CN116671832A - Control method of sweeper, sweeper and storage medium - Google Patents

Abstract

The invention discloses a sweeping machine control method, a sweeping machine and a storage medium. The invention divides the cleaning area map into a special cleaning area and a general cleaning area. The sweeping machine in the area first implements the single-sweeping mode, and then implements the integrated sweeping and dragging mode, which avoids the defects in the prior art, improves the efficiency of cleaning special cleaning areas, and improves the user experience.

Description

A sweeping machine control method, sweeping machine and storage medium

technical field

The invention relates to the technical field of sweeping robots, in particular to a sweeping machine control method, a sweeping machine and a storage medium.

Background technique

In the prior art, the intelligence of the sweeper is becoming more and more mature, and the map of the user's indoor cleaning area can be obtained through sensors, etc., so that the user can establish a boundary, and it can also guide the automatic cleaning of the sweeper. The control method or control mode of the existing sweeping machine all adopts the sweeping and mopping integrated mode, that is, mopping the floor while sweeping the floor. And some special areas, such as the bottom of the bed, the bottom of the sofa, the bottom of the furniture, etc., are not suitable for the sweeping and dragging integrated mode. Because there are a lot of garbage (dust, flocs, etc.) in these special areas, if you mop the floor at the same time when sweeping the floor, the water of the mop will wet and disperse the garbage, which will easily dirty the area and fail to achieve the cleaning effect , It needs to mop the floor repeatedly in this area, and the mop needs to be cleaned many times, which leads to poor user experience.

Contents of the invention

Based on this, it is necessary to provide a sweeping machine control method, a sweeping machine and a storage medium for the technical problem that the sweeping and dragging integrated mode is adopted regardless of the cleaning area in the prior art.

The technical solution of the present invention provides a sweeping machine control method, including the following steps:

The step of establishing a map includes establishing an indoor cleaning area map, and marking a special cleaning area in the cleaning area map, wherein the area outside the special cleaning area in the cleaning area map is a general cleaning area;

The indoor cleaning step includes performing the integrated sweeping and mopping mode in the general cleaning area, first implementing the single sweeping mode in the special cleaning area, and then executing the integrated sweeping and mopping mode after the preset conditions are met.

In one of the optional technical solutions, in the step of establishing a map, it includes: the sweeper walks indoors, acquires indoor identification information through sensors and/or cameras, and forms a map of the cleaning area;

During the walking recognition process of the sweeper, if obstacles around and above the sweeper are recognized, it is determined as a special cleaning area.

In one of the optional technical solutions, during the walking recognition process of the sweeper:

If the distance sensor and/or camera recognizes that there are obstacles around and above the sweeper, and the photosensitive sensor detects that the light brightness at the location of the sweeper is lower than a preset threshold, then it is judged as a special cleaning area.

In one of the optional technical solutions, in the step of establishing a map, it includes: correcting the cleaning area map according to the acquired floor plan of the building.

In one of the optional technical solutions, in the indoor cleaning step, the preset condition includes: executing the single-sweep mode more than twice.

In one of the optional technical solutions, in the indoor cleaning step, the preset condition includes: taking pictures of the floor in the special cleaning area by a camera, and judging that the floor meets the mopping standard.

In one of the optional technical solutions, in the indoor cleaning step, including:

When the sweeper enters the special cleaning area from the general cleaning area, the change in brightness is monitored by a photosensitive sensor;

If the light brightness detected by the photosensitive sensor becomes low, and the light brightness at the location of the sweeper is lower than the preset threshold, the single-sweeping mode is executed first, and the sweeping and dragging integrated mode is executed after the preset conditions are met.

In one of the optional technical solutions, in the indoor cleaning step, including:

Before the sweeper enters the special cleaning area, query the record of cleaning the special cleaning area;

If the last cleaning of the special cleaning area is within 2 days, the sweeping and mopping integrated mode will be implemented in the special cleaning area;

If it is more than 3 days since the last cleaning of the special cleaning area, the single-sweeping mode will be implemented first, and then the integrated sweeping and dragging mode will be implemented.

The technical solution of the present invention also provides a sweeping machine, the sweeping machine executes the sweeping machine control method as described above;

The sweeper includes a processor, a memory, a sensor and/or a camera, a rolling brush mechanism, and a lifting mop mechanism;

The memory, the sensor and/or the camera, the rolling brush mechanism, and the lifting mop mechanism are respectively connected in communication with the processor;

When the sweeper is in the sweeping and mopping integrated mode, the rolling brush mechanism is in the working state, and the lifting and mopping mechanism is in the descending state;

When the sweeper is in the single-sweeping mode, the rolling brush mechanism is in a working state, and the lifting mop mechanism is in a raised state.

The technical solution of the present invention also provides a storage medium, the storage medium stores computer instructions, and when the computer executes the computer instructions, it is used to execute all the steps of the sweeping machine control method as described above.

Adopt above-mentioned technical scheme, have following beneficial effect:

In the present invention, the cleaning area map is divided into a special cleaning area and an ordinary cleaning area. In the ordinary cleaning area, the sweeper performs the sweeping and dragging integrated mode. In the special cleaning area, the floor sweeping machine first performs the single sweeping mode, and then executes the sweeping and dragging integrated mode. The defects in the prior art are avoided, the efficiency of cleaning the special cleaning area is improved, and the user experience is also improved.

Description of drawings

The disclosure of the present invention will become more comprehensible with reference to the accompanying drawings. It should be understood that these drawings are only for the purpose of illustration, and are not intended to limit the protection scope of the present invention. In the picture:

Fig. 1 is a schematic diagram of steps of a sweeping machine control method provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of modules of a sweeping machine provided by an embodiment of the present invention;

Fig. 3 is a perspective view of a sweeping machine provided by an embodiment of the present invention under a top view angle;

Fig. 4 is a perspective view of the sweeping machine provided by an embodiment of the present invention at an angle of looking up;

Fig. 5 is a cross-sectional view of a sweeper provided by an embodiment of the present invention;

Fig. 6 is a partially enlarged view of the connection between the lifting mop mechanism and the body;

Figure 7 is a perspective view of the lifting housing;

Figure 8 is a perspective view of the slide rail;

Fig. 9 is an enlarged view of area A of Fig. 6;

Fig. 10 is an enlarged view of the hooking part in Fig. 7;

Fig. 11 is a cross-sectional view of the drum, the lifting housing, the drum driving motor and the mop.

Detailed ways

The specific implementation manner of the present invention will be further described below in conjunction with the accompanying drawings. Wherein the same components are denoted by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, and the words "inner" and "outer ” refer to directions towards or away from the geometric center of a particular part, respectively.

As shown in Figure 1, a sweeping machine control method provided by an embodiment of the present invention includes the following steps:

S1: The step of establishing a map, including establishing an indoor cleaning area map, and marking a special cleaning area in the cleaning area map, wherein the area outside the special cleaning area in the cleaning area map is a general cleaning area.

S2: Indoor cleaning steps, including performing the sweeping and mopping integrated mode in the general cleaning area, and performing the single sweeping mode in the special cleaning area first, and then performing the sweeping and mopping integrated mode after the preset conditions are met.

The sweeping machine control method provided by the invention is used for the sweeping machine with a lifting mop mechanism. As shown in FIG. 2 , the sweeper includes a processor 1 , a memory 2 , a sensor 3 and/or a camera 4 , a rolling brush mechanism 5 , a lifting mop mechanism 6 , a traveling mechanism 7 and a sweeper body 8 . The memory 2 , the sensor 3 and/or the camera 4 , the rolling brush mechanism 5 , the elevating mop mechanism 6 , and the running mechanism 7 are respectively connected to the processor 1 in communication.

The processor 1 is a centralized control unit, which is integrated in the main body 8 of the sweeper, and is used to receive signals and control the operation of various electrical appliances.

The memory 2 is integrated into the main body 8 of the sweeping machine, and the memory 2 can be a memory or a hard disk for storing program instructions for the processor 1 to select corresponding functions.

The sensor 3 is installed around and on the top of the main body 8 of the sweeper to send identification information/signals, and then receive the feedback identification information/signals to determine the obstacles and their size, size, shape, distance, etc. Monitoring of condition parameters, for example, brightness.

The camera 4 is installed around the main body 8 of the sweeper, and is used to photograph indoor floors, obstacles, etc., for the processor 1 to judge.

The rolling brush mechanism 5 is connected with the sweeper main body 8 for sweeping the floor.

Specifically, the rolling brush mechanism 5 includes a rolling brush 51 and a rolling brush driving motor. The rolling brush 51 is pivotably installed on the bottom of the sweeper main body 8 through a pivot shaft, and the rolling brush driving motor is installed in the sweeping machine main body 8. The rolling brush The driving motor is connected with the pivot shaft of the roller brush 51 through a transmission mechanism, and the roller brush 51 is driven by the roller brush driving motor to rotate and sweep the floor. The roller brush driving motor is connected to the processor 1 in communication, and the processor 1 controls the operation of the roller brush driving motor.

A dust collection box 82 is detachably installed in the main body 8 of the sweeper, and the dust suction port 83 of the dust collection box 82 is at the front side. The roller brush 51 is installed on the front side of the dust suction port 83 . The dust swept up by the roller brush 51 can enter the dust collecting box 82 through the dust suction port 83 .

The lifting mop mechanism 6 is connected with the main body 8 of the sweeper, and it can be raised and lowered relative to the main body 8 of the sweeper.

Specifically, the lifting mop mechanism 6 includes a lifting housing 61 and a mopping cloth 62 connected to the bottom of the lifting housing 61 . The main body of the sweeper 8 is located on the rear side of the dust collection box 82 and has a receiving groove 81 with an opening downward. The lifting housing 61 can be slidably assembled in the receiving groove 81 up and down. connect. The lifting drive assembly is connected to the processor 1 in communication, and the processor 1 controls the operation of the lifting drive assembly. The lifting drive assembly is used to drive the lifting housing 61 up and down, so that the mop 62 can be operated up and down.

The running mechanism 7 is connected with the main body 8 of the sweeper, and is used to drive the main body 8 of the sweeper to walk.

Specifically, the traveling mechanism 7 includes a pair of rollers 71 and a roller driving motor, and the pair of rollers 71 are pivotably installed on the left and right sides of the sweeper main body 8 through the wheel shaft, the roller driving motor is installed in the sweeper main body 8, and the rollers drive The motor and the wheel shaft are connected through a transmission mechanism. The roller driving motor is connected to the processor 1 in communication, and the processor 1 controls the operation of the roller driving motor.

The sweeping machine has a sweeping and dragging integrated mode and a single sweeping mode. This mode can be automatically controlled by the processor 1, or can be selected by the user through the remote control or control panel or APP.

When the sweeper is in the sweeping and mopping integrated mode, the rolling brush mechanism 5 is in working state, the rolling brush 51 sweeps the floor, the lifting mop mechanism 6 is in a descending state, and the mopping cloth 62 mops the floor.

When the sweeper is in the single-sweeping mode, the rolling brush mechanism 5 is in the working state, the rolling brush 51 sweeps the floor, the lifting mop mechanism 6 is in the raised state, and the mop 62 is off the ground.

In the sweeping machine control method provided by the present invention, when the user uses it for the first time or resets it for use, the sweeping machine first walks indoors and establishes an indoor cleaning area map. During this process, the sweeper can use single-sweep mode. When the sweeper is walking indoors, an indoor cleaning area map is established, and special cleaning areas are marked on the cleaning area map. The special cleaning areas include but are not limited to sofa bottoms, bed bottoms, and low furniture where the sweeper can enter and clean. area. For ease of description, the area outside the special cleaning area in the cleaning area map is called a normal cleaning area.

When the sweeper performs indoor cleaning, the integrated sweeping and dragging mode is implemented in the general cleaning area, and the single sweeping mode is implemented in the special cleaning area, and the integrated sweeping and dragging mode is implemented after the preset conditions are met.

Specifically, when the sweeper enters the special cleaning area, there are relatively more garbage in this area, and the dust is relatively heavy. The single sweep mode can be selected. 62 Do not mop the floor. After the sweeper cleans the dust and garbage in a specific area, select the sweeping and mopping integrated mode, put down the mop 62, and mop 62 to mop the floor. At this time, the dust, garbage, etc. in the area are especially cleaned. To clean up, the mop 62 can basically achieve the effect of cleaning the ground once when mopping the floor, avoiding the defects in the prior art, improving the efficiency of cleaning the special cleaning area, and improving the user experience.

In one embodiment, the step of establishing the map includes: the sweeper walks indoors, acquires indoor identification information through sensors and/or cameras, and forms a cleaning area map.

During the walking recognition process of the sweeper, if there are obstacles around and above the sweeper, it will be judged as a special cleaning area.

When building a map, the surrounding objects, obstacles, etc. are recognized by the sensor 3 and/or the camera 4 to determine the boundary of the cleaning area, and then output data to the processor 1, and the processor 1 builds a map of the cleaning area and stores it in the in memory 2. The sensor 3 includes, but is not limited to, a ranging sensor, a touch sensor, a photosensitive sensor, and the like. The distance measuring sensor can be installed around and on the top of the main body of the sweeper. The distance measuring sensor can be an infrared sensor or a light wave sensor, which is used to measure the distance between the sweeper and the obstacle, and transmit the distance data to the processor 1 . The touch sensor can be installed around the main body 8 of the sweeper. When the sweeper is in contact with an obstacle, the touch sensor is used to measure the height of the obstacle, and transmit the height data to the processor 1 for the processor 1 to judge whether it can pass . The photosensitive sensor is installed on the front side and/or top of the sweeper main body 8, and is used for judging the brightness of the light in the surrounding environment.

During the walking recognition process of the sweeper, if there are obstacles around the sweeper, for example, there are long obstacles on two or three sides, and there are obstacles above the sweeper, it means that the sweeper has entered a special In the space, the space may be the bottom of the bed, the bottom of the sofa, the bottom of the furniture, etc., so that the area is judged as a special cleaning area, and the data is transmitted to the processor 1, and the processor 1 marks the special cleaning area, and then stores to memory 2.

In one of the embodiments, during the walking recognition process of the sweeper:

If the distance sensor and/or camera recognizes that there are obstacles around and above the sweeper, and the photosensitive sensor detects that the brightness of the sweeper is lower than the preset threshold, it is judged as a special cleaning area.

In this embodiment, in order to improve the accuracy of judging the special cleaning area, the judgment is made by monitoring the brightness of the location where the sweeper is located.

In daily situations, the indoor brightness is generally 300-500LUX, and the brightness of lighting is generally 150-300LUX.

For example, the sweeping machine initially judges that the area is a special cleaning area through ranging sensors, touch sensors, cameras, etc., and then adds a photosensitive sensor to make accurate judgments. That is to say, after ranging sensor, touch sensor, camera etc. preliminarily judge that this area is the special cleaning area, as the light brightness detected by photosensitive sensor is lower than 250LUX (daytime), and this signal is transmitted to processor 1, by Processor 1 determines that this area is a special cleaning area.

The preset threshold above can be set in advance according to specific places and lighting conditions.

The processor 1 of the sweeping machine can obtain Beijing time in real time for judging whether the sweeping time is day or night. When judging the special cleaning area, it is preferably performed during the day, and there is a large error at night.

In one of the embodiments, in the step of establishing the map, it includes: correcting the cleaning area map according to the acquired floor plan of the building.

In this embodiment, when used for the first time, the user can transmit the floor plan data of the building to the sweeper through the APP to store it in the memory 2 for the processor 1 to compare the established cleaning area map with the floor plan of the building. If it is found that the area is too short, or the generated apartment type is inaccurate, some rooms or areas may not be scanned, and the step of creating a cleaning area map needs to be performed again. After comparing and judging, if it is found that the cleaning area map does not correspond to the building floor plan, a suggestion can also be issued for the user to judge whether it is necessary to re-execute the step of creating the cleaning area map.

In one of the embodiments, in the indoor cleaning step, the preset conditions include: performing the single-sweep mode more than twice, for example, sweeping the floor alone in the special cleaning area for more than 2 times, so as to ensure that the garbage and dust in the special cleaning area are cleaned up , so that the sweeping and dragging integrated mode can be executed later.

In one embodiment, in the indoor cleaning step, the preset condition includes: the floor of the special cleaning area is photographed by the camera, and it is determined that the floor meets the mopping standard.

In this embodiment, in the special cleaning area, after the sweeper executes the single-sweeping mode more than once, the floor in the special cleaning area is photographed by the camera. If the floor in the special cleaning area meets the mopping standard, the integrated sweeping and mopping mode starts.

The mopping standard is generally that there are no debris, toys, sandy garbage, and cotton-like garbage on the floor, which can be seen from the smoothness of the floor.

The judgment of this step can be performed by the user on the APP. For example, after the camera captures an image, the image is transmitted to the APP. After the user sees that the floor is relatively clean, he presses OK, and the sweeping base implements the sweeping and mopping integrated mode. If the user sees that the floor is not clean enough, and mopping the floor is easy to stain the floor, then choose to continue the single-sweep mode.

In one of the embodiments, the step of indoor cleaning includes: when the sweeper enters the special cleaning area from the general cleaning area, the photosensitive sensor monitors the change of the light brightness.

If the brightness detected by the photosensitive sensor becomes lower, and the brightness of the location where the sweeper is located is lower than the preset threshold, the single-sweep mode will be executed first, and the integrated sweeping and dragging mode will be executed after the preset conditions are met.

If the customer moves the sofa, bed, furniture, etc. without re-establishing the cleaning area map and rewashing to mark the special cleaning area, the execution mode of the sweeper may not correspond to the actual scene.

In this embodiment, during the day, when the sweeping machine enters the special cleaning area from the general cleaning area, the photosensitive sensor monitors the brightness change at the same time to determine that the area the sweeping machine enters is the special cleaning area.

When the sweeper enters the special cleaning area marked on the map, it will monitor the brightness change through the photosensitive sensor. If the photosensitive sensor detects that the brightness of the sweeper’s location is lower than the preset threshold, 250LUX (daytime), it will be judged to sweep the floor. The area where the machine enters is determined to be a special cleaning area.

If the user starts the sweeper to clean at night, the sweeper will refer to the previously marked special cleaning area, and the data of the photosensitive sensor will no longer be used as a reference.

In one of the embodiments, the indoor cleaning step includes:

Before the sweeper enters the special cleaning area, check the records of cleaning the special cleaning area.

If the last cleaning of the special cleaning area is within 2 days, the sweeping and mopping integrated mode will be implemented in the special cleaning area.

If it is more than 3 days since the last cleaning of the special cleaning area, the single-sweeping mode will be implemented first, and then the integrated sweeping and dragging mode will be implemented.

In this embodiment, the cleaning time and area of each sweeping machine are recorded in the memory 2, and before the sweeping machine cleans the special cleaning area, the record of the last cleaning of the special cleaning area is first inquired. If the time since the last cleaning of the special cleaning area is within 2 days, the special cleaning area will not be too dirty, and the sweeping and dragging integrated mode can be directly implemented to save time. If the time since the last cleaning of the special cleaning area is more than 3 days, the special cleaning area may be dirty, so the single-sweeping mode should be executed first, and then the integrated sweeping and mopping mode should be executed.

As shown in FIG. 2 , an embodiment of the present invention provides a sweeping machine, and the sweeping machine executes the sweeping machine control method as described above.

The sweeping machine includes a processor 1 , a memory 2 , a sensor 3 and/or a camera 4 , a rolling brush mechanism 5 , and a lifting mop mechanism 6 .

The memory 2 , the sensor 3 and/or the camera 4 , the rolling brush mechanism 5 , and the lifting mop mechanism 6 are respectively connected to the processor 1 in communication.

When the sweeper is in the sweeping and mopping integrated mode, the rolling brush mechanism 5 is in the working state, and the elevating and mopping mechanism 6 is in the descending state.

When the sweeper is in the single-sweeping mode, the rolling brush mechanism 5 is in the working state, and the lifting mop mechanism 6 is in the raised state.

The sweeper includes a processor 1 , a memory 2 , a sensor 3 and/or a camera 4 , a rolling brush mechanism 5 , a lifting mop mechanism 6 , a traveling mechanism 7 and a sweeper body 8 . The memory 2 , the sensor 3 and/or the camera 4 , the rolling brush mechanism 5 , the elevating mop mechanism 6 , and the running mechanism 7 are respectively connected to the processor 1 in communication.

The processor 1 is a centralized control unit, which is integrated in the main body 8 of the sweeper, and is used to receive signals and control the operation of various electrical appliances.

The memory 2 is integrated into the main body 8 of the sweeping machine, and the memory 2 can be a memory or a hard disk for storing program instructions for the processor 1 to select corresponding functions.

The sensor 3 is installed around and on the top of the main body 8 of the sweeper to send identification information/signals, and then receive the feedback identification information/signals to determine the obstacles and their size, size, shape, distance, etc. Monitoring of condition parameters, for example, brightness.

The camera 4 is installed around the main body 8 of the sweeper, and is used to photograph indoor floors, obstacles, etc., for the processor 1 to judge.

The rolling brush mechanism 5 is connected with the sweeper main body 8 for sweeping the floor.

Specifically, the rolling brush mechanism 5 includes a rolling brush 51 and a rolling brush driving motor. The rolling brush 51 is pivotably installed on the bottom of the sweeper main body 8 through a pivot shaft, and the rolling brush driving motor is installed in the sweeping machine main body 8. The rolling brush The driving motor is connected with the pivot shaft of the roller brush 51 through a transmission mechanism, and the roller brush 51 is driven by the roller brush driving motor to rotate and sweep the floor. The roller brush driving motor is connected to the processor 1 in communication, and the processor 1 controls the operation of the roller brush driving motor.

A dust collection box 82 is detachably installed in the main body 8 of the sweeper, and the dust suction port 83 of the dust collection box 82 is at the front side. The roller brush 51 is installed on the front side of the dust suction port 83 . The dust swept up by the roller brush 51 can enter the dust collecting box 82 through the dust suction port 83 .

The lifting mop mechanism 6 is connected with the main body 8 of the sweeper, and it can be raised and lowered relative to the main body 8 of the sweeper.

Specifically, the lifting mop mechanism 6 includes a lifting housing 61 and a mopping cloth 62 connected to the bottom of the lifting housing 61 . The main body of the sweeper 8 is located on the rear side of the dust collection box 82 and has a receiving groove 81 with an opening downward. The lifting housing 61 can be slidably assembled in the receiving groove 81 up and down. connect. The lifting drive assembly is connected to the processor 1 in communication, and the processor 1 controls the operation of the lifting drive assembly. The lifting drive assembly is used to drive the lifting housing 61 up and down, so that the mop 62 can be operated up and down.

The running mechanism 7 is connected with the main body 8 of the sweeper, and is used to drive the main body 8 of the sweeper to walk.

Specifically, the traveling mechanism 7 includes a pair of rollers 71 and a roller driving motor, and the pair of rollers 71 are pivotably installed on the left and right sides of the sweeper main body 8 through the wheel shaft, the roller driving motor is installed in the sweeper main body 8, and the rollers drive The motor and the wheel shaft are connected through a transmission mechanism. The roller driving motor is connected to the processor 1 in communication, and the processor 1 controls the operation of the roller driving motor.

The sweeping machine has a sweeping and dragging integrated mode and a single sweeping mode. This mode can be automatically controlled by the processor 1, or can be selected by the user through the remote control or control panel or APP.

When the sweeper is in the sweeping and mopping integrated mode, the rolling brush mechanism 5 is in working state, the rolling brush 51 sweeps the floor, the lifting mop mechanism 6 is in a descending state, and the mopping cloth 62 mops the floor.

When the sweeper is in the single-sweeping mode, the rolling brush mechanism 5 is in the working state, the rolling brush 51 sweeps the floor, the lifting mop mechanism 6 is in the raised state, and the mop 62 is off the ground.

The floor sweeper provided by the present invention marks a special cleaning area and a general cleaning area on the cleaning area map.

When the sweeper performs indoor cleaning, the integrated sweeping and dragging mode is implemented in the general cleaning area, and the single sweeping mode is implemented in the special cleaning area, and the integrated sweeping and dragging mode is implemented after the preset conditions are met.

Specifically, when the sweeper enters the special cleaning area, there are relatively more garbage in this area, and the dust is relatively heavy. The single sweep mode can be selected. First, the mop 62 is raised, and the sweeper first cleans the ground through the roller brush 51, and the mop 62 Do not mop the floor. After the sweeper cleans the dust and garbage in a specific area, select the sweeping and mopping integrated mode, put down the mop 62, and the mop 62 will mop the floor. At this time, the dust, garbage, etc. in the area are especially cleaned To clean the floor, the mop 62 can basically achieve the effect of cleaning the floor at one time, avoiding the defects in the prior art, improving the efficiency of cleaning the special cleaning area, and improving the user experience.

In one of the embodiments, the mopping cloth 62 can be a planar mopping cloth or a rolling mopping cloth. The flat mop 62 can be bonded to the bottom surface of the lifting housing 61 .

In one of the embodiments, as shown in FIG. 5 , FIG. 7 and FIG. 11 , when the rolling mop 62 is bonded or wrapped around the drum 63 , the drum 63 is pivotably installed in the lifting housing 61 . A drum driving motor 64 is also installed in the lifting housing 61 , and the drum driving motor 64 is connected with the rotating shaft of the drum 63 through transmission. The drum driving motor 64 is connected to the processor 1 in communication, and the processor 1 controls the operation of the drum driving motor 64 . The drum driving motor 64 drives the drum 63 to drive the mop 62 to rotate, and the mop 62 slides and rotates relative to the ground, so the mopping effect is good.

In one of the embodiments, as shown in 6-7, a shock absorber 9 is connected between the lifting housing 61 and the main body 8 of the sweeper, and the shock absorber 9 can use a gas spring to play the role of shock absorber and buffer . When the lifting housing 61 descends, the shock absorbing buffer 9 extends; when the lifting housing 61 rises, the shock absorbing buffer 9 resets.

In one of the embodiments, as shown in 6-10, the top of the lifting housing 61 is provided with a hooking portion 65 .

The lifting drive assembly includes a slide rail 66 slidably connected to the sweeper main body 8, a slide rail drive motor 67 fixedly connected to the sweeper main body 8, a transmission rack 68 mounted on the slide rail 66 and a transmission gear meshed with the rack 68 69 , the transmission gear 69 is installed on the output shaft of the slide rail driving motor 67 , the slide rail driving motor 67 communicates with the processor 1 , and the processor 1 controls the operation of the slide rail driving motor 67 .

Wherein, the top surface of the slide rail 66 has a guide surface 661 for guiding the hooking portion 65 to go up and down. The guide surface 661 includes a first guide plane 6611, a guide slope 6662 and a second guide plane 6613 connected in sequence, and the second guide plane 6613 is high. on the first guide plane 6611.

The hooking portion 65 rides on the guiding surface 661 and can slide relative to the guiding surface 661 .

In this embodiment, more than one hooking portion 65 is provided on the top of the lifting housing 61, and the hooking portion 65 can be L-shaped or T-shaped.

The slide rail 66 is preferably arranged along the width direction of the sweeper body 8 , that is, the slide rail 66 is parallel to the centerline of the roller brush 51 or the roller 63 , and the slide rail 66 can slide along the left-right direction of the sweeper body 8 . The slide rail 66 and the main body 8 of the sweeper can be connected by a guide mechanism, and the guide mechanism can be a guide groove, a guide protruding rail and the like.

The top surface of the slide rail 66 has a guide surface 661, the hooking portion 65 rides on the guiding surface 661 and can slide relative to the guiding surface 661, the guiding surface 661 is used to guide the hooking portion 65 to lift and then drive the lifting housing 61 and the mop 62 lift.

The guide surface 661 includes a lower first guide plane 6611 and a higher second guide plane 6613 . The guiding slope 6662 is a transitional surface, which is connected between the first guiding plane 6611 and the second guiding plane 6613 .

If, in the initial state, the hooking portion 65 rides on the first guiding plane 6611, at this time the mop 62 is in a lowered state. After the slide rail driving motor 67 rotates in the forward direction and drives the slide rail 66 to move in the first direction through the transmission gear 69 and the transmission rack 68, the first guiding plane 6611 leaves the hooking part 65, and the hooking part 65 rides on the guiding slope 6662 Then the slide rail 66 continues to move, the guiding slope 6662 leaves the hooking portion 65, and the hooking portion 65 rests on the second guiding plane 6613. At this time, the mop 62 is in a raised state. When the slide rail driving motor 67 reversely rotates, the transmission gear 69 and the transmission rack 68 drive the slide rail 66 to move in a second direction opposite to the first direction, and the hooking portion 65 returns to rest on the first guiding plane 6611 .

In one embodiment, as shown in FIGS. 6-8 , there is a channel 662 in the middle of the guide surface 661 . The hooking portion 65 includes a connecting block 651 connected to the lifting housing 61 and an overlapping block 652 connected to the upper end of the connecting block 651 , the overlapping block 652 is connected to the connecting block 651 in a T-shape. The connecting block 651 passes through the channel 662 through gaps, and the two ends of the overlapping block 652 rest on the guiding surface 661 .

In this embodiment, there is a long and narrow passage 662 in the middle of the guide surface 661 , and there are a first guide plane 6611 , a guide slope 6662 and a second guide plane 6613 on the front and rear sides of the guide surface 662 . The connecting block 652 of the hooking portion 65 is connected with the connecting block 651 to form a T shape. During assembly, the connecting block 651 passes through the channel 662 through a gap and can slide relative to the channel 662, and the two ends of the overlapping block 652 rest on the guiding surface 661, which improves the stability of assembly.

In one of the embodiments, as shown in FIG. 10 , a roller 653 is pivotally mounted on the bottom of the overlapping block 652 , and the roller 653 is in contact with the guiding surface 661 , and the contact between the overlapping block 652 and the guiding surface 661 The sliding friction is changed to rolling friction, which reduces the frictional force between the overlapping block 652 and the guiding surface 661 .

A storage medium provided by an embodiment of the present invention stores computer instructions, and when the computer executes the computer instructions, it is used to execute all the steps of the sweeping machine control method. The storage medium can be internal memory, hard disk, ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions to make a terminal device (which can be a mobile phone, computer, server, or network equipment, etc.) execute the various embodiments of the present invention. Methods.

According to needs, the above technical solutions can be combined to achieve the best technical effect.

The above are only the principles and preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, on the basis of the principle of the present invention, several other modifications can also be made, which should also be regarded as the protection scope of the present invention.

Claims (10)

1. The control method of the sweeper is characterized by comprising the following steps:

a map building step, which comprises building an indoor cleaning area map, and marking a special cleaning area in the cleaning area map, wherein an area outside the special cleaning area in the cleaning area map is a common cleaning area;

and the indoor cleaning step comprises the step of executing a sweeping and mopping integrated mode in the common cleaning area, executing a single-sweeping mode in the special cleaning area, and executing the sweeping and mopping integrated mode after the preset condition is met.

2. The sweeper control method according to claim 1, characterized in that in the map-building step, it comprises: the floor sweeping machine walks indoors, acquires indoor identification information through a sensor and/or a camera, and forms a sweeping area map;

and in the walking recognition process of the sweeper, if the periphery and the upper part of the sweeper are recognized to have obstacles, judging that the sweeper is a special sweeping area.

3. The control method of a sweeper according to claim 2, characterized in that during the identification of the sweeper travel:

if the distance sensor and/or the camera recognize that the surrounding and upper parts of the sweeper are provided with barriers, and the photosensitive sensor detects that the brightness of the position where the sweeper is positioned is lower than a preset threshold value, the sweeper is judged to be a special sweeping area.

4. The sweeper control method according to claim 1, characterized in that in the map-building step, it comprises: and correcting the cleaning area map according to the acquired building house type map.

5. The sweeper control method according to claim 1, characterized in that in the indoor sweeping step, the preset conditions include: the performing the single scan mode is performed more than twice.

6. The sweeper control method according to claim 1, characterized in that in the indoor sweeping step, the preset conditions include: and shooting the floor of the special cleaning area by a camera, and judging that the floor meets the floor mopping standard.

7. The sweeper control method according to claim 1, characterized in that in the indoor sweeping step, it comprises:

monitoring a change in light intensity by a photosensitive sensor when the sweeper enters the special sweeping area from the ordinary sweeping area;

if the brightness of the light detected by the photosensitive sensor is low, and the brightness of the position of the sweeper is lower than a preset threshold value, executing a single sweeping mode, and executing a sweeping and mopping integrated mode after the preset condition is met.

8. The sweeper control method according to claim 1, characterized in that in the indoor sweeping step, it comprises:

querying a record of cleaning the particular cleaning area before the sweeper enters the particular cleaning area;

if the special cleaning area is within 2 days from the last cleaning, executing a sweeping and dragging integrated mode in the special cleaning area;

if the distance from the last time of cleaning the special cleaning area exceeds 3 days, a single-cleaning mode is executed first, and then a cleaning and mopping integrated mode is executed.

9. A sweeper, characterized in that it performs the sweeper control method according to any one of claims 1-8;

the floor sweeping machine comprises a processor, a storage, a sensor and/or a camera, a rolling brush mechanism and a lifting mop mechanism;

the storage, the sensor and/or the camera, the rolling brush mechanism and the lifting mop mechanism are respectively in communication connection with the processor;

when the sweeper is in a sweeping and mopping integrated mode, the rolling brush mechanism is in a working state, and the lifting mop mechanism is in a descending state;

when the sweeper is in a single sweeping mode, the rolling brush mechanism is in a working state, and the lifting mop mechanism is in a lifting state.

10. A storage medium storing computer instructions which, when executed by a computer, are adapted to carry out all the steps of the sweeper control method according to any one of claims 1 to 8.