CN115530687A - Cleaning robot and cloth changing and controlling method thereof - Google Patents

Abstract

The application relates to a cloth changing method of a cleaning robot, which comprises the following steps: receiving an input cloth changing instruction, and entering a cloth changing program; reading mileage information of mops, wherein the mops are movably arranged on the cleaning robot; judging the state information of the mop based on the mileage information of the mop; driving the mop cloth to move to a cloth changing position based on the state information of the mop cloth; and replacing the mop cloth and resetting the mileage information of the mop cloth. By adopting the technical scheme, the longer the cleaning mileage of the mop on the working floor is, the dirtier the mop is. By comparing the mileage information of the mop, the cleaning robot can judge the state of the mop, thereby determining the time for replacing the mop, automatically identifying the state of the mop and judging whether the mop needs to be replaced.

Description

Cleaning robot and cloth changing and controlling method thereof

Technical Field

The application relates to the technical field of robots, in particular to a cleaning robot and a cloth changing and controlling method thereof.

Background

With the development of intelligent robotics, simple and repetitive labor such as cleaning the floor can be replaced with manual labor by using a floor mopping robot, improving functional efficiency and reducing costs.

The cleaning robot is provided with a cleaning mop which is in direct contact with the ground to clean dirt, the cleaning mop becomes dirty after being used for a period of time, and the cleaning mop needs to be replaced at the moment to keep the cleaning effect of the cleaning robot.

In the prior art, a cloth changing program of the cleaning robot lacks targets for judging cloth changing, so that the cloth changing time is difficult to judge, and the actual cloth changing often only depends on the perceptual cognition of a user on the cleaning robot.

Disclosure of Invention

Accordingly, it is necessary to provide a cloth changing method for a cleaning robot to solve the problem that the cleaning robot cannot recognize the cloth change.

A cloth changing method of a cleaning robot, comprising:

receiving an input cloth changing instruction, and entering a cloth changing program;

reading mileage information of mops, wherein a plurality of mops are movably arranged on the cleaning robot;

judging the state information of the mop cloth based on the mileage information of the mop cloth;

driving the mop cloth to move to a cloth changing position based on the state information of the mop cloth;

and replacing the mop cloth and resetting the mileage information of the mop cloth.

By adopting the technical scheme, the longer the cleaning mileage of the mop on the working floor is, the dirtier the mop is. Through the mileage information of comparison mop, cleaning machines people can judge the state of mop to confirm the opportunity of changing the mop, realize the automatic identification mop state, judge the problem that the mop needs to be changed.

In one embodiment, the step of determining the status information of the mop based on the mileage information of the mop specifically includes:

displaying mileage information of the mop;

setting a mileage threshold of the mop based on mileage information of the mop;

and judging whether the mop cloth is in a state to be replaced or not based on the mileage threshold value of the mop cloth.

By adopting the technical scheme, the mileage threshold value for replacing the mop is set, and when the mileage information of the mop is smaller than the threshold value, the mop is judged not to be replaced, and the cleaning work can be continued; and when the mileage information of the mop is larger than the threshold value, judging that the mop needs to be replaced, and prompting a user that the mop needs to be replaced when a next cloth replacing instruction is input.

In one embodiment, the mileage threshold includes a plurality of values for distinguishing different states of the mop.

Through adopting above-mentioned technical scheme, through a plurality of different mileage threshold values, can divide into different states with the mop, set up higher change priority with the great mop of clean mileage, set up lower change priority with the less mop of clean mileage to rationally change the mop, keep all mops on the cleaning machines people all to have sufficient cleaning ability.

In one embodiment, after the resetting the mileage information of the mop, the method further includes:

displaying the state information of the remaining mops;

and judging whether to continue moving and replace the residual mops or not based on the state information of the residual mops.

By adopting the technical scheme, after a mop is replaced by a user, the state information of all the remaining mops is displayed in order to avoid the user from mixing up the replaced mop, the mop to be replaced and the mop not to be replaced, and the user can determine whether to continue replacing the mop according to the state information.

In one embodiment, the step of driving the mop cloth to move to the cloth changing position specifically includes:

displaying position information of the mop to be replaced;

arranging a replacement sequence of the mops based on the position information of the mops to be replaced;

and moving the mop to be replaced to a cloth replacing position based on the moving track of the mop.

Through adopting above-mentioned technical scheme, when there is the polylith mop to need changing simultaneously, based on the mop and the relative position of trading the cloth position, the change order of intelligent arrangement mop for the mop can trade the cloth operation in proper order on the moving direction, avoids owing to trade the cloth order and move the chaotic maloperation that leads to of direction.

In one embodiment, in the step of calculating the movement trajectory of the mops, if there is a mop that does not need to be replaced, the movement is continued to move the next mop to be replaced to the changing position.

Through adopting above-mentioned technical scheme, when a series of mops move to the cloth changing position in proper order, if need not to change the mop, perhaps the change priority of this mop is lower, jumps over this mop promptly and continues to move the next mop of treating to change to the cloth changing position to optimize and remove the flow, avoid producing unnecessary operation.

An embodiment of the present application further provides a control method of a cleaning robot, including:

initializing a system;

initial positioning matching, positioning the position of the cleaning robot in the environment by using a SLAM algorithm;

selecting a task, waiting for an input instruction, and executing the cloth changing method of the cleaning robot when receiving the cloth changing instruction;

executing a cleaning method when receiving a cleaning instruction;

and waiting for a new input instruction after the cleaning method is executed.

By adopting the technical scheme, the cleaning robot can select to execute a cleaning task or a cloth changing task according to different input instructions after being started, and the cloth changing method is executed to change the mop cloth in the cloth changing task.

In one embodiment, the cleaning method comprises a dry mopping mode, a wet mopping mode and a sweeping mode, the mops in each mode having a corresponding criterion for judging the status.

By adopting the technical scheme, the cleaning method comprises a plurality of cleaning modes, different cleaning modes have different influences on the stain condition of the mop, and the mop in different cleaning modes has different standards for judging whether to be replaced, so that the mop can be replaced after being fully used in different cleaning modes.

The embodiment of the present application still provides a cleaning machines people with automatically, trade cloth function, includes:

the first cleaning mechanism comprises a mop, a conveying base band and a lifting push rod, the mop is detachably arranged on the conveying base band, and the driving base band can rotate to drive the mop to change positions;

the second cleaning mechanism comprises an edge brush, a middle brush and a garbage can, wherein the edge brush is used for gathering garbage to the position near the middle brush, and the middle brush is used for sweeping the garbage into the garbage can;

the traveling mechanism is used for bearing and driving the cleaning mechanism and the cloth changing mechanism to move; and

and the control mechanism is in communication connection with the first cleaning mechanism, the second cleaning mechanism and the walking mechanism, and controls the first cleaning mechanism to execute the control method of the cleaning robot.

In one embodiment, the control mechanism comprises a power module, a communication module and an execution module, wherein the power module is used for converting voltage and supplying power to the communication module, and the communication module is used for receiving an input instruction and instructing the execution module to drive the first cleaning mechanism, the second cleaning mechanism and the walking mechanism to execute according to the input instruction.

By adopting the technical scheme, the control mechanism comprises 3 main functional modules, the power supply module is used for converting voltage and providing power, the communication module is used for receiving and processing an input instruction, and the execution module is used for controlling the cleaning robot to execute a corresponding instruction after receiving the instruction processed by the communication module.

To sum up, the cleaning robot of the present application has at least one of the following beneficial technical effects:

1. the cloth changing method for automatically identifying the mop state and changing the mop by comparing the mileage information of the mop is provided.

2. Through a plurality of different mileage thresholds, can divide into different states with the mop, set up the mop of different clean mileage corresponding change priority to rationally change the mop, keep all mops on the cleaning robot all to have sufficient cleaning ability.

3. When there are the polylith mop to need to be changed simultaneously, based on the relative position of mop and cloth changing position, the change order of intelligent arrangement mop for the mop can change the cloth operation in proper order on the moving direction, avoids owing to change the cloth order with the maloperation that the moving direction is chaotic and leads to.

4. The mops in different cleaning modes have different judgment standards, so that the mops can be replaced after being fully used in different cleaning modes.

Drawings

Fig. 1 is a schematic structural diagram of a cleaning robot in an embodiment of the present application from a first perspective;

fig. 2 is a schematic structural diagram of a second perspective view of the cleaning robot in an embodiment of the present application;

FIG. 3 is an assembly view from a first perspective of a cleaning robot in an embodiment of the present application;

FIG. 4 is a schematic flow chart illustrating a cloth changing method of a cleaning robot according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a circuit module of a control mechanism according to an embodiment of the present application;

fig. 6 is a flowchart illustrating a control method of a cleaning robot according to an embodiment of the present disclosure.

Description of reference numerals:

10. a first cleaning mechanism; 20. a second cleaning mechanism; 30. a traveling mechanism; 40. a control mechanism; 10A, mop cloth; 10B, transmitting a baseband; 10C, lifting a push rod; 20A, brushing edges; 20B, middle brushing; 20C, a dustbin.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

Referring to fig. 1 and 2, fig. 1 is a schematic structural diagram illustrating a first perspective of a cleaning robot in an embodiment of the present disclosure, and fig. 2 is a schematic structural diagram illustrating a second perspective of the cleaning robot in the embodiment of the present disclosure. The cleaning robot provided by the embodiment of the application comprises a first cleaning mechanism 10, a second cleaning mechanism 20, a traveling mechanism 30 and a control mechanism 40. The first cleaning mechanism 10 comprises a mop cloth 10A, a conveying base belt 10B and a lifting push rod 10C, the second cleaning mechanism 20 comprises an edge brush 20A, a middle brush 20B and a dustbin 20C, the edge brush 20A and the middle brush 20B are used for cleaning the working floor, and the dustbin 20C is used for bearing garbage. The traveling mechanism 30 is used for bearing and driving the cleaning mechanism and the cloth changing mechanism to move, and the control mechanism 40 is in communication connection with the first cleaning mechanism 10, the second cleaning mechanism 20 and the traveling mechanism 30 and is used for controlling the mechanisms to be matched with each other to execute the function of the cleaning robot.

The cloth changing method provided by the embodiment of the present application is mainly developed around the structure of the first cleaning mechanism 10, so that the related structure of the first cleaning mechanism 10 needs to be described, and the specific structure, connection relationship and operation principle of the remaining mechanisms are not described in detail herein, as long as the basic functions can be achieved.

Referring to fig. 3, fig. 3 is an assembly view of a cleaning robot according to an embodiment of the present disclosure from a first perspective. The first cleaning mechanism 10 comprises a plurality of mops 10A, a transfer base strip 10B and a lifting push rod 10C, the mops 10A are detachably arranged on the transfer base strip 10B, the transfer base strip is of a closed loop structure, and when the transfer base strip 10B rotates, the plurality of mops 10A can be driven to move together for replacing the position, so that the cleaning work can be continued by replacing the dirty mops 10A with the cleaned mops 10A, and meanwhile, the dirty mops 10A can be rotated away from the cleaning position to the replacement position for replacement. The lifting push rod 10C presses the transfer base strip 10B and the mop cloth 10A against the work floor to mop the floor when the cleaning robot performs a cleaning task, and the lifting push rod 10C lifts the transfer base strip 10B and the mop cloth 10A to be separated from the work floor when the cleaning robot performs a cloth changing task, so that the user can change the mop cloth 10A through a cloth changing position located at the upper portion of the cleaning robot.

When the mopping robot performs a cleaning task, the traveling mechanism 30 is provided with a mileage detector that records a moving mileage. Each time the mop 10A is moved a certain distance, the detector will determine that the mop 10A in the cleaning position is dirty and needs to be replaced, and instruct the lifting and lowering push rod 10C to lift the transfer base strip 10B, rotate the transfer base strip 10B so that a new mop 10A is in the cleaning position, and finally press the new mop 10A against the work surface by means of the lifting and lowering push rod 10C, and continue the cleaning task.

It should be noted that the mileage detector may be a boolean detector that detects the number of turns of the road wheel, may also be an infrared detector that directly detects the distance to the target object, may also be a GPS system that is directly connected to a positioning satellite to calculate the moving distance, and the like, and is not limited herein.

Based on the first cleaning mechanism 10 described above, a hardware basis for realizing the cloth changing is provided, and the cloth changing method provided by the embodiment of the application is described by means of a practical scene.

When it is detected that all mops 10A are dirty during the cleaning task performed by the cleaning robot, a prompt message is sent to the user, prompting the user whether to enter a change order. If the user inputs a cloth change instruction, the cleaning robot starts to execute a cloth change program.

After the user inputs a cloth changing instruction at the control end, the control end can display the mileage information of all the mops 10A on the cleaning robot and can also display the state information of whether all the mops 10A on the cleaning robot are in a state to be changed. The user may select to automatically determine the mop 10A to be replaced based on the mileage information of the mop 10A, or may directly select to replace the mop 10A in a state to be replaced based on the state information of the mop 10A provided by the cleaning robot.

After the user determines the mop 10A to be replaced, the control end sends a corresponding command to the cleaning robot, the cleaning robot moves back to the base station, the lifting push rod 10C lifts the conveying base band 10B and the mop 10A, and the conveying base band moves the mop 10A to be replaced to the cloth replacing position in sequence. After the cleaning robot is positioned, the cloth changing tool in the base station can directly detach the cleaning mop 10A in the cloth changing position and install a new cleaning mop 10A, thereby realizing the replacement of the mop 10A.

In other scenarios where the cleaning robot needs to clean a large area, returning to the base station to change the swab 10A may result in the robot not being able to return to its position prior to changing the swab to continue working. At this time, the user is required to manually replace the mop 10A with the cleaning robot. After manually removing the mop 10A in the changing position, the user installs a new clean mop 10A, sends a change complete command on the control end and decides whether or not to continue changing the mop 10A. If it is still necessary to change the mop 10A, the transfer base strip 10B continues to rotate, moving the next mop 10A to be changed to the changing position for the user to change.

It can be seen that by this method of changing the cloth, the status of the mop cloth 10A is automatically fed back to the user during cleaning of the cleaning robot on the basis of the mileage information of the cleaning mop cloth 10A, thus avoiding that the dirty mop cloth 10A continues the cleaning task. When the user actively changes the cloth, the user can also judge whether the cloth needs to be changed or not based on the mileage information of the mop cloth 10A, and a judgment target for changing the mop cloth 10A is provided for the user and the cleaning robot program.

It should be understood that the above-mentioned scenario is only an exemplary scenario, and in practical applications, various information prompted by the cleaning robot and the control end may be displayed in other contents or forms, which is not limited herein.

The following describes a cloth changing method of the cleaning robot in the embodiment of the present application:

referring to fig. 4, fig. 4 is a schematic flow chart illustrating a cloth changing method of a cleaning robot according to an embodiment of the present application. The method mainly comprises the following steps: s10, receiving an input cloth changing instruction, and entering a cloth changing program; s20, reading mileage information of the mop cloth 10A, S30, judging state information of the mop cloth 10A based on the mileage information of the mop cloth 10A, and S40, driving the mop cloth 10A to move to a cloth changing position based on the state information of the mop cloth 10A; s50, replace mop 10A and reset mileage information of mop 10A.

S10, receiving an input cloth changing instruction, and entering a cloth changing program;

when the cleaning robot receives the input cloth changing instruction, the cleaning robot enters a cloth changing program. If the cleaning robot is in the cleaning task at this time, the cleaning task is temporarily stopped.

It is understood that in some embodiments, the input cloth changing instruction may be a cloth changing instruction actively issued by the user from the control terminal; in some embodiments, the input cloth changing command may also be a cloth changing command automatically input when the mileage detector of the cleaning robot detects that the cleaning mop 10A needs to be changed; further, in other embodiments, when the mileage detector of the cleaning robot detects that the current cleaning mop 10A needs to be replaced and the remaining cleaning mops 10A are also in a state to be replaced, a prompt message is automatically sent to the control end to prompt the user whether a cloth change is required or not to request a cloth change instruction.

S20, reading mileage information of the mop cloth 10A;

the mileage information of the mop cloth 10A is stored and recorded in the mileage detector of the cleaning robot, and the cleaning robot reads the mileage information of all the mop cloths 10A from the mileage detector. The mileage information of mop cloth 10A is the distance traveled on the work surface by mop cloth 10A when it is in the cleaning position. In general, the dust distribution on the working floor is more uniform, and the longer the mop cloth 10A is moved over the floor, the more dust is adsorbed on the mop cloth 10A and the more dirty the mop cloth 10A is.

The mileage information can be recorded by recording the number of rotation turns of the road wheels to calculate the moving distance of the mop cloth 10A, as described above; or the distance between the infrared detection cleaning robot and the robot when the infrared detection cleaning robot moves to the next position; the distance of the moving track of the cleaning robot can be measured and calculated directly through GPS positioning. In the present embodiment, it is preferable that a boolean sensor is provided to a drive motor of the traveling wheel, and the obtained sensor signal is stored in the control mechanism 40 of the cleaning robot and is subjected to arithmetic processing.

S30, determining the status information of mop 10A based on the mileage information of mop 10A;

after the mileage information of the mop 10A is read, the mileage information is sent to the control end of the cleaning robot to be displayed for the user to judge. The user can set a mileage threshold value according to mileage information of all mops 10A, so that mops 10A lower than the mileage threshold value do not need to be replaced in this change task, while mops 10A higher than the mileage threshold value are replaced in this change task. For example, the cleaning robot is provided with 6 cleaning mops 10A of A, B, C, D, E, F, and the mileage information thereof is 300m, 350m, 400m, 420m, 440m, and 200m, respectively. The user, on the basis of the dust situation of the current working floor, considers that the mop 10A does not need to be replaced when the mileage is 300m and below, so sets the mileage threshold to 300m, at which time B, C, D, E four mops 10A are automatically marked as mops 10A to be replaced because the mileage exceeds the mileage threshold.

It will be appreciated that the mileage threshold may be adaptively adjusted in different working environments due to the dust condition of the floor and the difference in requirements for cleaning standards, and is not limited herein.

It will also be appreciated that the mileage threshold may be user dependent on mileage information received from the control terminal of the swab 10A, or may be a preset mileage threshold. After the user receives the mileage information, the control end can directly judge the state information of the mop 10A according to the preset mileage threshold value, and display the judged state information of the mop 10A to the user, and the user only needs to confirm or correct the judgment result, and does not need to manually set the mileage threshold value, so that the operation amount of the user is reduced, and the user experience is improved.

In some embodiments the mileage threshold comprises a plurality of mops 10A, each for distinguishing different degrees of soiling. Specifically, in the above embodiment, the first threshold value is set to 300m, the second threshold value is set to 400m, the mop 10A is in a state of no replacement when the mileage is 300m or less, the first replacement state is a one-stage replacement state when the mileage is 300m to 400m, and the second replacement state is a two-stage replacement state when the mileage is 400m or more. The user can change mops 10A of different changing grade states in connection with the dust situation of the working floor and the cleaning standard requirements.

S40, mop 10A is driven to move to the cloth changing position based on the state information of mop 10A.

After having determined the mop 10A to be replaced, specific steps are also required to determine the movement of the mop 10A, including:

and S41, displaying the position information of the mop 10A to be replaced.

In particular, after the mop to be replaced 10A has been determined, it is first necessary to determine the position of the mop to be replaced 10A. The position of the mop 10A to be replaced is sent to the control end for the user to browse through, thereby facilitating the subsequent ranking and replacement sequence.

In other embodiments the position information of the mop 10A may also be sent directly to the control mechanism 40 of the cleaning robot, with the position information of the mop 10A being processed directly by the control mechanism 40 without being processed by the user.

S42, arranging the order of replacement of mops 10A based on the position information of mops 10A to be replaced.

After obtaining the position information of the mop cloth 10A, the order of replacement of the mop cloth 10A is arranged to provide the efficiency of replacement of the mop cloth 10A. Specifically, all the mops 10A to be replaced are arranged by the distance required for moving in the same direction toward the cloth changing opening, the minimum value and the maximum value are taken as the head and tail positions of the replacement sequence, and the sum of the minimum value and the maximum value is taken as the first distance value. All mops 10A to be replaced are then arranged according to the distance required for movement in the other direction towards the changing opening, again taking the minimum and maximum thereof as the head-to-tail position of the change sequence, and taking the sum of the minimum and maximum thereof as the second distance value. The magnitude of the first distance value and the magnitude of the second distance value are compared, and the smaller one of the magnitudes is taken as the moving direction of the transmission baseband 10B.

After the moving direction of the conveying base belt 10B is determined, all mops 10A to be replaced are replaced in sequence from small to large moving distance, so that during the rotation of the conveying base belt 10B, all mops 10A to be replaced can be moved to the changing position for replacing mops 10A with the smallest total moving distance.

In the specific embodiment, also exemplified in the above embodiment, 6 mops 10A of A, B, C, D, E, F are detachably arranged in turn on the transfer base strip 10B, only 3 mops 10A of A, B, F having to be replaced. If C is in the cloth changing position when the cloth changing command is received, the conveying base belt 10B rotates according to the moving direction which enables B, A, F to move to the cloth changing position in sequence, and therefore the moving path required by the conveying base belt 10B when cloth changing operation is completed is the shortest. When a is at the changing position, the transfer base tape 10B can be rotated in either direction, so that A, B, F is changed sequentially through the changing position. The replacement arrangement sequence of the rest positions can be arranged according to the rules described above, and is not described herein.

It should be noted that, if there is a mop 10A that does not need to be replaced during the rotation of the transfer base belt 10B, the movement is continued to move the next mop to be replaced to the changing position. For example, in the above embodiment, the transfer base belt 10B is sequentially moved to the cloth changing position in the order of A, B, C, D, E, F, where C, D, E does not need to be changed, and when the transfer base belt 10B moves C, D, E to the cloth changing position, it does not stay, but continues to rotate until after the subsequent F mop 10A to be changed is moved to the cloth changing position, and stops rotating so that F remains at the cloth changing position to change cloth.

S43, moving the mop 10A to be replaced to a cloth replacement position based on the replacement sequence of the mop 10A.

After determining the exchange sequence of the mops 10A, the control mechanism 40 sends corresponding control instructions to cause the lifting push rod 10C, the transfer base belt 10B and the mating components to start executing corresponding instructions for changing the cloth. The specific hardware implementation process has been described in the foregoing, and is not described herein again.

S50, replace mop 10A and reset mileage information of mop 10A.

In some embodiments, the cleaning robot automatically seeks its way back to the base station after receiving the cloth change instruction. Be provided with positioner in the basic station, can fix a position with cleaning machines people for the cloth changing device of basic station corresponds with cleaning machines people's cloth changing position, and after mop 10A moved to cloth changing position, cloth changing device can dismantle the mop 10A of treating the change on the conveying baseband 10B, and install new clean mop 10A on conveying baseband 10B.

In other embodiments, the mop swab 10A is replaced manually by the user. When the mop cloth 10A is moved to the cloth changing position, a changing door on the housing of the cleaning robot corresponding to the cloth changing position is opened accordingly, so that the user can insert his hand into the housing to change the mop cloth 10A.

The control mechanism 40 in the embodiment of the present application is described below.

Referring to fig. 5, fig. 5 is a schematic circuit block diagram of the control mechanism 40 according to an embodiment of the present disclosure. The control mechanism 40 includes a power module, a communication module, and an execution module. The power module comprises a charger, a lead-acid battery, a breaker, a low-voltage protection module and a transformer. The charger is used for converting an external alternating current power supply into direct current in a rectifying mode, the lead-acid battery is used for storing electric energy, the circuit breaker is used for controlling the circuit to be opened and closed, and the low-voltage protection module is used for providing a safety function of the circuit.

The execution module comprises a direct current brush motor, a brushless direct current controller, a hub motor controller, a stepping motor controller and a micro water pump. The direct current brush motor is used for controlling the edge brush 20A in the second cleaning module, the brushless direct current controller is used for controlling the middle brush 20B in the second cleaning module, the hub motor controller is used for controlling the traveling mechanism 30, the stepping motor controller is used for controlling the conveying base band 10B and the lifting push rod 10C in the first cleaning module, and the micro water pump is used for controlling the cleaning robot to spray water to the ground for cleaning.

The communication module comprises a control panel integrating a single chip microcomputer and a power supply, a switch, a router and an industrial personal computer. The power supply on the control board comprises a transformer (DC-DC) and a voltage stabilizer (LDO) and is used for further reducing voltage and meeting the working voltage of a single chip Microcomputer (MCU) on the control board, the single chip Microcomputer (MCU) is used for processing simple signals, such as horizontal information generated by a gyroscope, and the single chip Microcomputer (MCU) also directly sends control instructions to each component of the execution module. The switch and the router are used for collecting information of various sensors, the collected sensor information is transmitted to the industrial personal computer, and the industrial personal computer is used for processing and operating complex information.

In some embodiments, the sensors include surveillance cameras, lidar, 3D cameras, ultrasonic sensors, water level sensors, proximity switches, and the like. The sensor is used for helping the cleaning robot to locate, identify and detect partial parameters of the cleaning robot. Since the focus of the present application is not on the positioning and recognition algorithm, it is not limited herein.

The following describes a control method of the cleaning robot as a whole.

Referring to fig. 6, fig. 6 is a flowchart illustrating a control method of a cleaning robot according to an embodiment of the present application. The method mainly comprises the following steps:

s1, system initialization, which is to reset the internal parameters of the control mechanism 40 of the cleaning robot to initial values.

And S2, initial positioning matching. Specifically, the position of the cleaning robot in the environment is determined by means of initial positioning matching of the cleaning robot through position information transmitted by various sensors and combined with SLAM algorithm (Simultaneous Localization and Mapping).

It is understood that the SLMA algorithm is a relatively mature algorithm in the field of robots, the application is not limited in detail, and a person skilled in the art can select different SLAM algorithms to realize the positioning function of the cleaning robot according to the common knowledge in the field.

And S3, selecting a task. The cleaning robot may perform the cloth changing task as described above, and may also perform the cleaning task. Specifically, the cleaning task includes a dry-mopping mode, a wet-mopping mode, and a sweeping mode. Wherein, the dry mopping mode is to start the first cleaning mechanism 10 to work and mop the working floor. The wet mopping mode is that the first cleaning mechanism 10 is started to work, and simultaneously, the water pump of the cleaning robot is controlled to work, so as to spray water to the working floor, and the mopping effect is improved. The sweeping mode is to start the second cleaning mechanism 20 to work, and the second cleaning mechanism 20 includes side brushes 20A disposed at two sides of the cleaning robot, a middle brush 20B disposed at a middle position of the cleaning robot, and a dustbin 20C. The side brushes 20A are used for gathering garbage to the vicinity of the middle brush 20B, and the middle brush 20B is used for sweeping the garbage into the garbage bin 20C.

In particular, in the embodiment, each cleaning mode is also provided with different power gears. For example, in the high-power gear, the water pump has a water spraying rate of 0.5mL/s, the middle brush 20B rotates at 3000rpm/min, and the mop cloth 10A is pressed against the ground by the full weight of the conveying base belt 10B. And at a low-power gear, the sprinkling speed of the water pump is 0.1mL/s, the rotating speed of the middle brush 20B is 1000rpm/min, the conveying base belt 10B is partially supported upwards, and the mop 10A is pressed on the ground by the sum of the downward pressure of the conveying base belt 10B.

It should be noted that different cleaning modes can be simultaneously activated to form a combination to improve cleaning efficiency. For example, the water pump may be operated in a wet mopping mode simultaneously with the first cleaning mechanism 10, and the wet mopping mode or the dry mopping mode may be operated simultaneously with the sweeping mode.

It should also be noted that mop 10A in each mode has corresponding criteria for determining the status, e.g. the cleaning effect is generally weaker in the dry mopping mode than in the wet mopping mode, and that mop 10A with the same mileage is used in the dry mopping mode with less dust pick-up than mop 10A used in the wet mopping mode. Thus, the mop swab 10A used in the dry mop mode can be replaced after a longer period of use. The same can be concluded that mops 10A used in other cleaning modes all have their own criteria for judging status.

And S4, executing the task. When the work task is confirmed, the control mechanism 40 drives the cleaning robot to perform the corresponding task. In some embodiments, after the cloth changing task is performed, the cleaning command may be input again to make the cleaning robot perform the cleaning task. In other embodiments, after the cleaning task is performed, the cloth changing instruction may be input again to enable the cleaning robot to perform the cloth changing task.

Specifically, the cleaning task is performed as follows: firstly, the transfer base band 10B is reset according to the proximity sensor or the encoder, then the industrial personal computer sends the mileage information stored previously to the single chip microcomputer, and the single chip microcomputer reads the mileage information to determine the mop cloth 10A to be cleaned, so that the transfer base band 10B is controlled to move the corresponding mop cloth 10A to a cleaning position. Thereafter, the lifting/lowering rod 10C is controlled to descend, pressing the cleaning mop 10A against the work floor. Finally, according to different cleaning modes and different power gears, working parameters of the middle brush 20B, the water pump, the lifting push rod 10C and the travelling mechanism 30 are determined.

The automatic cloth changing method of the cleaning robot in the embodiment of the application has the working principle that: the cleaning robot performs cleaning by replacing one mop 10A by the transfer base belt 10B for every certain distance of movement. The working mileage information of the mop cloth 10A can be presumed according to the moving distance of the cleaning robot, when the working mileage information of the mop cloth 10A reaches a certain value, the control mechanism 40 judges that the mop cloth 10A cannot continue to work and needs to be replaced, and sends a cloth replacing request to the control end, so that the technical problem that a user in the traditional operation judges the cloth replacement through subjective feeling is solved, and the user is helped to judge whether the mop cloth 10A needs to be replaced through a digitalized index.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and these modifications or substitutions do not depart from the scope of the technical solutions of the embodiments of the present application.

As used in the above embodiments, the term "when …" may be interpreted to mean "if …" or "after …" or "in response to determination …" or "in response to detection of …", depending on the context. Similarly, the phrase "in determining …" or "if (a stated condition or event) is detected" may be interpreted to mean "if … is determined" or "in response to … is determined" or "in response to (a stated condition or event) is detected", depending on the context.

One of ordinary skill in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by hardware related to instructions of a computer program, which may be stored in a computer-readable storage medium, and when executed, may include the processes of the above method embodiments. And the aforementioned storage medium includes: various media capable of storing program codes, such as ROM or RAM, magnetic or optical disks, etc.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

Claims (10)

1. A cloth changing method of a cleaning robot, comprising:

receiving an input cloth changing instruction, and entering a cloth changing program;

reading mileage information of mops, wherein the mops are movably arranged on the cleaning robot;

judging the state information of the mop based on the mileage information of the mop;

driving the mop cloth to move to a cloth changing position based on the state information of the mop cloth;

and replacing the mop cloth and resetting the mileage information of the mop cloth.

2. The method of changing a cloth of a cleaning robot according to claim 1, wherein the step of determining the state information of the mop based on the mileage information of the mop comprises:

displaying mileage information of the mop;

setting a mileage threshold of the mop based on mileage information of the mop;

and judging whether the mop cloth is in a state to be replaced or not based on the mileage threshold value of the mop cloth.

3. The method of changing a cloth of a cleaning robot according to claim 2, wherein the mileage threshold includes a plurality of thresholds for distinguishing different states of the mop, respectively.

4. The method of changing a cloth of a cleaning robot according to claim 1, further comprising, after the resetting mileage information of the mop:

displaying the state information of the remaining mops;

and judging whether to continue moving and replace the residual mops or not based on the state information of the residual mops.

5. The method for changing a cloth of a cleaning robot according to any of claims 1 to 4, wherein the step of driving the mop to move to a changing position comprises:

displaying position information of the mop to be replaced;

arranging a replacement sequence of the mops based on the position information of the mops to be replaced;

moving the mops to be replaced to a cloth replacement position based on the replacement sequence of the mops.

6. The changing method of a cleaning robot according to claim 5, wherein in the calculating of the changing order of the mops, if there is the mops that do not need to be changed, the moving is continued to move the next mops to be changed to the changing position.

7. A control method of a cleaning robot, characterized by comprising:

initializing a system;

initial positioning matching, positioning the position of the cleaning robot in the environment by using a SLAM algorithm;

a selecting task of waiting for an input command and performing a cloth changing method of the cleaning robot according to any one of claims 1 to 6 when receiving a cloth changing command;

executing a cleaning method when receiving a cleaning instruction;

and waiting for a new input instruction after the cleaning method is executed.

8. Method for controlling a cleaning robot according to claim 7, characterized in that the cleaning method comprises a dry mopping mode, a wet mopping mode and a sweeping mode, the mops (10A) in each mode having respective criteria for the status of judgement.

9. A cleaning robot having an automatic cloth changing function, comprising:

the first cleaning mechanism (10) comprises a mop cloth (10A), a conveying base belt (10B) and a lifting push rod (10C), the mop cloth (10A) is detachably arranged on the conveying base belt (10B), and the conveying base belt (10B) can rotate to drive the mop cloth (10A) to change positions;

the second cleaning mechanism (20) comprises an edge brush (20A), a middle brush (20B) and a garbage can (20C), wherein the edge brush (20A) is used for gathering garbage to the position near the middle brush (20B), and the middle brush (20B) is used for sweeping the garbage into the garbage can (20C);

the traveling mechanism (30) is used for bearing and driving the cleaning mechanism and the cloth changing mechanism to move; and

a control mechanism (40) communicatively connected to the first cleaning mechanism (10), the second cleaning mechanism (20), and the traveling mechanism (30), the control mechanism (40) controlling the first cleaning mechanism (10) to perform the control method of the cleaning robot as set forth in claim 7 or 8.

10. The cleaning robot according to claim 9, wherein the control mechanism (40) comprises a power module for converting a voltage and supplying power to the communication module, a communication module for receiving an input instruction and instructing the execution module to drive the first cleaning mechanism (10), the second cleaning mechanism (20) and the traveling mechanism (30) to execute according to the input instruction, and an execution module.

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