CN115530677B

CN115530677B - Cleaning robot and control method for cleaning robot

Info

Publication number: CN115530677B
Application number: CN202211165030.9A
Authority: CN
Inventors: 钟慧; 李阳; 薛星; 方晓达; 朱金峰; 孔兵; 夏临
Original assignee: Suzhou Petner Intelligent Technology Co ltd
Current assignee: Suzhou Petner Intelligent Technology Co ltd
Priority date: 2022-09-23
Filing date: 2022-09-23
Publication date: 2023-10-20
Anticipated expiration: 2042-09-23
Also published as: CN115530677A

Abstract

The present application relates to a cleaning robot and a control method thereof. The cleaning robot includes: mobilizable robot body is equipped with on the robot body: the controller is electrically connected with the robot body and is used for controlling the robot body to move; the particle collector is electrically connected with the controller and is used for collecting particle concentration information in the air around the robot and sending the particle concentration information to the controller; the cleaning component is electrically connected with the controller and is used for cleaning the ground; and the position sensor is electrically connected with the controller and is used for detecting the position information of the robot and sending the position information to the controller. The cleaning robot can automatically detect the concentration of air particles and clean the appointed area, and reduces the manual maintenance cost of the appointed area.

Description

Cleaning robot and control method for cleaning robot

Technical Field

The application mainly relates to the technical field of robots, in particular to a cleaning robot and a control method of the cleaning robot.

Background

With the increase of automatic production efficiency, some production and manufacturing workshops must be kept highly clean, for example, dust-free workshops are required to meet dust-free requirements. In keeping a dust-free state in a dust-free workshop, it is necessary to start with dust-free detection and dust removal at the same time. At present, a manual detection and cleaning mode is adopted, a manual handheld particle collector collects the air particle concentration of a specific position of a designated area, and if the collected reading exceeds a standard value, a cleaner is called to clean the designated area so as to meet the requirement of a dust-free workshop on the air particle concentration, or a cleaning robot is used for cleaning the designated area in a ground dust pushing mode.

In the prior art, a worker is required to hold the particle collector to a designated position to collect air particle concentration information and manually record related data, an additional cleaner is required to clean a corresponding area, and then manual retesting and cleaning are required, so that the whole working task is time-consuming and labor-consuming; because of the need of manual operation, the accuracy of the measured data is easy to be disturbed by artificial factors, the accuracy of the measured data is low, and other dust is inevitably brought in the process of manual detection and cleaning; according to the requirements of some workshop operation specifications, manual operation can only record data in paper and then record computer analysis data, so that the measurement data is inconvenient to record and analyze; the manner in which a human or cleaning robot cleans only the floor does not effectively reduce the concentration of particles in the air.

Therefore, the prior art has the problems of manual detection of air particle concentration, cleaning of the designated area, low working efficiency and high manual maintenance cost.

Disclosure of Invention

The application aims to solve the technical problem of providing a cleaning robot and a control method of the cleaning robot, wherein the cleaning robot can automatically detect the concentration of air particles and clean a designated area.

The technical scheme adopted by the application for solving the technical problems is a cleaning robot, comprising: mobilizable robot body is equipped with on the robot body: the controller is electrically connected with the robot body and is used for controlling the robot body to move; the particle collector is electrically connected with the controller and is used for collecting particle concentration information in the air around the robot and sending the particle concentration information to the controller; the cleaning component is electrically connected with the controller and is used for cleaning the ground; and the position sensor is electrically connected with the controller and is used for detecting the position information of the robot and sending the position information to the controller.

In an embodiment of the application, an air purifier is further disposed on the robot body, and the air purifier is electrically connected to the controller, and is used for purifying air around the cleaning robot.

In an embodiment of the application, the cleaning assembly comprises a dust pushing part arranged at the bottom of the robot body, and in a cleaning state, the dust pushing part extends out from the bottom of the robot body and is in direct contact with the floor to clean dust on the floor.

In an embodiment of the application, the cleaning assembly further comprises a spraying part, the spraying part is connected with the dust pushing part, the spraying part and the dust pushing part synchronously move in a cleaning state, and the spraying part is used for spraying water and/or a disinfectant to the floor and/or the dust pushing part in the process of cleaning the floor by the dust pushing part.

In an embodiment of the application, the cleaning robot further comprises a water tank assembly, the robot body comprises a base, the base comprises a first assembling portion, a guide rail is arranged on the first assembling portion, the water tank assembly comprises a second assembling portion, a groove matched with the guide rail is formed in the second assembling portion, and the water tank assembly is detachably connected with the first assembling portion through the second assembling portion.

In an embodiment of the application, the robot body further includes a back plate, the back plate includes a first electrical connection portion, and the water tank assembly further includes a second electrical connection portion, and when the water tank assembly and the robot body are connected through the second assembly portion and the first assembly portion, the first electrical connection portion and the second electrical connection portion are electrically connected.

In one embodiment of the application, the water tank assembly is locked with the robot body by a cylinder lock.

In an embodiment of the application, the particle collector is detachably connected to the robot body.

In an embodiment of the application, the air purifier is detachably connected with the robot body.

In an embodiment of the present application, the position sensor is a laser radar, the robot body is further provided with an obstacle avoidance assembly, the obstacle avoidance assembly is electrically connected with the controller, and the obstacle avoidance assembly includes: one or any of a camera, a TOF sensor and an ultrasonic sensor.

In an embodiment of the present application, a visual screen is further provided on the robot body, and the visual screen is electrically connected to the controller, where the visual screen is used for a worker to set map information of the robot work and position information of the designated movement.

In an embodiment of the present application, a scram button is further provided on the robot body, and the scram button is used for receiving a trigger operation of a worker and stopping the cleaning robot when the cleaning robot fails.

In one embodiment of the application, the housing of the robot body is made of stainless steel material.

The application also provides a control method of the cleaning robot for solving the technical problems, which comprises the following steps:

the controller controls the robot body to move to the initial region of the specified region group according to the preset position information, and controls the cleaning assembly to clean each sub-region in sequence according to the number of each sub-region in the specified region group;

waiting for a first preset time length, and controlling a particle collector to sequentially collect and judge whether particle concentration information of each sub-area reaches a preset value according to the number of each sub-area by a controller;

if the particle concentration information of the current subarea does not reach the preset value, continuing to acquire and judging whether the particle concentration information of the other subareas reaches the preset value;

If the particle concentration information of the current subarea reaches a preset value, marking the number of the current subarea as an substandard subarea and recording the substandard times of the substandard subarea;

the controller judges whether the times of the current subarea reaching the preset times or not, if the times of the current subarea reaching the preset times, the controller alarms to the cloud server, and continuously collects and judges the particle concentration information of the other subareas;

if the times of not reaching the standard do not reach the preset times, waiting for a second preset time length;

the controller controls the cleaning robot to clean each substandard subarea in turn according to the number of each substandard subarea;

waiting for a third preset time period, and controlling the particle collector to sequentially collect and judge whether the particle concentration information of each substandard subarea reaches a preset value according to the number of each substandard subarea by the controller.

In an embodiment of the present application, the controller further controls the air cleaner to clean air around the cleaning robot in the cleaning state.

In one embodiment of the application, the controller controls the dust pushing part of the cleaning assembly to protrude from the robot body and to be in direct contact with the floor in the cleaning state.

In an embodiment of the application, the controller controls the spray part and the dust pushing part of the cleaning assembly to move synchronously in the cleaning state, and the controller also controls the spray part to spray water and/or a disinfectant to the floor and/or the dust pushing part in the process of cleaning the floor by the dust pushing part.

According to the technical scheme, the particle collector and the cleaning assembly are arranged on the robot body, the cleaning robot automatically collects particle concentration information in ambient air after moving to a designated area according to the position information of the position sensor, and the accuracy of measured data is high; the controller on the robot body can control the cleaning assembly to clean the appointed area after analyzing and judging the particle concentration information, so that the automatic cleaning is realized, the labor cost is saved, and the secondary pollution caused by the manual participation is avoided. The cleaning robot can automatically detect the concentration of air particles and clean the corresponding area, reduces the manual maintenance cost of the appointed area, and improves the efficiency of data acquisition, detection and area cleaning.

Drawings

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below, wherein:

FIG. 1 is a schematic perspective view of a cleaning robot according to an embodiment of the present application;

fig. 2 is a left side view of a cleaning robot in a non-cleaning state according to an embodiment of the present application;

fig. 3 is a left side view of a cleaning robot in a cleaning state according to an embodiment of the present application;

FIG. 4 is a schematic perspective view of a cleaning assembly of a cleaning robot according to an embodiment of the present application;

FIG. 5 is a front view of a cleaning assembly of a cleaning robot according to an embodiment of the present application;

fig. 6 is a schematic perspective view showing a robot body and a water tank assembly of a cleaning robot according to an embodiment of the present application;

FIG. 7 is a bottom view of a water tank assembly of a cleaning robot according to an embodiment of the present application;

FIG. 8 is a left side view of a robot body and a water tank assembly of a cleaning robot according to an embodiment of the present application, separated;

fig. 9 is a rear view of a water tank assembly of a cleaning robot according to an embodiment of the present application;

FIG. 10 is a front view of a cleaning robot according to an embodiment of the present application;

fig. 11 is a schematic perspective view of a cleaning robot according to another embodiment of the present application;

FIG. 12 is a left side view of a cleaning robot according to another embodiment of the present application;

fig. 13 is an exemplary flowchart of a control method of a cleaning robot according to an embodiment of the present application.

Detailed Description

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways than as described herein, and therefore the present application is not limited to the specific embodiments disclosed below.

As used in the specification and in the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present application, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present application. Furthermore, although terms used in the present application are selected from publicly known and commonly used terms, some terms mentioned in the present specification may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein. Furthermore, it is required that the present application is understood, not simply by the actual terms used but by the meaning of each term lying within.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

A flowchart is used in the present application to describe the operations performed by a system according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in order precisely. Rather, the various steps may be processed in reverse order or simultaneously. At the same time, other operations are added to or removed from these processes.

The main application of the cleaning robot is in places where high cleanliness is required, such as dust-free workshops, production workshops and the like. The cleaning robot can automatically collect and detect the particle concentration information in the surrounding air and automatically clean the appointed area, so that the manual maintenance cost of the appointed area is reduced.

FIG. 1 is a schematic perspective view of a cleaning robot according to an embodiment of the present application; fig. 2 is a left side view of a cleaning robot in a non-cleaning state according to an embodiment of the present application; fig. 3 is a left side view of a cleaning robot in a cleaning state according to an embodiment of the present application; FIG. 4 is a schematic perspective view of a cleaning assembly of a cleaning robot according to an embodiment of the present application; fig. 5 is a front view of a cleaning assembly of a cleaning robot according to an embodiment of the present application.

Referring to fig. 1 to 5, the cleaning robot 100 of this embodiment includes: the movable robot body 101 is provided with: a controller (not shown) electrically connected to the robot body 101, the controller being configured to control the movement of the robot body 101; the particle collector 102 is electrically connected with the controller, and the particle collector 102 is used for collecting particle concentration information in the air around the robot and sending the particle concentration information to the controller; a cleaning assembly 103 electrically connected to the controller, the cleaning assembly 103 for cleaning a floor; the position sensor 104 is electrically connected to the controller, and the position sensor 104 is used for detecting position information of the robot and transmitting the position information to the controller.

Referring to fig. 1, illustratively, a cleaning robot 100 body is provided with a pulley 1019, and a controller may control the robot body 101 to move over the floor. The particle collector 102 operates on the principle that: and collecting air in the current area, measuring the concentration of particles with different particle sizes in the air by laser, so as to obtain particle concentration information, and judging whether the current area needs to be cleaned or not by the controller according to the particle concentration information. The cleaning component 103 is, for example, a dust-pushing cloth, a dust-absorbing device, etc., where the dust-pushing cloth can attach dust on the floor and push the dust to other areas for unified treatment, and the dust-absorbing device can absorb dust and debris on the floor, and the application is not limited to the type of the cleaning component 103. The position sensor 104 transmits a detection signal to the floor and receives a reflected signal from the floor, so that position information of the cleaning robot 100 where the cleaning robot is currently located is obtained, and the controller controls the direction and distance of further movement of the robot body 101 according to the position information fed back by the position sensor 104. Illustratively, the controller is connected with the robot body 101, the particle collector 102, the cleaning component 103 and the position sensor 104 in a wired manner, so that the reliability of information transmission between the components can be ensured, and control signals of the controller can be stably transmitted to the components.

In some embodiments, the particle collector 102 is detachably connected to the robot body 101.

As shown in fig. 1 to 3, the particle collector 102 and the robot body 101 may be connected by a snap connection, a threaded connection, etc. to facilitate maintenance and replacement of the particle collector 102, or different types of particle collectors 102 may be disposed on the robot body 101 as required to meet the detection requirement of a specific area to be detected, which is not limited in the present application.

Illustratively, the operating state of the cleaning robot 100 is: the controller controls the robot body 101 to move to a designated area according to the preset area map information, the cleaning assembly 103 is started to clean the ground, and after cleaning is completed, the robot body 101 moves to a cleaning standing point to wait for air sedimentation. After waiting for a period of time (for example, 5 minutes), the robot body 101 moves to a designated collection point, the particle collector 102 is started to detect the particle concentration in the air, the controller judges whether the particle concentration in the current area exceeds a preset index according to the particle concentration information, and if the particle concentration exceeds the preset index, the cleaning component 103 is started to clean the current area, and the particle concentration in the air in the current area is re-detected; if the particle concentration in the current area does not exceed the preset index, the cleaning robot 100 moves to other areas to continue to perform detection and cleaning tasks.

It should be noted that, after the particle concentration information is obtained, the controller may also be configured to store the particle concentration information of the corresponding area in a local memory or send the particle concentration information to an external server through a wireless network (for example, wifi), so as to record specific particle concentration information and subsequent analysis data in detail; the controller can be set to detect the particle concentration in the air first and then clean the ground as required, and the setting mode of the control instruction of the controller is not limited.

According to the technical scheme, the particle collector 102 and the cleaning component 103 are arranged on the robot body 101, the cleaning robot 100 automatically collects particle concentration information in ambient air after moving to a designated area according to the position information of the position sensor 104, and the accuracy of measured data is high; the controller on the robot body 101 can control the cleaning assembly 103 to clean the appointed area after analyzing and judging the particle concentration information, so that automatic cleaning is realized, labor cost is saved, and secondary pollution caused by manual participation is avoided. The cleaning robot 100 can automatically detect the concentration of air particles and clean the corresponding area, reduces the manual maintenance cost of the designated area, and improves the efficiency of data acquisition, detection and area cleaning.

In some embodiments, an air purifier 105 is further provided on the robot body 101, and the air purifier 105 is electrically connected to the controller, and the air purifier 105 is used to purify air around the cleaning robot 100.

Referring to fig. 1 to 3, an air cleaner 105 is further provided on the robot body 101, and the air cleaner 105 is capable of removing dust and fine particles in the air to purify the air and to eliminate electrostatic phenomenon in the air. In the cleaning state of the cleaning robot 100, the controller activates the cleaning assembly 103 to clean the floor, and activates the air cleaner 105 to clean the air around the cleaning robot 100, so that the arrangement maintains both the cleaning of the floor and the cleaning of the air in the area space, improving the cleaning efficiency of the designated area.

In some embodiments, the cleaning assembly 103 includes a dust pushing part 1031, the dust pushing part 1031 being disposed at the bottom of the robot body 101, and in the cleaning state, the dust pushing part 1031 protrudes from the bottom of the robot body 101 and directly contacts the floor to clean dust on the floor.

Referring to fig. 3, a dust pushing part 1031 is provided at the bottom of the robot body 101. Referring to fig. 2, illustratively, in a non-cleaning state, the dust push portion 1031 is received inside the robot body 101 or away from the ground, so that the dust push portion 1031 does not rub against the ground to affect the normal travel of the robot body 101. With continued reference to fig. 3, in the cleaning state, the controller controls the dust pushing part 1031 to protrude from the bottom of the robot body 101 and to be in direct contact with the ground, the dust pushing part 1031 rubs against the ground during the traveling of the robot body 101, dust on the ground adheres to the dust pushing part 1031, and dust and debris on the ground are collected and pushed to other areas by the dust pushing part 1031 to be intensively treated, so that the dust pushing part 1031 can effectively clean dust on the ground.

In some embodiments, the cleaning assembly 103 further includes a spray section 1032, the spray section 1032 being connected to the dust pushing section 1031, the spray section 1032 and the dust pushing section 1031 being moved in synchronization in the cleaning state, the spray section 1032 being configured to spray water and/or a sanitizing agent against the floor and/or the dust pushing section 1031 during cleaning of the floor by the dust pushing section 1031.

Referring to fig. 4 and 5, in a cleaning state, the controller controls the spray part 1032 and the dust push part 1031 to be simultaneously protruded from the bottom of the robot body 101, and a water supply device (not shown) of the cleaning robot 100 supplies water to the spray part 1032 during the traveling of the robot body 101, and the spray part 1032 sprays water to the ground, or the dust push part 1031, or both the ground and the dust push part 1031 during the cleaning of the ground by the dust push part 1031, and the dust push part 1031 is sufficiently soaked during the dust push to achieve a better dust push cleaning effect, and the water can be replaced with a diluted disinfectant, so that the disinfectant can be simultaneously killed by the arrangement during the cleaning of the ground, and the ground cleaning effect is better. Referring to fig. 1, the cleaning robot 100 is provided with an automatic water injection port 1081, and the automatic water injection port 1081 is connected with an external water pipe to continuously supply water to the cleaning robot 100; the cleaning robot 100 is further provided with a manual water injection port 1082 for manual water injection by a worker, so that the working range of the cleaning robot 100 is wider and the cleaning robot is not limited by water pipe connection. In the actual use process, the spraying condition of the spraying part 1032 can be controlled as required, so that the cleaning effect of dust pushing, drying and wetting is met. Illustratively, the cleaning assembly 103 is removably coupled with the robot body 101 to facilitate cleaning and replacement of the cleaning assembly 103.

Fig. 6 is a schematic perspective view showing a robot body and a water tank assembly of a cleaning robot according to an embodiment of the present application; FIG. 7 is a bottom view of a water tank assembly of a cleaning robot according to an embodiment of the present application; FIG. 8 is a left side view of a robot body and a water tank assembly of a cleaning robot according to an embodiment of the present application, separated; fig. 9 is a rear view of a water tank assembly of a cleaning robot according to an embodiment of the present application; FIG. 10 is a front view of a cleaning robot according to an embodiment of the present application; fig. 11 is a schematic perspective view of a cleaning robot according to another embodiment of the present application; fig. 12 is a left side view of a cleaning robot according to another embodiment of the present application.

In some embodiments, the cleaning robot 100 further includes a water tank assembly 106, the robot body 101 includes a base 107, the base 107 includes a first assembling portion 1071, a guide rail 1072 is disposed on the first assembling portion 1071, the water tank assembly 106 includes a second assembling portion 1061, a groove 1062 adapted to the guide rail 1072 is disposed on the second assembling portion 1061, and the water tank assembly 106 and the robot body 101 are detachably connected through the second assembling portion 1061 and the first assembling portion 1071.

Referring to fig. 6, the cleaning robot 100 further includes a detachable water tank assembly 106. The robot body 101 includes a base 107, the base 107 is a plane shape for supporting the water tank assembly 106, the base 107 includes a first fitting portion 1071, a guide rail 1072 is provided on the first fitting portion 1071, and the guide rail 1072 protrudes outwards relative to the surface of the first fitting portion 1071. Referring to fig. 7, the water tank assembly 106 includes a second assembling portion 1061, a groove 1062 adapted to the guide rail 1072 is formed on the second assembling portion 1061, and the groove 1062 is clamped to the guide rail 1072 to connect the second assembling portion 1061 and the first assembling portion 1071. The water tank assembly 106 and the robot body 101 are detachably connected by the second fitting portion 1061 and the first fitting portion 1071 so as to maintain the water tank assembly 106.

In some embodiments, the air purifier 105 is removably connected with the robot body 101.

Illustratively, the air purifier 105 and the robot body 101 may be connected by a snap-fit connection, a threaded connection, etc., to facilitate maintenance and replacement of the air purifier 105. In another embodiment, referring to fig. 11 and 12, an air purifying device 1051 with more comprehensive air purifying function may be disposed on the robot body 101, the air purifying device 1051 is used as an air purifying module, a third assembling portion (not shown) similar to the second assembling portion 1061 described above is disposed on the air purifying device 1051, the robot body 101 and the air purifying device 1051 are detachably connected through the first assembling portion 1071 and the third assembling portion, so that the cleaning effect of the cleaning robot 100 on the area above the ground is improved, and in the actual use process, the modular assembly of the cleaning robot 100 may be adjusted as required.

In some embodiments, the robot body 101 further includes a back plate 1011, the back plate 1011 includes a first electrical connection 1012 thereon, and the water tank assembly 106 further includes a second electrical connection 1063, the first electrical connection 1012 and the second electrical connection 1063 being electrically connected when the water tank assembly 106 and the robot body 101 are connected by the second fitting 1061 and the first fitting 1071.

Referring to fig. 6, 8 and 9, a planar back plate 1011 is provided on the robot body 101, a first electrical connection portion 1012 is provided on the back plate 1011, and a through hole is provided on the first electrical connection portion 1012. The water tank assembly 106 is further provided with a second electrical connection portion 1063, and the second electrical connection portion 1063 is provided with a through hole. When the water tank assembly 106 and the robot body 101 are connected through the second fitting part 1061 and the first fitting part 1071, the wire penetrates through the through hole of the first electrical connection part 1012 and the through hole of the second electrical connection part 1063, so that the first electrical connection part 1012 and the second electrical connection part 1063 are electrically connected. This arrangement reduces the gap between the water tank assembly 106 and the robot body 101, resulting in a compact and attractive overall structure of the cleaning robot 100.

In some embodiments, the water tank assembly 106 is locked to the robot body 101 by a cylinder lock 1013.

Referring to fig. 6 and 10, when the tank assembly 106 and the robot body 101 are coupled through the second fitting part 1061 and the first fitting part 1071, the tank assembly 106 and the robot body 101 are locked by the cylinder lock 1013. The cylinder lock 1013 is provided with protruding bolts (not shown), and the bolts of the cylinder lock 1013 are rotated to achieve locking or unlocking. When the cylinder lock 1013 is in the locking state, the water tank assembly 106 and the robot body 101 are kept in the state of being fastened and connected, the water tank assembly 106 cannot shake in the moving process of the robot body 101, and the cleaning robot 100 can normally operate.

In some embodiments, the position sensor 104 is a laser radar, and the robot body 101 is further provided with an obstacle avoidance assembly, where the obstacle avoidance assembly is electrically connected to the controller, and the obstacle avoidance assembly includes: the cameras 1014, TOF (Time of Flight) sensor, ultrasonic sensor 1016, or any of them.

Referring to fig. 1, the position sensor 104 is a laser radar, the position sensor 104 transmits a detection signal to a target direction, and the received reflected signal is compared with the transmitted signal to obtain information about the target direction, such as distance, speed, and the like.

The robot body 101 is further provided with an obstacle avoidance assembly, the obstacle avoidance assembly assists in judging an obstacle in the advancing process of the cleaning robot 100, and when the obstacle appears, the controller controls the robot body 101 to make an avoidance action according to feedback information of the obstacle avoidance assembly. Referring to fig. 2, the obstacle avoidance assembly includes a camera 1014, the camera 1014 collects image information of a ground direction, and the controller performs image recognition on the image information to determine whether there is an obstacle on the ground. The obstacle avoidance assembly also includes a TOF sensor 1015, where the TOF sensor 1015 locates the object by measuring the time required for light to reflect off the object. The obstacle avoidance assembly also includes an ultrasonic sensor 1016 that reflects ultrasonic signals that encounter an obstacle and obtains an actual distance from the obstacle based on the reflected information of the ultrasonic signals. By providing the camera 1014, the TOF sensor 1015, and the ultrasonic sensor 1016, obstacle detection can be performed in various directions around the robot body 101, so as to improve obstacle avoidance effect. The application does not limit the selection of the obstacle avoidance assembly.

In some embodiments, a visual screen 1017 is further provided on the robot body 101, where the visual screen 1017 is electrically connected to the controller, and the visual screen 1017 is used for setting map information of the robot work and position information of the designated movement for a worker.

Referring to fig. 2, the robot body 101 is further provided with a visual screen 1017, wherein the visual screen 1017 is used for a worker to set map information of a designated area where the robot works and position information of designated movement in a touch screen manner, for example, the map information comprises an area number, an area entrance, an area exit and the like; the positional information specifying movement includes positional information of a particle concentration acquisition point, positional information of a rest point after a robot cleaning task, and the like.

In some embodiments, referring to fig. 1, a scram button 1018 is further provided on the robot body 101, and the scram button 1018 is used to receive a trigger operation of a worker and stop the cleaning robot 100 when the cleaning robot 100 fails. This arrangement causes the cleaning robot 100 to stop immediately in case of some emergency or robot failure, and can implement a protective measure for the cleaning robot 100.

In some embodiments, the outer shell of the robot body 101 is made of stainless steel material, so that dust is not easy to adhere to the robot body 101, static electricity is not easy to generate, for example, in a dust-free workshop, the cleaning robot 100 cannot cause secondary pollution to the dust-free workshop during working.

Fig. 13 is an exemplary flowchart of a control method of a cleaning robot according to an embodiment of the present application. The control method may be performed by the cleaning robot described above, and the description of the cleaning robot described above may be used to describe the control method.

Referring to fig. 13, the embodiment of the application also discloses a control method of the cleaning robot, which comprises the following steps:

in step S310, the controller controls the robot body to move to the initial region of the designated region group according to the preset position information, and controls the cleaning assembly to sequentially clean each sub-region according to the number of each sub-region in the designated region group;

in step S320, waiting for a first preset period of time, waiting for air to settle;

in step S330, the controller controls the particle collector to sequentially collect and determine whether the particle concentration information of each sub-region reaches a preset value according to the number of each sub-region;

in step S340, it is determined whether the particle concentration information of the current sub-region reaches a preset value, if the particle concentration information of the current sub-region does not reach the preset value, step S350 is executed, and in step S350, collection is continued and it is determined whether the particle concentration information of the remaining sub-regions reaches the preset value;

If the particle concentration information of the current subarea reaches the preset value, marking the number of the current subarea as an substandard subarea, recording the substandard times of the substandard subarea, and executing the step S341; this step may be performed by a controller in the cleaning robot.

In step S341, the controller determines whether the number of times of the current sub-area reaching the preset number of times, if the number of times of the current sub-area reaching the preset number of times, step S3411 is executed, the cloud server is alerted in step S3411, step S350 is executed, and the particle concentration information of the remaining sub-areas is continuously collected and determined in step S350;

if the number of times of not reaching the standard does not reach the preset number of times, executing a step S342, and waiting for a second preset time period in the step S342 to wait for air sedimentation;

in step S343, the controller controls the cleaning robot to sequentially clean each sub-area that does not reach the standard according to the number of each sub-area that does not reach the standard;

in step S344, waiting for a third preset period of time, waiting for air to settle;

in step S345, the controller controls the particle collector to sequentially collect and determine whether the particle concentration information of each substandard sub-region reaches a preset value according to the number of each substandard sub-region.

The control method of the cleaning robot can control the cleaning robot to clean one or more zone groups, for example, a dust-free workshop is divided into a plurality of zone groups, the cleaning robot can execute cleaning and detection tasks on each sub-zone in each zone group, and through the method, the detection and cleaning tasks are respectively executed, after the numbers of all sub-zones which do not reach standards in one zone group are obtained, the controller can also plan an optimal route according to the distribution of the sub-zones which do not reach standards, and the cleaning robot can clean the corresponding zone uniformly according to the optimal route, so that the moving time of the cleaning robot can be saved, and once the cleaning assembly is started, the cleaning assembly can continuously work for a period of time, and the cleaning efficiency is improved. The cleaning robot can automatically detect the concentration of air particles and clean corresponding areas, so that the manual maintenance cost of the designated areas is reduced, and the efficiency of data acquisition, detection and area cleaning is improved. It should be noted that the first preset duration, the second preset duration, and the third preset duration in the above steps may be the same or different, and the present application is not limited.

In some embodiments, the controller further controls the air purifier to purify air around the cleaning robot in the cleaning state. Referring to fig. 13, the control method may be performed at steps S310, S343.

In some embodiments, the controller controls the dust pushing part of the cleaning assembly to protrude from the robot body and to be in direct contact with the floor in the cleaning state. Referring to fig. 13, the control method may be performed at steps S310, S343.

In some embodiments, the controller controls the spray portion and the dust pushing portion of the cleaning assembly to move in synchronization in the cleaning state, and the controller also controls the spray portion to spray water and/or a sanitizing agent to the floor and/or the dust pushing portion during cleaning of the floor by the dust pushing portion. Referring to fig. 13, the control method may be performed at steps S310, S343.

While the basic concepts have been described above, it will be apparent to those skilled in the art that the foregoing application disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements and adaptations of the application may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within the present disclosure, and therefore, such modifications, improvements, and adaptations are intended to be within the spirit and scope of the exemplary embodiments of the present disclosure.

Some aspects of the application may be performed entirely by hardware, entirely by software (including firmware, resident software, micro-code, etc.) or by a combination of hardware and software. The above hardware or software may be referred to as a "data block," module, "" engine, "" unit, "" component, "or" system. The processor may be one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital signal processing devices (DAPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or a combination thereof. Furthermore, aspects of the application may take the form of a computer product, comprising computer-readable program code, embodied in one or more computer-readable media. For example, computer-readable media can include, but are not limited to, magnetic storage devices (e.g., hard disk, floppy disk, tape … …), optical disk (e.g., compact disk CD, digital versatile disk DVD … …), smart card, and flash memory devices (e.g., card, stick, key drive … …).

The computer readable medium may comprise a propagated data signal with the computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take on a variety of forms, including electro-magnetic, optical, etc., or any suitable combination thereof. A computer readable medium can be any computer readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code located on a computer readable medium may be propagated through any suitable medium, including radio, cable, fiber optic cable, radio frequency signals, or the like, or a combination of any of the foregoing.

Meanwhile, the present application uses specific words to describe embodiments of the present application. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the application. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the application may be combined as suitable.

In some embodiments, numbers describing the components, number of attributes are used, it being understood that such numbers being used in the description of embodiments are modified in some examples by the modifier "about," approximately, "or" substantially. Unless otherwise indicated, "about," "approximately," or "substantially" indicate that the number allows for a 20% variation. Accordingly, in some embodiments, numerical parameters set forth in the specification and claims are approximations that may vary depending upon the desired properties sought to be obtained by the individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and employ a method for preserving the general number of digits. Although the numerical ranges and parameters set forth herein are approximations in some embodiments for use in determining the breadth of the range, in particular embodiments, the numerical values set forth herein are as precisely as possible.

While the application has been described with reference to the specific embodiments presently, it will be appreciated by those skilled in the art that the foregoing embodiments are merely illustrative of the application, and various equivalent changes and substitutions may be made without departing from the spirit of the application, and therefore, all changes and modifications to the embodiments are intended to be within the scope of the appended claims.

Claims

1. A control method of a cleaning robot, comprising:

the controller controls the robot body to move to a starting area of a designated area group according to preset position information, and controls the cleaning assembly to sequentially clean each sub-area according to the number of each sub-area in the designated area group;

waiting for a first preset time period, and controlling a particle collector to sequentially collect and judge whether particle concentration information of each sub-area reaches a preset value according to the serial number of each sub-area by the controller;

if the particle concentration information of the current subarea reaches the preset value, marking the number of the current subarea as an substandard subarea and recording the substandard times of the substandard subarea;

the controller judges whether the times of the current subarea reaching the preset times or not, if the times of the current subarea reaching the preset times, the controller alarms to a cloud server, and continuously collects and judges particle concentration information of other subareas;

If the times of the substandard times do not reach the preset times, waiting for a second preset duration;

2. The control method according to claim 1, wherein the controller further controls an air cleaner to clean air around the cleaning robot in a cleaning state.

3. The control method of claim 1, wherein the controller controls the dust pushing part of the cleaning assembly to protrude from the robot body and to directly contact the floor in a cleaning state.

4. A control method according to claim 3, wherein in the cleaning condition the controller controls the spray part and the dust push part of the cleaning assembly to move in synchronism, and wherein during cleaning of the floor by the dust push part the controller also controls the spray part to spray water and/or a disinfectant to the floor and/or the dust push part.

5. A cleaning robot, comprising: the movable robot body, be equipped with on the robot body:

a controller electrically connected to the robot body, the controller for controlling the robot body to move and performing the control method of the cleaning robot according to any one of claims 1 to 4;

the particle collector is electrically connected with the controller and is used for collecting particle concentration information in the air around the robot and sending the particle concentration information to the controller;

the cleaning component is electrically connected with the controller and is used for cleaning the ground;

and the position sensor is electrically connected with the controller and is used for detecting the position information of the robot and sending the position information to the controller.

6. The cleaning robot of claim 5, wherein an air cleaner is further provided on the robot body, the air cleaner being electrically connected to the controller, the air cleaner being for cleaning air around the cleaning robot.

7. The cleaning robot of claim 5, wherein the cleaning assembly includes a dust pushing part provided at a bottom of the robot body, the dust pushing part protruding from the bottom of the robot body and directly contacting the floor in a cleaning state to clean dust on the floor.

8. The cleaning robot of claim 7, wherein the cleaning assembly further comprises a spray section connected to the dust pushing section, the spray section and the dust pushing section moving synchronously in the cleaning state, the spray section being for spraying water and/or a disinfectant to the floor and/or the dust pushing section during cleaning of the floor by the dust pushing section.

9. The cleaning robot of claim 8, further comprising a water tank assembly, wherein the robot body comprises a base, the base comprises a first assembly portion, a guide rail is arranged on the first assembly portion, the water tank assembly comprises a second assembly portion, a groove matched with the guide rail is arranged on the second assembly portion, and the water tank assembly and the robot body are detachably connected through the second assembly portion and the first assembly portion.

10. The cleaning robot of claim 9, wherein the robot body further comprises a back plate, the back plate comprising a first electrical connection thereon, the water tank assembly further comprising a second electrical connection, the first electrical connection and the second electrical connection electrically connected when the water tank assembly and the robot body are connected by the second fitting and the first fitting.

11. The cleaning robot of claim 9, wherein the water tank assembly is locked to the robot body by a cylinder lock.

12. The cleaning robot of claim 5, wherein the particle collector is detachably connected to the robot body.

13. The cleaning robot of claim 6, wherein the air cleaner is detachably connected to the robot body.

14. The cleaning robot of claim 5, wherein the position sensor is a lidar, and wherein a keep-out assembly is further provided on the robot body, the keep-out assembly being electrically connected to the controller, the keep-out assembly comprising: one or any of a camera, a TOF sensor and an ultrasonic sensor.

15. The cleaning robot of claim 5, wherein a visual screen is further provided on the robot body, the visual screen being electrically connected to the controller, the visual screen being used for a worker to set map information of the robot work and position information of a designated movement.

16. The cleaning robot of claim 5, wherein a scram button is further provided on the robot body, and the scram button is used to receive a trigger operation of a worker and stop the robot when the robot fails.

17. The cleaning robot of claim 5, wherein the housing of the robot body is made of a stainless steel material.