CN115349781A - Method and system for controlling roller of mopping robot, mopping robot and medium - Google Patents
Method and system for controlling roller of mopping robot, mopping robot and medium Download PDFInfo
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- CN115349781A CN115349781A CN202210873217.8A CN202210873217A CN115349781A CN 115349781 A CN115349781 A CN 115349781A CN 202210873217 A CN202210873217 A CN 202210873217A CN 115349781 A CN115349781 A CN 115349781A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000004140 cleaning Methods 0.000 claims abstract description 151
- 238000005406 washing Methods 0.000 claims abstract description 51
- 239000011538 cleaning material Substances 0.000 claims abstract description 33
- 238000010828 elution Methods 0.000 claims abstract description 14
- 238000004590 computer program Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 abstract description 14
- 238000010586 diagram Methods 0.000 description 10
- 230000001360 synchronised effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- 239000010865 sewage Substances 0.000 description 1
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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
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Electric Vacuum Cleaner (AREA)
Abstract
The embodiment of the invention discloses a roller control method and system of a washing and mopping robot, the washing and mopping robot and a medium. The washing robot includes: the device comprises a roller device, a flexible cleaning material layer coated on the outer side surface of the roller device, and a lifting device for controlling the height of the roller device relative to the ground; the roller control method of the mopping robot comprises the following steps: cleaning the target cleaning area according to the cleaning instruction; acquiring current cleaning parameters, and acquiring the rotation direction of the roller device according to the cleaning parameters, wherein the rotation direction comprises the same direction as the movement direction of the washing and mopping robot or the opposite direction; and judging whether the flexible cleaning material needs to be cleaned, if the flexible cleaning material needs to be cleaned, driving the lifting device to lift the roller device, and driving the roller device to rotate according to the preset elution direction. The invention can effectively improve the cleaning effect and save resources.
Description
Technical Field
The invention relates to the field of washing and mopping robots, in particular to a method and a system for controlling a roller of a washing and mopping robot, a washing and mopping robot and a medium.
Background
The washing and mopping robot is one kind of intelligent household appliance, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. In order to improve the cleaning efficiency and the cleaning degree of the washing and mopping robot, a roller for cleaning the ground is arranged on the washing and mopping robot to rotate. When the washing and mopping robot normally travels forwards, the flexible cleaning material on the surface of the roller device rubs with the ground to clean the ground.
However, the drum of the washing and mopping robot only rotates along with the movement of the washing and mopping robot, and the stains on the ground cannot be effectively cleared, especially for stubborn stains or the ground with a rough surface, the rotation of the drum device can only remove part of the stains.
Disclosure of Invention
In view of the above, there is a need to provide a method and a system for controlling a drum of a washing and mopping robot, a washing and mopping robot and a medium, which can effectively improve the cleaning effect and the cleaning efficiency.
The technical scheme adopted by the invention for solving the technical problem is as follows: the roller control method of the mopping robot is applied to the mopping robot, and the mopping robot comprises the following steps: the device comprises a roller device, a flexible cleaning material layer coated on the outer side surface of the roller device, and a lifting device for controlling the height of the roller device relative to the ground;
the roller control method of the mopping robot comprises the following steps:
cleaning the target cleaning area according to the cleaning instruction;
acquiring current cleaning parameters, and acquiring the rotation direction of the roller device according to the cleaning parameters, wherein the rotation direction comprises the same direction or the opposite direction to the movement direction of the washing and dragging robot;
and judging whether the flexible cleaning material needs to be cleaned, if so, driving the lifting device to lift the roller device and driving the roller device to rotate according to a preset elution direction.
Wherein the step of obtaining the rotation direction of the drum device according to the cleaning parameter further comprises:
acquiring the rotation speed of the roller device and the rotation duration of the roller device rotating according to the rotation direction according to the cleaning parameters;
the cleaning parameters include at least one of a cleaned duration, a projected cleaning duration, a rotational resistance, a rotational direction, a cleaning environment condition, a user cleaning requirement, a cleaning mode.
Wherein the step of obtaining the rotation speed of the drum device and the rotation time length for rotating in the rotation direction according to the cleaning parameters includes:
and judging whether the rotation direction is changed or not, and if the rotation direction is changed, increasing the rotation speed of the roller device when the rotation direction is changed from the same as the movement direction to the opposite to the movement direction.
Wherein, after the step of judging whether the rotation direction is changed, the method comprises the following steps:
and if the rotating direction changes, performing waterproof operation between the roller device and the washing and mopping robot.
Wherein the step of obtaining the rotation speed of the drum device and the rotation time length for rotating in the rotation direction according to the cleaning parameters includes:
and when the rotating direction is changed from the same direction as the moving direction to the opposite direction of the moving direction, lowering the roller device.
Wherein the step of obtaining the rotation speed of the drum device and the rotation time length for rotating in the rotation direction according to the cleaning parameters includes:
the rotational speed when the rotational direction is opposite to the movement direction is greater than the rotational speed when the rotational direction is the same as the movement direction.
Wherein, the step of driving the roller device to rotate according to a preset elution direction comprises:
and acquiring the current rotation direction of the rotating device, and taking the direction opposite to the current rotation direction as the preset elution direction.
The technical scheme adopted by the invention for solving the technical problems is as follows: the drum control system of the washing and mopping robot is applied to the washing and mopping robot, and the washing and mopping robot comprises: the device comprises a roller device, a flexible cleaning material layer coated on the outer side surface of the roller device, and a lifting device for controlling the height of the roller device relative to the ground;
the roller control system of the mopping robot comprises the following modules:
the rotating module is used for acquiring current cleaning parameters and acquiring the rotating direction of the roller device according to the cleaning parameters, wherein the rotating direction comprises the same direction or the opposite direction of the motion direction of the washing and dragging robot;
and the cleaning module is used for judging whether the flexible cleaning material needs to be cleaned or not, and if the flexible cleaning material needs to be cleaned, the lifting device is driven to lift the roller device, and the roller device is driven to rotate according to a preset direction.
The technical scheme adopted by the invention for solving the technical problems is as follows: there is provided a mopping robot comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of the method as described above.
The technical scheme adopted by the invention for solving the technical problem is as follows: there is provided a storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the method as described above.
The embodiment of the invention has the following beneficial effects:
the direction of rotation of cylinder device is obtained according to current clean parameter, and different directions of rotation correspond different clean effects, sets up the direction of rotation of cylinder device according to the clean demand of reality, can effectively promote clean effect and clean efficiency, realizes the rational distribution of resource, avoids appearing the wasting of resources.
Drawings
In order to more clearly illustrate the embodiments of the present invention 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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a schematic flow chart diagram of a first embodiment of a method for controlling a drum of a robot cleaner provided by the present invention;
FIG. 2 is a schematic structural diagram of a first embodiment of a mopping robot provided by the present invention;
FIG. 3a is a schematic view of the same direction of rotation as the direction of motion of the robot;
FIG. 3b is a schematic view of the reverse direction of the rotational rotation relative to the direction of motion of the robot;
FIG. 4a is a schematic view of a waterproof cover provided by the present invention in a closed state;
FIG. 4b is a schematic view of the waterproof case of the present invention in an open state;
FIG. 5 is a schematic flow chart diagram of a second embodiment of a method for controlling a drum of a robot cleaner provided in the present invention;
FIG. 6 is a schematic structural diagram of an embodiment of a drum control system of the robot cleaner provided by the present invention;
FIG. 7 is a schematic structural diagram of a second embodiment of a mopping robot provided by the present invention;
fig. 8 is a schematic structural diagram of an embodiment of a storage medium provided in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Referring to fig. 1 and fig. 2 in combination, fig. 1 is a schematic flow chart of a first embodiment of a drum control method of a mopping robot provided in the present invention. Fig. 2 is a schematic structural diagram of a first embodiment of the mopping robot provided by the invention. As shown in fig. 2, the washing and mopping robot 10 comprises a roller device 11, a flexible cleaning material layer 12 coated on the outer side surface of the roller device, and a lifting device 13 for controlling the height of the roller device 11 relative to the ground. When the mopping robot 10 cleans a target area, the flexible cleaning material layer 12 is in a wet state, and the lifting device 13 controls the height of the roller device 11, so as to control the contact area (the contact area can be 0) of the flexible cleaning material layer 12 and the currently cleaned floor. When the roller device 11 is lifted by the lifting device 13, the flexible cleaning material layer 12 is not in contact with the currently cleaned floor, when the roller device 11 is lowered by the lifting device 13, the flexible cleaning material layer 12 is in contact with the currently cleaned floor, and the specific contact area is related to the position of the roller device 11 lowered by the lifting device 13. When the roller device 11 is lowered by the lifting device 13, the flexible cleaning material layer 12 can be adjusted to clean the currently cleaned floor by adjusting the rotating speed of the roller device 11.
The invention provides a roller control method of a washing and mopping robot, which comprises the following steps:
s101: and cleaning the target cleaning area according to the cleaning instruction.
In one particular implementation scenario, the scrub robot 10 receives a cleaning instruction input by a target user, and the cleaning instruction may include at least one of a target cleaning area, a target cleaning time, and a target cleaning mode. Wherein the target cleaning mode includes a deep cleaning mode and a general cleaning mode. The different target cleaning modes correspond to different rotation speeds or different rotation laws of the drum device 11. The positions at which the roller device 11 is lowered by the lifter 13 corresponding to different target cleaning modes are also different, and it can be understood that the lower the position at which the roller device 11 is lowered, the stronger the cleaning strength. The faster the rotation speed of the drum device 11, the stronger the cleaning strength. When the rotation direction of the roller device 11 is the same as the forward direction of the mopping robot, the cleaning strength is low. When the rotation direction of the roller device 11 is opposite to the advancing direction of the washing and mopping robot, the cleaning strength is high. In this implementation scenario, after receiving the cleaning instruction, the robot scrubber 10 cleans the target cleaning area at the target cleaning time in the designated target cleaning mode according to the cleaning instruction. The target cleaning area may be divided and designated by the user or may be determined by the mopping robot itself.
S102: acquiring current cleaning parameters, and acquiring the rotation direction of the roller device according to the cleaning parameters, wherein the rotation direction is the same as or opposite to the movement direction of the washing and mopping robot.
In a specific implementation scenario, current cleaning parameters are obtained, and the cleaning parameters may be collected by a sensor, a camera, a positioning module, and a communication module on the mopping robot 10. For example, a current resistance to movement is detected by a motion sensor on the scrub robot 10, or a current speed of movement is slow, indicating that the floor is currently dirty. Or the image of the target cleaning area acquired by the camera is used for image detection to acquire the floor pollution degree parameter. The cleaning parameters may also include the length of time that has been cleaned or the length of time that has been cleaned with the current rotational direction, or the length of time that is expected to be cleaned. The cleaning parameters may also include user cleaning needs, such as a user needing to perform a deep cleaning. The cleaning parameters may also include cleaning modes including a general cleaning mode, a deep cleaning mode, or a custom cleaning mode. When the cleaning mode is a user-customized cleaning mode, the rotation direction and rotation speed of the drum device and the rotation length or rotation distance of each rotation direction are set by the user.
The rotation direction of the roller device comprises the same direction or the opposite direction with the movement direction of the washing and dragging robot. Referring to fig. 3a and 3b, the linear arrow indicates the moving direction of the robot and the curved arrow indicates the rotating direction of the drum device. Fig. 3a is a schematic view of the same direction of rotation as the direction of movement of the washing and mopping robot, and fig. 3b is a schematic view of the opposite direction of rotation as the direction of movement of the washing and mopping robot. In one implementation scenario, different rotational directions correspond to different rotational speeds, with the rotational speed being greater when the rotational direction is opposite the direction of motion than when the rotational direction is the same as the direction of motion. It is understood that the resource consumption when the rotation direction is opposite to the movement direction is greater than when the rotation direction is the same as the movement direction. Therefore, if the roller device is always driven to rotate in the direction opposite to the moving direction for good cleaning effect, unnecessary resources may be wasted.
And acquiring the rotation direction of the roller device according to the cleaning parameters. For example, after the drum means has been rotated in one direction for a preset period of time, the rotation direction of the drum means is changed to be rotated in the other direction. For another example, when it is detected that the rotation direction of the drum arrangement is the same as the movement direction of the washing and mopping robot and that the current rotation resistance is large, the rotation direction of the drum arrangement is changed to be opposite to the rotation direction of the washing and mopping robot. For another example, if the floor contamination level parameter (e.g., dust coverage, oil coverage, etc.) acquired by the camera is large, the rotation direction of the drum device is set to be opposite to the rotation direction of the robot cleaner. For another example, when the current cleaning mode is the normal cleaning mode, the rotation direction of the drum device is set to be the same as the rotation direction of the robot cleaner. When the front cleaning mode is the deep cleaning mode, the rotation direction of the roller device is set to be opposite to the rotation direction of the washing and mopping robot. For another example, when the preset cleaning time period is shorter than the preset time period, the rotation direction of the drum means is changed to be opposite to the current rotation direction, or the rotation direction of the drum means is set to be opposite to the rotation direction of the robot cleaner.
It will be appreciated that a slower rotation speed in the same direction of rotation as the direction of movement will result in better cleaning. When the rotating direction is opposite to the moving direction, the rotating speed is higher, and better cleaning effect can be obtained. Thus, in one implementation scenario, the rotational speed when the direction of rotation is opposite to the direction of motion is greater than the rotational speed when the direction of rotation is the same as the direction of motion.
S103: and judging whether the flexible cleaning material needs to be cleaned, if so, executing the step S104.
In one specific implementation scenario, the flexible cleaning material may become dirty when cleaning the floor, and the more heavily soiled flexible cleaning material may not be able to clean the floor, and thus the flexible cleaning material needs to be cleaned. Whether the flexible cleaning material needs to be cleaned or not can be judged according to the parameters of the cleaned time, the cleaned area, the floor dirt degree and the like, and if the cleaned time reaches the preset cleaning time and/or the cleaned area reaches the preset area and/or the floor dirt is serious, the flexible cleaning material is judged to need to be cleaned.
S104: the roller device is lifted by the driving lifting device and rotated according to the preset elution direction.
In a specific implementation scenario, when the flexible cleaning material needs to be cleaned, the washing and mopping robot can pause, drive the lifting device to lift the roller device, and drive the roller device to rotate according to the preset elution direction. The rotational speed may be a predetermined high speed to throw dirty water out for the robot to replenish the cleaning fluid into the flexible cleaning material. When the roller device rotates at a high speed, the waterproof operation is started, so that the robot is prevented from being broken down due to the fact that dirty water flows into the washing and mopping robot. For example, the gap between the drum device and the body of the mopping robot may be closed when the drum device is rotated at a high speed. Or it may be possible to use a rotating means and a flexible cleaning material arranged in the flashing. Referring to fig. 4a and 4b, fig. 4a is a schematic structural view of the waterproof cover provided by the present invention in a closed state. Fig. 4b is a schematic structural view of the waterproof cover provided by the present invention in an open state.
In this implementation scenario, the preset elution direction is fixed, such as a rotation direction opposite to the movement direction. In other implementation scenarios, the preset elution direction may be set according to actual needs. The current rotation direction of the rotating device can be obtained, and the direction opposite to the current rotation direction is taken as the preset elution direction. For example, if the current rotation direction is opposite to the movement direction, the same direction as the movement direction is set as the preset elution direction.
According to the above description, in this embodiment, the rotation direction of the roller device is obtained according to the current cleaning parameters, different rotation directions correspond to different cleaning effects, the rotation direction of the roller device is set according to actual cleaning requirements, the cleaning effect and the cleaning efficiency can be effectively improved, reasonable allocation of resources is realized, and resource waste is avoided.
Referring to fig. 5, fig. 5 is a flowchart illustrating a drum control method of a robot cleaner according to a second embodiment of the present invention. The invention provides a roller control method of a washing and mopping robot, which comprises the following steps:
s201: and cleaning the target cleaning area according to the cleaning instruction.
In a specific implementation scenario, step S201 is substantially the same as step S101 in the first embodiment of the drum control method for a robot cleaner provided by the present invention, and details thereof are not repeated herein.
S202: and acquiring current cleaning parameters, and acquiring the rotating speed of the roller device and the rotating time length of the roller device rotating according to the rotating direction according to the cleaning parameters.
In a specific implementation scenario, the current cleaning parameters are obtained, and the cleaning parameters include at least one of a cleaned time length, a predicted cleaning time length, a rotation resistance, a rotation direction, a cleaning environment condition, a user cleaning requirement and a cleaning mode. The rotation direction of the roller device, the rotation speed of the roller device and the rotation time length for rotating according to the rotation direction are obtained according to the cleaning parameters. For example, when the rotation direction of the drum device is the same as the movement direction of the washing and mopping robot, when the rotation speed of the drum device can be matched with the movement speed of the washing and mopping robot, the cleaning capability is low, when the rotation speed of the drum device is delayed from the movement speed of the washing and mopping robot, the cleaning capability is general, and the lower the rotation speed, the better the cleaning effect is, when the drum device is not rotated, or stops for several seconds after rotating for a preset angle and then rotates, the better the cleaning capability is, when the rotation direction of the drum device is opposite to the movement direction of the washing and mopping robot, the better the cleaning capability is than the cleaning capability when the rotation direction of the drum device is the same as the movement direction of the washing and mopping robot, and the higher the rotation speed, the better the cleaning effect is. The washing and mopping robot can obtain the cleaning requirement according to the actual cleaning parameters, so that the proper rotating direction and rotating speed can be selected.
Further, a rotation time period for which the drum device is rotated in the rotation direction may be acquired according to the cleaning parameter. For example, the drum means may be arranged to rotate for a number of periods in one direction of rotation and then for a number of periods in the other direction of rotation. For another example, the drum device may be configured to rotate for a number of durations in one direction of rotation, then pause for a number of durations, and then rotate for a number of durations in another direction of rotation.
S203: and judging whether the rotation direction is changed or not, if so, executing the step S204.
In one specific implementation scenario, the cleaning parameters are updated in real time, so the rotation direction may also change due to changes in the cleaning parameters. Therefore, each time the rotation direction is acquired according to the cleaning parameters, it is determined whether the current rotation direction is the same as the previous rotation direction, for example, if the rotation direction of the drum device acquired currently is opposite to the movement direction of the washing and mopping robot, and the rotation direction of the drum device acquired before is the same as the movement direction of the washing and mopping robot, the current rotation direction is different from the previous rotation direction.
S204: when the rotating direction is changed from the same direction as the moving direction to the opposite direction, the rotating speed of the roller device is increased.
In a specific implementation scenario, when the rotation direction is changed from the same as the movement direction to the opposite direction, the rotation speed of the roller device is increased. When the rotating direction is changed from the same direction as the moving direction to the opposite direction to the moving direction, the cleaning capability is required to be stronger at present, the rotating speed of the roller device is increased, the cleaning capability can be further improved, and the cleaning requirement of a user is met.
In one embodiment, to further increase the cleaning capacity, the roller device is lowered when the direction of rotation is changed from the same direction as the direction of movement to the opposite direction of movement. The lower the position of the roller device, the greater the friction force of the flexible cleaning material with the ground when the roller device rotates, and the better the cleaning effect.
In one implementation scenario, when the rotation direction is changed, it may be necessary to change the rotation direction of the drum device in a very short time, which may cause the sewage on the flexible cleaning material to be thrown out, and a waterproof operation is performed between the drum device and the washing and mopping robot body, for example, to close a gap between the washing and mopping robot body and the drum device, so as to ensure the safety of the washing and mopping robot.
It can be known from the above description that, after the rotation direction of the drum device is obtained according to the cleaning parameters in this embodiment, when the rotation direction is changed from the same as the movement direction to the opposite to the movement direction, the rotation speed of the drum device is increased, so that the cleaning effect can be further improved, and the cleaning requirement of the user can be met.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a drum control system of a robot cleaner according to an embodiment of the present invention. The roller control system 20 of the mopping robot is applied to the mopping robot shown in fig. 2. The drum control system 20 of the robot cleaner includes: a rotation module 21 and a cleaning module 22.
The rotating module 21 is used for acquiring current cleaning parameters and acquiring the rotating direction of the roller device according to the cleaning parameters, wherein the rotating direction is the same as or opposite to the moving direction of the washing and mopping robot; the cleaning module 22 is used for judging whether the flexible cleaning material needs to be cleaned, and if the flexible cleaning material needs to be cleaned, the lifting device is driven to lift the roller device, and the roller device is driven to rotate according to a preset direction.
The rotation module 21 is used for acquiring the rotation speed of the roller device and the rotation time length according to the rotation direction according to the cleaning parameter. The cleaning parameters include at least one of a length of time cleaned, a length of time expected to be cleaned, a resistance to rotation, a direction of rotation, a cleaning environment, a user cleaning need, a cleaning mode.
The rotation module 21 is configured to determine whether a rotation direction changes, and if the rotation direction changes, increase a rotation speed of the drum device when the rotation direction changes from the same as the movement direction to the opposite to the movement direction.
The rotation module 21 is used for performing a waterproof operation between the drum device and the washing and mopping robot if the rotation direction changes.
The rotating module 21 is used for lowering the roller device when the rotating direction is changed from the same as the moving direction to the opposite direction.
The rotational speed when the direction of rotation is opposite to the direction of movement is greater than the rotational speed when the direction of rotation is the same as the direction of movement.
The cleaning module 22 is configured to obtain a current rotation direction of the rotating device, and use a direction opposite to the current rotation direction as a preset elution direction.
According to the above description, the roller control system of the robot scrubber in the embodiment acquires the rotation direction of the roller device according to the current cleaning parameters, the different rotation directions correspond to different cleaning effects, the rotation direction of the roller device is set according to actual cleaning requirements, the cleaning effects and the cleaning efficiency can be effectively improved, the reasonable allocation of resources is realized, and the resource waste is avoided.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a second embodiment of a mopping robot provided in the present invention. The mopping robot 30 comprises a processor 31 and a memory 32. The processor 31 is coupled to the memory 32. The memory 32 has stored therein a computer program which is executed by the processor 31 when being operated to carry out the method as shown in any one of fig. 1, 5. The detailed methods can be referred to above and are not described herein.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a storage medium according to an embodiment of the present invention. The storage medium 40 stores at least one computer program 41, and the computer program 41 is used for being executed by the processor to implement the method shown in any one of fig. 1 and fig. 5, and the detailed method can be referred to above and is not described herein again. In one embodiment, the computer readable storage medium 40 may be a memory chip in the terminal, a hard disk or other readable and writable storage means such as a removable hard disk or a flash disk, an optical disk, etc., and may also be a server, etc.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, and the program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.
All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for controlling a drum of a robot scrubber, the method being applied to the robot scrubber, the robot scrubber comprising: the device comprises a roller device, a flexible cleaning material layer coated on the outer side surface of the roller device, and a lifting device for controlling the height of the roller device relative to the ground;
the roller control method of the mopping robot comprises the following steps:
cleaning the target cleaning area according to the cleaning instruction;
acquiring current cleaning parameters, and acquiring the rotation direction of the roller device according to the cleaning parameters, wherein the rotation direction comprises the same direction or the opposite direction to the movement direction of the washing and dragging robot;
and judging whether the flexible cleaning material needs to be cleaned, if so, driving the lifting device to lift the roller device and driving the roller device to rotate according to a preset elution direction.
2. The method of claim 1, wherein the step of obtaining the direction of rotation of the drum device based on the cleaning parameter further comprises:
acquiring the rotation speed of the roller device and the rotation duration of the roller device rotating according to the rotation direction according to the cleaning parameters;
the cleaning parameters include at least one of a length of time cleaned, a length of time expected to be cleaned, a resistance to rotation, a direction of rotation, a cleaning environment, a user's cleaning needs, and a cleaning mode.
3. The method of claim 2, wherein the step of obtaining the rotation speed of the drum device and the rotation duration in the rotation direction according to the cleaning parameter comprises:
and judging whether the rotation direction is changed or not, and if the rotation direction is changed, increasing the rotation speed of the roller device when the rotation direction is changed from the same as the movement direction to the opposite to the movement direction.
4. The method of claim 3, wherein the step of determining whether the rotational direction is changed is followed by the step of:
and if the rotating direction changes, performing waterproof operation between the roller device and the washing and mopping robot.
5. The method of claim 3, wherein the step of obtaining the rotation speed of the drum device and the rotation duration in the rotation direction according to the cleaning parameter comprises:
and when the rotating direction is changed from the same direction as the moving direction to the opposite direction of the moving direction, lowering the roller device.
6. The method of claim 2, wherein the step of obtaining the rotation speed of the drum device and the rotation duration in the rotation direction according to the cleaning parameter comprises:
the rotational speed when the rotational direction is opposite to the movement direction is greater than the rotational speed when the rotational direction is the same as the movement direction.
7. The method of claim 1, wherein the step of driving the roller device to rotate in a predetermined elution direction comprises:
and acquiring the current rotation direction of the rotating device, and taking the direction opposite to the current rotation direction as the preset elution direction.
8. A drum control system for a mopping robot, for application to a mopping robot, the mopping robot comprising: the device comprises a roller device, a flexible cleaning material layer coated on the outer side surface of the roller device, and a lifting device for controlling the height of the roller device relative to the ground;
the roller control system of the mopping robot comprises the following modules:
the rotating module is used for acquiring current cleaning parameters and acquiring the rotating direction of the roller device according to the cleaning parameters, wherein the rotating direction comprises the same direction or the opposite direction of the motion direction of the washing and dragging robot;
and the cleaning module is used for judging whether the flexible cleaning material needs to be cleaned or not, and if the flexible cleaning material needs to be cleaned, the lifting device is driven to lift the roller device, and the roller device is driven to rotate according to a preset direction.
9. A washing and mopping robot, characterized in that it comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
10. A storage medium, characterized in that a computer program is stored which, when being executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
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| CN202210873217.8A CN115349781A (en) | 2022-07-22 | 2022-07-22 | Method and system for controlling roller of mopping robot, mopping robot and medium |
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| CN202210873217.8A CN115349781A (en) | 2022-07-22 | 2022-07-22 | Method and system for controlling roller of mopping robot, mopping robot and medium |
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