CN115813286A - Cleaning control method for cleaning robot and cleaning robot - Google Patents
Cleaning control method for cleaning robot and cleaning robot Download PDFInfo
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- CN115813286A CN115813286A CN202211223648.6A CN202211223648A CN115813286A CN 115813286 A CN115813286 A CN 115813286A CN 202211223648 A CN202211223648 A CN 202211223648A CN 115813286 A CN115813286 A CN 115813286A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
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Abstract
The invention provides a cleaning control method of a cleaning robot and the cleaning robot, and relates to the field of cleaning robot control, wherein the cleaning control method of the cleaning robot utilizes a base station to replenish water to a host, the host executes cleaning action through a self-contained water pump and a rolling brush, utilizes the rotating centrifugal force of the rolling brush to throw away dirty attached to the rolling brush, and simultaneously cooperates with a fan of the base station to recover the sewage; after the host computer round brush washs and accomplishes, still accessible host computer water pump, basic station take out dirty fan action, use the clear water to wash host computer dirt pumping pipe way, alleviate the clean peculiar smell that the back pipeline produced of placing for a long time of host computer self, it is clean after guaranteeing the round brush automatically cleaning, realize cleaning machines people round brush and take out dirty pipeline and wash to can realize the host computer moisturizing, take out dirty, go on when the round brush washs, improve the utilization ratio of cleaning time, improve the cleaning efficiency.
Description
Technical Field
The invention relates to the field of cleaning robot control, in particular to a cleaning control method of a cleaning robot and the cleaning robot.
Background
With the popularization of cleaning robots with base stations, the functions of automatically adding water and pumping dirt, cleaning parts and cleaning sewage pumping pipelines of the cleaning robots gradually become important functions. At present, the cleaning mechanism of the cleaning robot with the base station on the market mainly comprises a cleaning brush and a water spray pump, the cleaning process of the main machine for pumping sewage and adding water and the rolling brush cannot be separated from the assistance of the cleaning mechanism, the sewage pumping pipeline cannot be cleaned, the cleaning of the rolling brush and the main machine for pumping sewage and adding water are separately carried out, the time utilization rate is low, and the cleaning efficiency is poor.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a cleaning control method for a cleaning robot and a cleaning robot, which can clean a brush and a dirt suction pipe, and can perform water replenishing, dirt suction, and rolling brush cleaning of a host at the same time, thereby improving a utilization rate of cleaning time and improving cleaning efficiency.
In a first aspect, an embodiment of the present invention provides a cleaning control method for a cleaning robot, where the cleaning robot includes a host and a base station; the base station is provided with a base station sewage bucket, a base station clean water tank, a base station fan and a sewage pumping pipeline; the main machine is provided with a water pump, a rolling brush, a main machine fan, a main machine sewage tank and a main machine clear water tank; wherein, the sewage pumping pipeline is connected with the host sewage tank by a built-in telescopic mechanism;
the method comprises the following steps:
a wetting step: controlling a water pump in the main machine to spray clean water in a clean water tank of the main machine to the rolling brush according to the water spraying amount, and controlling the rolling brush to rotate at a first rotating speed according to a first time length;
cleaning the roller brush: controlling the rolling brush to rotate at a second rotating speed, and controlling a host fan to pump the sewage generated by the rolling brush into a host sewage tank by using a first suction parameter according to a second duration; wherein the second rotating speed is greater than the first rotating speed;
and (3) spin-drying: controlling the water pump to stop spraying water, keeping the working parameters in the rolling brush cleaning step, and controlling the base station fan to pump the sewage of the host sewage tank into the base station sewage bucket according to the second suction parameter after keeping the third time; wherein the suction value of the second suction parameter is greater than the suction value of the first suction parameter.
In some embodiments, prior to the wetting step, the method further comprises:
a detection step: when the host receives a cleaning instruction, detecting whether the host stops in the base station; if yes, performing a wetting step; if not, the control host is docked to the base station.
In some embodiments, prior to the wetting step, the method further comprises:
and a sewage pumping pipeline control step: and if the sewage pumping pipeline is not connected with the host sewage tank, controlling the telescopic mechanism to connect the sewage pumping pipeline with the host sewage tank.
In some embodiments, the wetting step further comprises: and controlling the base station clear water tank to add clear water into the host clear water tank by using a preset first water adding quantity parameter.
In some embodiments, in the rolling brush cleaning step, when it is detected that the sewage in the host sewage tank is full, the base station fan is controlled to pump the sewage in the host sewage tank into the base station sewage bucket according to the second suction parameter.
In some embodiments, after the spin-drying step, the spin-drying method further comprises:
a flow channel cleaning step: and controlling the base station clear water tank to add clear water into the host clear water tank by using a preset first water adding quantity parameter, and then sequentially executing a wetting step and a spin-drying step.
In some embodiments, in the flow channel cleaning step, when it is detected that the clean water in the clean water tank of the base station is used up, the spin-drying step is directly performed.
In some embodiments, the spin-drying step further comprises: and stopping the spin-drying step when the time for pumping the sewage of the main machine sewage tank into the base station sewage bucket reaches a fourth time.
In some embodiments, the first rotation speed is 800rpm; the second rotating speed is 1600rpm; the suction value of the first suction parameter is 4000Pa; the suction value of the second suction parameter is 15000Pa; the amount of water sprayed was 160mL/min.
In a second aspect, an embodiment of the present invention provides a cleaning robot, including a host and a base station; the base station is provided with a base station sewage bucket, a base station clean water tank, a base station fan and a sewage pumping pipeline; the main machine is provided with a water pump, a rolling brush, a main machine fan, a main machine sewage tank and a main machine clear water tank; wherein, the sewage pumping pipeline is connected with the host sewage tank by a built-in telescopic mechanism;
the cleaning robot, upon receiving the cleaning instruction, executes the washing control method of the cleaning robot as mentioned in the first aspect.
In a third aspect, an embodiment of the present invention further provides an electronic device, including: a processor and a memory; the memory has stored thereon a computer program which, when executed by the processor, implements the steps of the washing control method of the cleaning robot mentioned in the above-mentioned first aspect.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps of the cleaning control method for a cleaning robot in the first aspect.
The embodiment of the invention has the following beneficial effects:
the invention provides a cleaning control method of a cleaning robot and the cleaning robot, wherein the cleaning robot comprises a host and a base station; the base station is provided with a base station sewage bucket, a base station clean water tank, a base station fan and a sewage pumping pipeline; the main machine is provided with a water pump, a rolling brush, a main machine fan, a main machine sewage tank and a main machine clear water tank; wherein, the sewage pumping pipeline is connected with the host sewage tank by a built-in telescopic mechanism; in the process of cleaning control of the cleaning robot, firstly, a water pump in a main machine is controlled to spray clean water in a clean water tank of the main machine to the roller brush according to the water spraying amount, and the roller brush is controlled to rotate at a first rotating speed according to a first time length, so that the roller brush is uniformly wetted; then controlling the rolling brush to rotate according to a second rotating speed, controlling a host fan according to a second duration to pump the sewage generated by the rolling brush into a host sewage tank by using a first suction parameter, and finishing the cleaning of the rolling brush; wherein the second rotating speed is greater than the first rotating speed; finally, controlling the water pump to stop spraying water, keeping the working parameters in the rolling brush cleaning step, and controlling the base station fan to pump the sewage of the host sewage tank into the base station sewage bucket according to the second suction parameter after keeping the third time; wherein the suction value of the second suction parameter is greater than the suction value of the first suction parameter. According to the cleaning control method of the cleaning robot, the base station is used for supplementing water to the main machine, the main machine performs cleaning action through the self-provided water pump and the rolling brush, dirt attached to the upper surface of the rolling brush is thrown out by using the centrifugal force generated by the rotation of the rolling brush, and meanwhile, the cleaning control method is matched with the fan of the base station to recover the sewage; after the host computer round brush washs and accomplishes, still accessible host computer water pump, basic station take out dirty fan action, use the clear water to wash host computer dirt pumping pipe way, alleviate the clean peculiar smell that the back pipeline produced of placing for a long time of host computer self, it is clean after guaranteeing the round brush automatically cleaning, realize cleaning machines people round brush and take out dirty pipeline and wash to can realize the host computer moisturizing, take out dirty, go on when the round brush washs, improve the utilization ratio of cleaning time, improve the cleaning efficiency.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention as set forth hereinafter.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a cleaning control method of a cleaning robot according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a wetting step in a washing control method of a cleaning robot according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a rolling brush washing step in a washing control method of a cleaning robot according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a spin-drying step in a washing control method of a cleaning robot according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a flow path cleaning step in a cleaning control method for a cleaning robot according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Icon:
101-a processor; 102-a memory; 103-a bus; 104-communication interface.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
With the popularization of cleaning robots with base stations, the functions of automatically adding water and pumping dirt, cleaning parts and cleaning sewage pumping pipelines of the cleaning robots gradually become important functions. At present, the cleaning mechanism of the cleaning robot with the base station on the market mainly comprises a cleaning brush and a water spray pump, the cleaning process of the host machine for pumping sewage and adding water into the host machine and the rolling brush cannot be separated from the assistance of the cleaning mechanism, the sewage pumping pipeline cannot be cleaned, the cleaning of the rolling brush and the host machine for pumping sewage and adding water are separately carried out, the time utilization rate is low, and the cleaning efficiency is poor. Based on the above problems, embodiments of the present invention provide a cleaning control method for a cleaning robot and the cleaning robot, after a base station replenishes water to a main machine, the main machine performs a cleaning action through a self-contained water pump and a rolling brush, dirty attached to the rolling brush is thrown out by using a centrifugal force generated by rotation of the rolling brush, and meanwhile, the main machine cooperates with a fan of the base station to recover the sewage; after the host computer round brush washs and accomplishes, still accessible host computer water pump, basic station take out dirty fan action, use the clear water to wash host computer dirt pumping pipe way, alleviate the clean peculiar smell that the back pipeline produced of placing for a long time of host computer self, it is clean after guaranteeing the round brush automatically cleaning, realize cleaning machines people round brush and take out dirty pipeline and wash to can realize the host computer moisturizing, take out dirty, go on when the round brush washs, improve the utilization ratio of cleaning time, improve the cleaning efficiency.
For the convenience of understanding the present embodiment, a detailed description will be given to a cleaning control method of a cleaning robot disclosed in the present embodiment. The cleaning robot comprises a host and a base station; the base station is provided with a base station sewage bucket, a base station clean water tank, a base station fan and a sewage pumping pipeline; the main machine is provided with a water pump, a rolling brush, a main machine fan, a main machine sewage tank and a main machine clear water tank; wherein, the sewage pumping pipeline is connected with the host sewage tank by a built-in telescopic mechanism. A washing control method in such a cleaning robot is shown in fig. 1, and includes the steps of:
and S101, controlling a water pump in the main machine to spray clean water in a clean water tank of the main machine to the roller brush according to the water spraying amount, and controlling the roller brush to rotate at a first rotating speed according to a first time period.
The step is a rolling brush wetting step, the wetting process is realized by spraying water to the rolling brush by using a water pump in the host machine, the process is realized by spraying clear water in the host machine clear water tank to the rolling brush by using the water pump, and when the clear water in the host machine clear water tank is insufficient, the clear water can be supplemented by the base station clear water tank. The base station clear water tank is connected with the host clear water tank through a preset pipeline. After water spraying is carried out, the rolling brush starts to rotate, the rotating speed of the rolling brush is a preset first rotating speed, the water spraying process of the rolling brush is still carried out in the rotating process, and the rolling brush is uniformly wetted.
Step S102, controlling the rolling brush to rotate at a second rotating speed, and controlling a host fan to pump sewage generated by the rolling brush into a host sewage tank by using a first suction parameter according to a second duration; wherein the second rotation speed is greater than the first rotation speed.
The step is a rolling brush cleaning step, and after the rolling brush is wetted, the fan of the main machine is started to enter a rolling brush cleaning stage. Specifically, the water pump and the rolling brush of the main machine are utilized, and the built-in sewage pumping structure and the rolling brush rotating structure of the main machine are utilized, so that the rolling brush keeps a certain water content and simultaneously utilizes the centrifugal force generated by the rotation of the rolling brush to throw out sewage. Therefore, in the process, the rolling brush needs to be controlled to rotate at a second rotating speed, wherein the second rotating speed is greater than the first rotating speed; this means that the rotating speed of the rolling brush is increased in the step, so that the sewage is thrown out by utilizing the centrifugal force generated by the rotation of the rolling brush, and the purpose of improving the cleaning effect of the rolling brush is achieved. The recovered sewage is pumped into the sewage tank of the host by the host fan, so that the problem of secondary pollution caused by improper sewage treatment is avoided.
Step S103, controlling the water pump to stop spraying water, keeping the working parameters in the rolling brush cleaning step, and controlling the base station fan to pump the sewage of the host sewage tank into the base station sewage bucket according to the second suction parameter after keeping the third time; wherein the suction value of the second suction parameter is greater than the suction value of the first suction parameter.
The step is a spin-drying step, a main machine water pump needs to be turned off after cleaning is completed, water stains are thrown out through centrifugal force generated by high-speed rotation of a rolling brush, the residual water stains of the rolling brush are collected into a main machine sewage tank by matching with a main machine sewage pumping fan, and sewage in the main machine sewage tank is pumped into a base station sewage barrel through a base station fan so as to achieve the purpose of collecting clean sewage.
Considering that the cleaning robot has many working modes, the host computer is not necessarily in the base station when receiving the cleaning command, and the host computer may process the sweeping process outside the base station, so that the working state of the host computer needs to be detected before the wetting step is executed. In some embodiments, before the wetting step S101, the method further comprises: a detection step: when the host receives a cleaning instruction, detecting whether the host stops in the base station; if yes, performing a wetting step; if not, the control host is docked into the base station.
Similarly, considering that the cleaning robot has many working modes between the main machine and the base station, the sewage pumping pipeline between the main machine and the base station is not in a connection state when receiving the cleaning command, but the telescopic mechanism in the sewage pumping pipeline in the method is in a telescopic state, so the working state of the sewage pumping pipeline needs to be detected before the wetting step is executed. In some embodiments, before the wetting step S101, the method further comprises: and a sewage pumping pipeline control step: and if the sewage pumping pipeline is not connected with the host sewage tank, controlling the telescopic mechanism to connect the sewage pumping pipeline with the host sewage tank.
In some embodiments, the wetting step further comprises: and controlling the base station clear water tank to add clear water into the host clear water tank by using a preset first water adding quantity parameter.
In an actual scene, when the host receives a cleaning instruction at the base station, the sewage pumping pipeline of the base station descends and water is added to the host cleaning water barrel through the base cleaning water barrel, meanwhile, the host starts to spray water to wet the rolling brush, and the rolling brush starts to rotate to enable the rolling brush to be uniformly wetted. The wetting step involves the following three parameters, respectively: the first rotating speed of the main machine rolling brush is 800rpm; the water spraying flow rate of the main water pump is 160mL/min; the flow rate of water added to the host by the base station corresponding to the first water adding amount parameter is 300mL/min, and the specific steps are shown in FIG. 2.
In some embodiments, in the rolling brush cleaning step, when it is detected that the sewage in the main sewage tank is full, the base station fan is controlled to pump the sewage in the main sewage tank into the base station sewage tank according to the second suction parameter, and then the spin-drying step is performed. Specifically, after the rolling brush is wetted, the main fan is started to enter the rolling brush cleaning stage. At this stage, the water pump, the main machine sewage pumping structure and the rolling brush rotating structure are adopted, so that the rolling brush keeps certain water content, and simultaneously, the centrifugal force generated by the rotation of the rolling brush is utilized as far as possible to throw away sewage, and the purpose of improving the cleaning effect of the rolling brush is achieved. The recovered sewage is pumped into a sewage tank of the host machine by a fan of the host machine, if the sewage in the sewage tank of the host machine is detected to be full, in order to ensure the stable operation of the host machine, the sewage in the sewage tank of the host machine needs to be pumped into a sewage barrel of a base station, and then a spin-drying step is carried out to dry the sewage by a rolling brush. Specifically, the following three parameters are involved in the step of cleaning the rolling brush, which are respectively: the second rotating speed of the main machine rolling brush is 1600rpm; the water spraying flow rate of the main water pump is 160mL/min; the suction of the main machine corresponding to the first suction parameter is 4000Pa, as shown in fig. 3.
During the execution process of the spin-drying step, the following three parameters are involved, which are respectively: the main machine rolling brush keeps the second rotating speed of 1600rpm; the suction force of the main engine corresponding to the second suction parameter is 15000Pa; the third time period is 15 seconds. As shown in particular in fig. 4.
After the rolling brush finishes cleaning, the wetting step and the spin-drying step can be repeatedly executed to realize runner cleaning. In some embodiments, after the spin-drying step, the spin-drying method further comprises: a flow channel cleaning step: and controlling the base station clear water tank to add clear water into the host clear water tank by using a preset first water adding quantity parameter, and then sequentially executing a wetting step and a spin-drying step.
And after the rolling brush is cleaned, the base station starts to replenish water to the main machine, the main machine starts to spray water, the wetting step and the spin-drying step are repeated, and clean water is used for deeply cleaning the sewage pumping pipeline of the main machine and the base station. In some embodiments, in the flow channel cleaning step, when it is detected that the clean water in the clean water tank of the base station is used up, the spin-drying step is directly performed. After the spin-drying stage is finished, the robot roller brush cleaning and the sewage pumping pipeline cleaning are finished, and the host enters a charging state. The flow channel cleaning step is specifically shown in fig. 5, and is not described again.
In some embodiments, the spin-drying step further comprises: and stopping the spin-drying step when the time for pumping the sewage of the main machine sewage tank into the base station sewage bucket reaches a fourth time. The judgment basis of the spin-drying step is determined by setting a fixed time length, when the suction value of the second suction parameter is 15000Pa, the sewage in the main machine sewage tank is controlled to be pumped into the base station sewage barrel, and when the pumping process reaches a fourth time length, for example, 15 seconds, the spin-drying step is stopped.
According to the cleaning control method of the cleaning robot provided by the embodiment, after the base station is controlled to replenish water to the main machine, the main machine performs cleaning action through the water pump and the rolling brush, dirt attached to the upper surface of the rolling brush is thrown out by utilizing the centrifugal force generated by the rotation of the rolling brush, and meanwhile, the dirt is recovered by matching with the fan of the base station; after the host computer round brush washs the completion, still rethread host computer water pump, the action of basic station sewage pumping fan, use the clear water to wash the host computer sewage pumping pipeline, alleviate the peculiar smell that the pipeline produced after host computer self is clean for a long time placing, it is clean to ensure after the round brush automatically cleaning, realize cleaning machines people round brush and sewage pumping pipeline and wash to can realize the host computer moisturizing, take out dirty, go on when the round brush washs, improve the utilization ratio of scavenging period, improve the cleaning efficiency.
The embodiment of the invention also provides a cleaning robot, which comprises a host and a base station as shown in fig. 6; a base station sewage bucket, a base station clear water tank, a base station fan and a sewage pumping pipeline are arranged in the base station; the main machine is provided with a water pump, a rolling brush, a main machine fan, a main machine sewage tank and a main machine clear water tank; wherein, the sewage pumping pipeline is connected with the host sewage tank by a built-in telescopic mechanism;
the cleaning robot, after receiving the cleaning instruction, performs the washing control method of the cleaning robot as mentioned in the above embodiments.
The cleaning control method of the cleaning robot provided by the embodiment of the invention has the same technical characteristics as the cleaning control method of the cleaning robot provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved. For the sake of brevity, where not mentioned in the section of the embodiments, reference may be made to the corresponding matters in the foregoing embodiments.
The embodiment also provides an electronic device, a schematic structural diagram of which is shown in fig. 7, and the electronic device includes a processor 101 and a memory 102; the memory 102 is used for storing one or more computer instructions, and the one or more computer instructions are executed by the processor to implement the cleaning control method of the cleaning robot.
The electronic device shown in fig. 7 further comprises a bus 103 and a communication interface 104, the processor 101, the communication interface 104 and the memory 102 being connected via the bus 103.
The Memory 102 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Bus 103 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 7, but this does not indicate only one bus or one type of bus.
The communication interface 104 is used for connecting with at least one user terminal and other network units through a network interface, and sending the packaged IPv4 message or IPv4 message to the user terminal through the network interface.
The processor 101 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 101. The Processor 101 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present disclosure may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present disclosure may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 102, and the processor 101 reads the information in the memory 102 and completes the steps of the method of the foregoing embodiment in combination with the hardware thereof.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps of the method of the foregoing embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present invention or a part thereof, which essentially contributes to the prior art, can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the following descriptions are only illustrative and not restrictive, and that the scope of the present invention is not limited to the above embodiments: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A cleaning control method of a cleaning robot is characterized in that the cleaning robot comprises a host and a base station; the base station is internally provided with a base station sewage bucket, a base station clean water tank, a base station fan and a sewage pumping pipeline; the main machine is internally provided with a water pump, a rolling brush, a main machine fan, a main machine sewage tank and a main machine clear water tank; the sewage pumping pipeline is connected with the host sewage tank by using a built-in telescopic mechanism;
the method comprises the following steps:
a wetting step: controlling the water pump in the main machine to spray clean water in the clean water tank of the main machine to the roller brush according to the water spraying quantity, and controlling the roller brush to rotate at a first rotating speed according to a first time period;
cleaning the roller brush: controlling the rolling brush to rotate at a second rotating speed, and controlling the host fan to pump the sewage generated by the rolling brush into the host sewage tank by using a first suction parameter according to a second duration; wherein the second rotational speed is greater than the first rotational speed;
and (3) spin-drying: controlling the water pump to stop spraying water, keeping the working parameters in the step of cleaning the rolling brush, and controlling the base station fan to pump the sewage of the host sewage tank into the base station sewage bucket according to a second suction parameter after keeping the third time; wherein the suction value of the second suction parameter is greater than the suction value of the first suction parameter.
2. The washing control method of a cleaning robot according to claim 1, wherein before the wetting step, the method further comprises:
a detection step: when the host receives a cleaning instruction, detecting whether the host stops in the base station; if yes, performing a wetting step; and if not, controlling the host to dock to the base station.
3. The washing control method of a cleaning robot according to claim 1, wherein the wetting step is preceded by the method further comprising:
and a sewage pumping pipeline control step: and if the sewage pumping pipeline is not connected with the host sewage tank, controlling the telescopic mechanism to connect the sewage pumping pipeline with the host sewage tank.
4. The washing control method of a cleaning robot according to claim 1, wherein the wetting step further comprises:
and controlling the base station clear water tank to add clear water into the host clear water tank by using a preset first water adding quantity parameter.
5. The washing control method of a cleaning robot according to claim 1, wherein in the rolling brush washing step, when it is detected that the sewage in the main sewage tank is full, the base station fan is controlled to pump the sewage in the main sewage tank into the base station sewage tank according to the second suction parameter.
6. The washing control method of a cleaning robot according to claim 1, further comprising, after the spin-drying step:
a flow channel cleaning step: and controlling the base station clear water tank to add clear water into the host clear water tank by using a preset first water adding quantity parameter, and then sequentially executing the wetting step and the spin-drying step.
7. The washing control method of a cleaning robot according to claim 6, wherein in the flow path washing step, when it is detected that the fresh water in the fresh water tank of the base station is used up, the spinning step is directly performed.
8. The washing control method of a cleaning robot according to claim 1, wherein the spin-drying step further comprises:
and stopping the spin-drying step when the time for pumping the sewage of the main machine sewage tank into the base station sewage bucket reaches a fourth time.
9. The washing control method of a cleaning robot according to claim 1, wherein the first rotation speed is 800rpm; the second rotating speed is 1600rpm;
the suction value of the first suction parameter is 4000Pa; the suction value of the second suction parameter is 15000Pa;
the water spraying amount is 160mL/min.
10. A cleaning robot is characterized by comprising a host and a base station; the base station is internally provided with a base station sewage bucket, a base station clean water tank, a base station fan and a sewage pumping pipeline; the main machine is internally provided with a water pump, a rolling brush, a main machine fan, a main machine sewage tank and a main machine clear water tank; the sewage pumping pipeline is connected with the host sewage tank by using a built-in telescopic mechanism;
the cleaning robot performs the washing control method of the cleaning robot according to any one of claims 1 to 9 after receiving the cleaning instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211223648.6A CN115813286A (en) | 2022-10-08 | 2022-10-08 | Cleaning control method for cleaning robot and cleaning robot |
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