, controlling the water replenishing robot to move towards the cleaning robot 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.
After the water replenishing module is aligned with the liquid inlet, the replenishing robot can continue to move so that the replenishing head is inserted into the liquid inlet to replenish water.
Step S105, controlling the replenishment module to fill the replenishment liquid into the 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 in the second embodiment is different from the method in the first embodiment in that the replenishment robot performs a self-check on whether the amount of water stored meets the replenishment requirement before performing the replenishment task, and specifically the method further comprises:
step S106, when the replenishment robot is in a standby state, water level information of the first water tank is acquired.
Step S107, judging whether the water storage amount in the first water tank meets the preset replenishing requirement according to the water level information.
Step S108, if the preset replenishing requirement is not met, controlling the first water tank to perform a water replenishing task so as to ensure that the replenishing robot can perform the water replenishing task for the cleaning robot.
And if the preset replenishment requirement is met, executing the step of receiving the replenishment signal.
The method for controlling the replenishment robot firstly receives a replenishment signal; then, according to the water supplementing signal, controlling the first driving module to move so as to enable the supplementing robot to move towards the cleaning robot; then, acquiring alignment information of the first alignment module for aligning the cleaning robot; then, according to the alignment information, controlling the replenishing robot and the cleaning robot to perform alignment so as to enable the replenishing module to be in butt joint with a liquid inlet of a second water tank of the cleaning robot; and finally controlling the replenishing module to inject replenishing liquid into a second water tank of the cleaning robot. Through the steps, the replenishing robot can actively move towards the cleaning robot and perform the water replenishing task, so that the movement of the cleaning robot to return 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 foregoing description is only illustrative of the present application and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in 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 is used for driving the first machine body to move;
the first water tank is arranged on the first machine body and is provided with a first cavity and a first water outlet communicated with the first cavity, and the first cavity is used for loading the replenishing liquid;
the water supplementing 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 is used for receiving a water supplementing signal transmitted by the external cleaning robot, wherein the water supplementing signal carries the position information of the cleaning robot;
the first alignment module is arranged on the first machine body;
the first controller is arranged on the first machine body, and is respectively connected with the first driving module, the first communication module, the first alignment module and the water supplementing module, and 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 that the supplementing robot moves to the position where the cleaning robot is located, and controlling the water supplementing module to be in butt joint with a liquid inlet of a second water tank of the cleaning robot according to the alignment signal of the first alignment module, and controlling the water supplementing module to convey supplementing liquid to the water tank of the cleaning robot.
2. The replenishment robot as claimed in claim 1, wherein,
the water replenishing module comprises a replenishing head, the replenishing head comprises a plurality of water outlets positioned in the circumferential direction and an axial end part, and when replenishing water, the end part is propped open and stretches into the liquid inlet of the second water tank so that each water outlet is positioned in the inner space of the second water tank.
3. The replenishment robot according to claim 2, wherein,
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 as claimed in claim 3, wherein,
the side wall of the other end of the replenishing head is provided with the water outlets, the other end of the replenishing head protrudes out of the side wall of the first machine body, and the other end of the replenishing head is used for being inserted into a liquid inlet of a second water tank of the external cleaning robot.
5. The replenishment robot as claimed in claim 4, wherein,
the replenishing robot further comprises a dust collection device and a first dust collection box, wherein the dust collection device is arranged on the first machine body and connected with the first dust collection box, and the dust collection device is used for being in butt joint with a dust outlet of a second dust collection box of the cleaning robot and sucking a collected object in the second dust collection box of the cleaning robot into the first dust collection box.
6. The replenishment robot as claimed in claim 5, wherein,
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 accommodating a collected object.
7. A cleaning system, characterized in that it 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 collection box, a second communication module, a second driving module, a second alignment module and a second controller;
the second water tank, the second dust collection box, the second communication module, the second driving module, the second alignment 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 collection box is provided with a second dust collection cavity and a dust outlet communicated with the second dust collection cavity;
the second controller is respectively and electrically connected with the second communication module, the second driving module and the second alignment module, the second communication module is used for transmitting water supplementing signals, the second driving module is used for driving the second machine body to move, and the second alignment module is used for being aligned with the first alignment module in a matching way so that the liquid inlet is in butt joint with the water supplementing module of the replenishing robot.
8. The cleaning system of claim 7, wherein the cleaning system comprises a cleaning device,
the cleaning robot comprises an elastic piece and a sealing plug, wherein the elastic piece is connected with the sealing plug, the sealing plug is used for sealing the liquid inlet when the sealing plug is not acted by external force, and moves towards the second cavity when the sealing plug is acted by external force towards the second cavity, and the liquid inlet is opened.
9. A method of controlling a replenishment robot, wherein the method is applied to a replenishment robot as claimed in any one of claims 1 to 8, the method comprising:
receiving a water supplementing signal, wherein the water supplementing 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 as to enable the supplementing robot to move towards the cleaning robot;
acquiring alignment information of the first alignment module for aligning the cleaning robot;
according to the alignment information, controlling the replenishing robot and the cleaning robot to perform alignment so as to enable the replenishing 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 inject supplementing liquid into a second water tank of the cleaning robot.
10. The method of claim 9, wherein the step of determining the position of the substrate comprises,
and according to the alignment information, controlling the replenishing robot and the cleaning robot to perform alignment so that the replenishing module is in butt joint with a liquid inlet of a second water tank of the cleaning robot, and further comprising the following steps:
judging whether the water supplementing module is aligned with a liquid inlet of a second water tank of the cleaning robot according to the alignment information;
if the water replenishing module is not aligned, controlling the replenishing 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 if the water replenishing module is aligned, controlling the replenishing robot to move towards the cleaning robot 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.
11. The method of claim 9, wherein prior to the step of receiving a water replenishment signal, the method further comprises:
acquiring water level information of the first water tank when the replenishment robot is in a standby state;
judging whether the water storage amount in the first water tank meets a preset replenishing requirement or not according to the water level information;
if the preset replenishing requirement is not met, controlling the first water tank to perform a water replenishing task so as to ensure that the replenishing robot can perform the water replenishing task for the cleaning robot;
and if the preset replenishment requirement is met, executing the step of receiving the replenishment signal.
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| CN115054168A (en) | 2022-09-16 |
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