CN117378967A - Detection device and method and cleaning equipment - Google Patents

Detection device and method and cleaning equipment Download PDF

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Publication number
CN117378967A
CN117378967A CN202311201756.8A CN202311201756A CN117378967A CN 117378967 A CN117378967 A CN 117378967A CN 202311201756 A CN202311201756 A CN 202311201756A CN 117378967 A CN117378967 A CN 117378967A
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CN
China
Prior art keywords
place
state
sensing
detected
circuit
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311201756.8A
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Chinese (zh)
Inventor
党亮
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Beijing Rockrobo Technology Co Ltd
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Beijing Rockrobo Technology Co Ltd
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Application filed by Beijing Rockrobo Technology Co Ltd filed Critical Beijing Rockrobo Technology Co Ltd
Priority to CN202311201756.8A priority Critical patent/CN117378967A/en
Publication of CN117378967A publication Critical patent/CN117378967A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A47L11/307—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having reciprocating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A47L11/4019—Fill level sensors; Security means to prevent overflow, e.g. float valves
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/24—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of resistance of resistors due to contact with conductor fluid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

The embodiment of the invention discloses a detection device, a detection method and cleaning equipment, wherein the detection device comprises an in-place detection circuit and at least one in-place sensing part, and the at least one in-place sensing part is connected with the in-place detection circuit; each in-place sensing part is provided with a first state that a part to be detected is in place and a second state that the part to be detected is not in place; the in-place detection circuit is used for generating different circuit parameters under the condition that at least one sensing part is switched from the second state to the first state, so that the current state of each in-place sensing part can be determined by utilizing the current circuit parameters of the in-place detection circuit, and then whether the part to be detected meets the preset condition or not is determined according to the current state of each in-place sensing part.

Description

Detection device and method and cleaning equipment
Technical Field
The invention relates to the field of in-place detection, in particular to a detection device and method and cleaning equipment.
Background
Along with the development of technology, in order to facilitate the life of people, various movable cleaning devices enter the life of people, such as a sweeping robot.
In the existing cleaning equipment, a detection device for detecting the states of various components is installed, for example, a part of the cleaning equipment is a detachable component, such as a dust box, a water tank and the like, and when a user reinstalls the detachable component after dismantling the component, the detection device detects whether the detachable component is installed in place; for the sewage tank in the cleaning equipment, a detection device is needed to detect whether sewage is filled or not so as to remind a user to clean the sewage tank; or the liquid level of the cleaning liquid in the cleaning tank is detected by the detection device, so that a user is reminded of injecting the cleaning liquid when the cleaning liquid in the clean water tank is insufficient.
However, the conventional detection device has a complicated structure and detection process, which is not only disadvantageous for manufacturing and mounting the detection device, but also has high cost.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In a first aspect, an embodiment of the present invention provides a detection apparatus, including an in-place detection circuit and at least one in-place sensing portion, where the at least one in-place sensing portion is connected to the in-place detection circuit;
each in-place sensing part is provided with a first state that a part to be detected is in place and a second state that the part to be detected is not in place; the in-place detection circuit is used for generating different circuit parameters under the condition that at least one sensing part is switched from the second state to the first state.
Optionally, the first state is a conductive state, the second state is an off state, and the circuit parameter includes a total impedance value of the in-place detection circuit.
Optionally, the in-place detection circuit includes resistors corresponding to at least one in-place sensing part, and resistance values of all the resistors are different from each other;
the first end of each in-place sensing part is connected with the first end of the corresponding resistor to form an in-place detection branch; the second ends of the in-place sensing parts of all the in-place detection branches are connected, and the second ends of the resistors of the in-place detection branches are connected.
Optionally, each in-place sensing part comprises a sensing assembly, and the part to be detected comprises a part main body and a trigger part arranged on the part main body; the sensing component is connected under the condition that the sensing component is triggered by the triggering part; or in case the triggering member is not triggered by the triggering portion, the sensing assembly is disconnected.
Optionally, the sensing component comprises a magnetic attraction component, the triggering part comprises a magnetic piece, and the magnetic attraction component is connected under the action of the magnetic field of the magnetic piece; or in the event that the magnetic field is removed, the magnetic attraction assembly is disconnected.
Optionally, the magnetic component comprises a first elastic metal sheet and a second elastic metal sheet which are arranged at intervals, and the first elastic metal sheet is at least partially positioned right above the second elastic metal sheet.
Optionally, the magnetic member is a permanent magnet.
In a second aspect, an embodiment of the present invention provides a cleaning apparatus, including a main body and the above-mentioned detection device. Optionally, the component to be tested is a dust box, a clean water tank or a cleaning head.
In a third aspect, an embodiment of the present invention provides a detection method, which is characterized in that the method includes:
acquiring current circuit parameters of the in-place detection circuit;
determining the current state of each in-place sensing part according to the current circuit parameters, wherein the current state of each in-place sensing part is a first state in which a part to be detected is in place or a second state in which the part to be detected is not in place;
and determining whether the to-be-detected component meets a preset condition according to the current state of each in-place sensing part.
Optionally, determining the state of each in-place sensing part according to the real-time circuit parameters includes:
acquiring a corresponding relation between preset circuit parameters and the state of each in-place sensing part;
comparing the current circuit parameter with a preset circuit parameter to find a target circuit parameter, wherein the target circuit parameter is the same as the current circuit parameter;
and determining the state of each in-place sensing part corresponding to the target circuit parameter as the current state of each in-place sensing part.
Optionally, the circuit parameter is a total impedance value of the in-place detection circuit, the first state is a conductive state, and the second state is an off state.
Optionally, the meeting the preset condition is that the part to be detected is installed in place or the liquid level inside the part to be detected reaches a preset liquid level.
According to the detection device, the detection method and the cleaning equipment provided by the embodiment of the invention, under the condition that at least one sensing part is switched from the second state of the part to be detected, which is not in place, to the first state of the part to be detected, different circuit parameters can be generated, so that the current state of each in-place sensing part can be determined by utilizing the current circuit parameters of the in-place detection circuit, and then whether the part to be detected meets the preset condition or not is determined according to the current state of each in-place sensing part.
Drawings
The following drawings of the present invention are included as part of the description of embodiments of the invention. The drawings illustrate embodiments of the invention and their description to explain the principles of the invention.
In the accompanying drawings:
in the accompanying drawings:
fig. 1 is a perspective view of a cleaning robot according to an alternative embodiment of the present invention;
FIG. 2 is a bottom view of a cleaning robot according to an alternative embodiment of the present invention;
FIG. 3 is a perspective view of a wet cleaning system according to an alternative embodiment of the present invention;
FIG. 4 is a circuit diagram of a detection device according to an alternative embodiment of the present invention;
FIG. 5 is a circuit diagram of a detection device according to another alternative embodiment of the present invention;
FIG. 6 is a flow chart of a detection method according to another alternative embodiment of the present invention;
fig. 7 is a flowchart of step S103 according to another alternative embodiment of the present invention.
Reference numerals illustrate:
10-cleaning robot; 110-fuselage; 111-forward portion; 112-a rearward portion; 120-perception system; 121-position determining means; 122-a buffer; 130-a control module; 140-a travelling mechanism; 150-cleaning system; 151-a dry cleaning system; 152-side brushing; 153-wet cleaning system; 160-energy system; 170-a human-computer interaction system; a 20-in-place sensing section; 210-a magnetic attraction assembly; 211-a first resilient metal sheet; 212-a second resilient metal sheet; 30-an in-place detection circuit; 310-in-place detection branch; 40-resistance; 50-triggering part.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.
In a first aspect, as shown in fig. 4 and 5, an embodiment of the present invention provides a detection device, including an in-place detection circuit 30 and at least one in-place sensing portion 20, where the at least one in-place sensing portion 20 is connected to the in-place detection circuit 30; wherein each in-place sensing part 20 has a first state in which the component to be detected is in place and a second state in which the component to be detected is not in place; the in-place detection circuit 30 is configured to generate different circuit parameters in case that at least one sensing portion is switched from the second state to the first state.
The number of in-place sensing parts 20 may be set according to the number of components to be detected, and the present embodiment is not strictly limited. In some embodiments, the in-place sensing part 20 is arranged on a mounting part that mounts the corresponding component to be detected to detect whether the corresponding component to be detected is mounted in place; while in other embodiments the in-place sensing portion 20 is disposed inside the part to be detected to detect the liquid level inside the part to be detected. Of course, the in-place sensing portion 20 may perform other types of detection, and the detection type of the in-place sensing portion 20 is not strictly limited.
In a specific application, the in-place detecting circuit 30 is configured to generate different circuit parameters when at least one sensing portion is switched from the second state to the first state, so that by acquiring the current circuit parameters of the in-place detecting circuit and the corresponding relation between the preset circuit parameters and the state of each in-place sensing portion 20; then comparing the current circuit parameter with a preset circuit parameter to find a target circuit parameter, wherein the target circuit parameter is the same as the current circuit parameter; and then the state of each in-place sensing part 20 corresponding to the target circuit parameters is determined as the current state of each in-place sensing part 20, and then whether the part to be detected meets the preset condition or not is determined according to the current state of each in-place sensing part 20, for example, the part to be detected is installed in place or the liquid level in the part to be detected (such as a sewage tank and a water purifying tank) is detected to reach the preset liquid level, so that the device can perform various detections through the change of the circuit parameters, the detection device has simple structure and detection process, the manufacturing and the installation of the detection device are facilitated, and the cost is reduced.
The corresponding relation between the preset circuit parameters and the state of each in-place sensing part 20 can be obtained by switching the states of the sensing components singly or in combination by the in-place detection circuit 30.
Specifically, the first state is a conductive state and the second state is an off state, and the circuit parameter includes a total impedance value, preferably a resistance value, of the in-place detection circuit 30.
The first state of the in-place sensing part 20 is a conductive state, that is, if the in-place sensing part 20 is in the conductive state, the corresponding part to be detected is in place, that is, the part to be detected meets the preset condition; if the in-place sensing part 20 is in the off state, it indicates that the corresponding part to be detected is not in place, that is, the part to be detected does not meet the preset condition, so that whether the corresponding part to be detected meets the preset condition can be determined by the different states of the in-place sensing part.
The circuit parameters comprise the total impedance value of the in-place detecting circuit 30, i.e. the different total impedance value is generated in case the at least one in-place sensing section 20 is switched from the first state to the second state, i.e. in case the at least one in-place sensing section 20 is switched from the off state to the conductive state, whereby the overall structure of the detecting device is simpler, easier to implement and also lower in cost.
Further, as shown in fig. 4 and 5, the in-place detecting circuit 30 includes resistors 40 corresponding to at least one in-place sensing portion 20, and the resistance values of all the resistors 40 are different from each other; the first end of each in-place sensing part 20 is connected with the first end of the corresponding resistor 40 to form an in-place detection branch 310; the second terminals of the in-place sensing parts 20 of all in-place detecting branches 310 are connected, and the second terminals of the resistors 40 of the in-place detecting branches 310 are connected.
As shown in fig. 4 and 5, the first end of the in-place sensing portion 20 is any end of the in-place sensing portion 20, and the second end of the in-place sensing portion 20 is an end opposite to the first end of the in-place sensing portion 20. The first end of resistor 40 is either end of resistor 40 and the second end of resistor 40 is the end opposite the first end of resistor 40.
The resistances 40 of all the in-place detecting branches 310 are different from each other, and the second ends of the in-place sensing portions 20 of all the in-place detecting branches 310 are connected, that is, the second ends of the resistances 40 of the in-place detecting branches 310 are connected, that is, the in-place detecting branches 310 are connected in parallel, so that the total resistances 40 of the in-place detecting circuits 30 are also different from each other when the corresponding in-place sensing portions 20 are shifted from the off state to the on state. The specific resistance value of each resistor 40 can be set by the staff, and the present embodiment is not limited strictly.
In this embodiment, the on-off of the corresponding in-place detection branch 310 can be controlled by the state of each in-place sensing portion 20, so that the total resistance 40 of the in-place detection circuit 30 can be changed.
Illustratively, three in-place detection branches 310 are exemplified, namely a first in-place detection branch, a second in-place detection branch, and a third in-place detection branch. The first in-place detection branch circuit comprises a first in-place sensing part and a first resistor connected with the first in-place sensing part, and the resistance value of the first resistor 40 is 1k omega; the second in-place detection branch circuit comprises a second in-place sensing part and a second resistor connected with the third in-place sensing part, and the resistance value of the second resistor is 2k omega; the third in-place detection branch circuit comprises a third in-place sensing part and a third resistor connected with the third in-place sensing part, and the resistance value of the third resistor is 4k omega. When the first in-place sensing part, the second in-place sensing part and the third in-place sensing part are all in an off state, no current exists in each detection branch, and therefore the total resistance of the in-place detection circuit is zero. And the total resistance value of the in-place detecting circuit 30 when at least one bit sensing portion is shifted from the off state to the conductive state can be seen in the following table.
In a specific application, the corresponding relation between the current total resistance value and the preset total resistance value of the in-place detection circuit 30 and the state of each in-place sensing part 20 is obtained (as in the table above), and then the target total resistance value is found and searched according to the comparison between the current total resistance value and the preset total resistance value, wherein the target circuit parameter is the same as the preset total resistance value of the current total resistance value; then, according to the state of each in-place sensing part 20 corresponding to the target total resistance value, the current state of each in-place sensing part 20 is determined, and then the current state of the in-place sensing part 20 corresponding to the part to be detected is searched, so that whether the part to be detected meets the preset condition can be determined, and the device can perform various detections through the change of circuit parameters, so that the detection device has simple structure and detection process, is beneficial to the manufacture and installation of the detection device, and reduces the cost.
In one example, the first in-place sensing part, the second in-place sensing part and the third in-place sensing part are all used for detecting the installation of the component in place, wherein the first in-place sensing part, the second in-place sensing part and the third in-place sensing part are installed on the installation parts of the corresponding parts to be detected. It is assumed that the to-be-detected component corresponding to the third in-place sensing part is installed under the condition that both the to-be-detected component corresponding to the first in-place sensing part and the to-be-detected component corresponding to the second in-place sensing part are in place. After the components to be detected corresponding to the third in-place sensing part are installed, if the current total resistance value of the detection circuit is 0.66k omega, the target total resistance value which is the same as the current total resistance value is found through the table, and then the states of the in-place sensing parts corresponding to the target total resistance value are obtained, namely the first in-place sensing part and the second in-place sensing part are in a conductive state, and the third in-place sensing part is in a disconnection state, so that it can be determined that the components to be detected corresponding to the third in-place sensing part 20 are not installed in place and need to be reinstalled. If the current total resistance value of the detection circuit is 0.57kΩ, the target total resistance value identical to the current total resistance value is found through the above table, and then the state of each in-place sensing portion corresponding to the target total resistance value is obtained, that is, the first in-place sensing portion, the second in-place sensing portion and the third in-place sensing portion are all in the conductive state, so that the to-be-detected component corresponding to the third in-place sensing portion can be determined to be installed in place.
In another example, the first in-place sensing portion and the second in-place sensing portion are used for sensing whether the liquid level in the corresponding to-be-detected component reaches the corresponding liquid level, and the third in-place sensing portion is used for component installation in-place detection, wherein the first in-place sensing portion and the second in-place sensing portion are installed at preset liquid levels in the corresponding to-be-detected component, the third in-place sensing portion is installed on the installation portion of the corresponding to-be-detected portion, and if the current total resistance value of the detection circuit is 0.57kΩ under the condition that the corresponding to-be-detected component is installed in place, the target total resistance value which is the same as the current total resistance value is found through the table, and then the state of each in-place sensing portion corresponding to the target total resistance value is obtained, namely, the first in-place sensing portion, the second in-place sensing portion and the third in-place sensing portion are all in the conductive state, and then the corresponding liquid levels in the corresponding to-be-detected component can be determined. If the current total resistance value of the detection circuit is 4kΩ, the target total resistance value identical to the current total resistance value is found through the above table, and then the state of each in-place sensing part corresponding to the target total resistance value is obtained, that is, the first in-place sensing part, the second in-place sensing part are in the disconnected state, and the third in-place sensing part is in the conductive state, then it can be determined that the liquid levels in the to-be-detected parts corresponding to the first in-place sensing part and the second in-place sensing part do not reach the corresponding preset liquid levels.
The preset liquid level in each part to be detected can be set by a worker, and the embodiment is not strictly limited.
In one implementation, the detection device is applied to a cleaning apparatus, which may be a sweeping robot 10, a mopping robot, a floor polishing robot, or a weeding robot. For convenience of description, the present embodiment describes the technical solution of the present disclosure taking the sweeping robot 10 as an example.
Further, as shown in fig. 1 and 2, the sweeping robot 10 may include a body 110, a sensing module 120, a controller, a driving module, a cleaning system 150, an energy system, and a man-machine interaction module 130. As shown in fig. 1, the body 110 includes a forward portion 111 and a backward portion 112, and has an approximately circular shape (both front and rear are circular), but may have other shapes, including, but not limited to, an approximately D-shape with a front and rear circle, and a rectangular or square shape with a front and rear.
As shown in fig. 1, the sensing module 120 includes a position determining device 121 located on the body 110, a collision sensor located on a front collision structure 122 of a forward portion 111 of the body 110, a proximity sensor (wall sensor) located at a side of the machine, a carpet detecting device located at a lower portion of the body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, an odometer, etc. located inside the body 110, for providing various position information and movement state information of the machine to the controller. The position determining device 121 includes, but is not limited to, a camera, a laser ranging device (LDS, full scale Laser Distance Sensor). In some preferred implementations, the position determining device 121 (e.g., camera, laser sensor) is located on the front side of the body 110, i.e., the forward-most end of the forward portion 111, to enable more accurate sensing of the environment in front of the cleaning robot for accurate positioning.
As shown in fig. 1, the forward portion 111 of the body 110 may carry a front impact structure 122, and the front impact structure 122 detects one or more events in the travel path of the cleaning robot 10 via a sensor system, such as a collision sensor or a proximity sensor (infrared sensor), provided thereon as the driving wheel module 141 advances the cleaning robot 10 to travel on the floor during cleaning, and the cleaning robot 10 may control the driving module to cause the cleaning robot 10 to respond to the events, such as performing obstacle avoidance operations away from the obstacle, etc., by the events detected by the front impact structure 122, such as an obstacle, a wall, etc.
The controller is disposed on a circuit board in the main body 110, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, and an application processor, and the application processor draws an instant map of the environment in which the cleaning robot 10 is located according to the obstacle information fed back by the laser ranging device by using a positioning algorithm, such as an instant localization and mapping (SLAM, full name Simultaneous Localization And Mapping). And comprehensively judging what working state and position the cleaning robot 10 is currently in by combining distance information and speed information fed back by the sensor devices such as the sensor device, the carpet detection device, the magnetometer, the accelerometer, the gyroscope and the odometer arranged on the front collision structure 122, and the current pose of the cleaning robot 10, such as threshold, carpet, full dust box, being picked up and the like, and further giving specific next action strategies according to different conditions, so that the cleaning robot 10 has better cleaning performance and user experience.
As shown in fig. 2, the drive module may maneuver the fuselage 110 to travel across the ground based on the drive commands with distance and angle information. The drive modules comprise a main drive wheel module which can control the left wheel 140 and the right wheel 141, preferably comprising a left drive wheel module and a right drive wheel module, respectively, in order to control the movement of the machine more accurately. The left and right drive wheel modules are disposed along a transverse axis defined by the fuselage 110. In order for the cleaning robot 10 to be able to move more stably or with greater motion capabilities on the floor, the cleaning robot 10 may include one or more driven wheels 142, the driven wheels 142 including, but not limited to, universal wheels. The main driving wheel module comprises a driving motor and a control circuit for controlling the driving motor, and the main driving wheel module can be connected with a circuit for measuring driving current and an odometer. And the left wheel 140 and right wheel 141 may have offset drop down suspension systems movably secured, e.g., rotatably attached, to the fuselage 110 and receiving spring biases biased downward and away from the fuselage 110. The spring bias allows the drive wheel to maintain contact and traction with the floor with a certain footprint while the cleaning elements of the cleaning robot 10 also contact the floor with a certain pressure.
The energy system includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the singlechip control circuit. The main unit is connected with the charging pile through a charging electrode 160 arranged at the side or the lower part of the main body for charging.
The man-machine interaction module 130 comprises keys on the panel of the host machine, wherein the keys are used for the user to select functions; the system also comprises a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the mode or the function selection item of the current machine to a user; a cell phone client program may also be included. For the path navigation type automatic cleaning robot 10, a map of the environment where the equipment is located and the position where the robot is located can be displayed to the user at the mobile phone client, and more abundant and humanized functional items can be provided for the user. Specifically, the cleaning robot has various modes such as a work mode, a self-cleaning mode, and the like. The working mode refers to a mode in which the cleaning robot performs an automatic cleaning operation, and the self-cleaning mode refers to a mode in which the cleaning robot removes dirt on the rolling brush and the side brush 152 on the base and automatically collects the dirt and/or automatically cleans and dries a mop.
Cleaning system 150 may be a dry cleaning system 151 and/or a wet cleaning system 153.
As shown in fig. 2, the dry cleaning system 151 provided by the embodiments of the present disclosure may include a roller brush, a dust box, a blower, and an air outlet. The rolling brush with certain interference with the ground sweeps up the garbage on the ground and winds up the garbage in front of the dust collection opening between the rolling brush and the dust box, and then the dust box is sucked by the suction gas generated by the fan and passing through the dust box. The dry cleaning system 151 may also include a side brush 152 having a rotational axis that is angled relative to the floor for moving debris into the roller brush area of the cleaning system 150.
As shown in fig. 2 and 3, a wet cleaning system 153 provided by an embodiment of the present disclosure may include: a cleaning head 1531, a driving unit 1532, a water feeding mechanism, a fresh water tank, a foul water tank, etc. The cleaning head 1531 may be disposed below the clean water tank, and the cleaning liquid in the clean water tank is transferred to the cleaning head 1531 through the water supply mechanism, so that the cleaning head 1531 performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the clean water tank may also be sprayed directly onto the surface to be cleaned, and the cleaning head 1531 may perform cleaning of the surface by applying the cleaning liquid uniformly. And the residual sewage can be sucked into the sewage tank by the fan.
Wherein the cleaning head 1531 is for cleaning a surface to be cleaned, and the driving unit 1532 is for driving the cleaning head 1531 to substantially reciprocate along a target surface, which is a part of the surface to be cleaned. The cleaning head 1531 reciprocates along the surface to be cleaned, a mop is arranged on the contact surface of the cleaning head 1531 and the surface to be cleaned, and the mop of the cleaning head 1531 is driven by the driving unit 1532 to reciprocate to generate high-frequency friction with the surface to be cleaned, so that stains on the surface to be cleaned are removed; or the mop may be floatably arranged to remain in contact with the cleaning surface throughout the cleaning process without the drive unit 1532 driving its reciprocating movement.
As shown in fig. 3, the driving unit 1532 may further include a driving platform 1533 and a supporting platform 1534, the driving platform 1533 is connected to the bottom surface of the main body 110 for providing driving force, the supporting platform 1534 is detachably connected to the driving platform 1533 for supporting the cleaning head 1531, and lifting may be implemented under the driving of the driving platform 1533.
The wet cleaning system 153 may be connected to the main body 110 through an active lifting module. When the wet cleaning system 153 is temporarily not engaged, the wet cleaning system 153 is lifted by the active lifting module.
For the robot cleaner, the dust box, the clean water tank, the sewage tank and the cleaning head are detachable parts, and the clean water tank and the sewage tank need to detect the liquid level inside the robot cleaner, so that the number of the in-place sensing parts 20 is the same as the number detected, that is, the in-place sensing parts 20 for detecting whether the liquid level reaches the corresponding preset liquid level are arranged on the dust box, the clean water tank, the sewage tank and the cleaning head, and the in-place sensing parts 20 for detecting whether the liquid level reaches the corresponding preset liquid level are also arranged in the clean water tank and the sewage tank.
The specific detection process can be referred to the above embodiments, and will not be described herein.
It will be appreciated that the structure and connection of the dust box, clean water tank and cleaning head to the corresponding mounting portion may be of any conventional structure and connection, and the embodiment is not limited to this.
In this embodiment, multiple types of detection can be performed by the total impedance value of the in-place detection circuit 30, so that the complexity of detection is reduced, the detection efficiency is improved, the detection accuracy is also improved, the circuit is simple, the implementation is easy, and the cost is also reduced.
Specifically, as shown in fig. 4 and 5, each in-place sensing part 20 includes a sensing assembly, and the component to be detected includes a component main body and a trigger part 50 disposed on the component main body; the sensing assembly is connected in the case of being triggered by the triggering portion 50; or in the event that the trigger 50 is not triggered by the trigger 50, the sensing assembly is disconnected.
When the to-be-detected part is required to be installed in place for detection, the trigger part 50 is arranged at a position on the to-be-detected part corresponding to the in-place sensing part 20 when the to-be-detected part is installed in place.
The connection relationship between the component to be detected and the trigger portion 50 may be an existing connection relationship, for example, adhesion or welding, and the connection relationship between the component to be detected and the trigger portion is not strictly limited in this embodiment.
Specifically, when the component to be detected is in place, the triggering part 50 on the component to be detected triggers the sensing assembly, so that the sensing assembly is connected, that is, the in-place sensing part 20 is in a conductive state, and when the component to be detected is not in place, the triggering part 50 on the component to be detected does not trigger the sensing assembly, and the sensing assembly is disconnected, so that the in-place sensing part 20 is in a disconnected state.
When the liquid level of the portion to be detected is to be detected, the triggering portion 50 is arranged inside the portion to be detected, the triggering portion 50 can be lifted by the buoyancy of the liquid, when the height of the triggering portion 50 reaches the height of the in-place sensing portion 20 (namely, the preset liquid level), the in-place sensing portion 20 is triggered, namely, the in-place sensing portion 20 is in a conductive state, and when the height of the triggering portion 50 does not reach the height of the in-place sensing portion 20 (and the preset liquid level), the triggering portion 50 does not trigger the sensing component, and the sensing component is disconnected, so that the in-place sensing portion 20 is in a disconnected state.
Specifically, as shown in fig. 4 and 5, the sensing assembly includes a magnetic attraction assembly 210, the triggering portion 50 includes a magnetic member, and the magnetic attraction assembly 210 is connected under the action of the magnetic field of the magnetic member; or in the event of a field cancellation, the magnetic attraction assembly 210 is turned off.
Whether the triggering part 50 applies acting force to the sensing component or not is realized through the matching of the magnetic attraction piece to the magnetic piece, the structures of the triggering part 50 and the sensing component can be simplified, the manufacturing is easy, and the cost is reduced.
Further, as shown in fig. 4 and 5, the magnetic assembly 210 includes a first elastic metal sheet 211 and a second elastic metal sheet 212 disposed at intervals, and the first elastic metal sheet 211 is at least partially located directly above the second elastic metal sheet 212.
The first elastic metal sheet 211 and the second elastic metal sheet 212 may be thin sheets made of metal such as iron.
The first elastic metal sheet 211 and the second elastic metal sheet 212 are arranged at intervals, so that when the magnetic field of the magnetic piece is not received, that is, when the component to be detected is not in place, the first elastic metal sheet 211 and the second elastic metal sheet 212 are disconnected, and the sensing assembly is in a disconnected state, that is, the in-place sensing part 20 is in a disconnected state. When the first elastic metal sheet 211 and the second elastic metal sheet 212 are subjected to the magnetic field of the magnetic member, that is, when the component to be detected is in place, the overlapped portion of the first elastic metal sheet 211 and the second elastic metal sheet 212 is in contact, so that the sensing assembly is in a conductive state.
The magnetic assembly 210 in this embodiment has the advantages of small volume, light weight, corrosion resistance, wear resistance, and long service life.
Specifically, the magnetic member is a permanent magnet.
The permanent magnet has the advantages of simple structure, easy installation, low cost and low energy consumption.
In a second aspect, an embodiment of the present invention provides a cleaning apparatus, including a main body and the above-mentioned detecting device
Optionally, the part to be detected is one or more of a dust box, a clean water tank, a sewage tank or a cleaning head.
It should be noted that, the implementation and the working principle of the cleaning device in this embodiment may be referred to the corresponding content in the foregoing embodiment, which is not repeated herein.
In a third aspect, as shown in fig. 4 to 6, an embodiment of the present invention provides a detection method, which is characterized by including:
step S101: current circuit parameters of the bit detection circuit 30 are obtained.
Step S102: the current state of each in-place sensing part 20 is determined according to the current circuit parameters, and the current state of each in-place sensing part 20 is a first state in which the component to be detected is in place or a second state in which the component to be detected is not in place.
Step S103: it is determined whether the component to be detected satisfies a preset condition according to the current state of each in-place sensing part 20.
Wherein the preset condition is satisfied when the part to be detected is installed in place or the liquid level inside the part to be detected reaches the preset liquid level
Specifically, in the above embodiment, as shown in fig. 7, step S103 includes:
step S1031: acquiring the corresponding relation between the preset circuit parameters and the state of each in-place sensing part 20;
step S1032: comparing the current circuit parameter with a preset circuit parameter, and finding a target circuit parameter, wherein the target circuit parameter is the same as the current circuit parameter;
step S1033: the state of each in-place sensing section 20 corresponding to the target circuit parameter is determined as the current state of each in-place sensing section 20.
Specifically, the circuit parameter is the total impedance value of the in-place detection circuit 30, the first state is the conductive state, and the second state is the off state.
It should be noted that, the implementation and working principle of the detection method in this embodiment may refer to the corresponding content in the foregoing embodiment, and will not be described herein again.
The present invention has been illustrated by the above-described embodiments, but it should be understood that the above-described embodiments are for purposes of illustration and description only and are not intended to limit the invention to the embodiments described. In addition, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications are possible in light of the teachings of the invention, which variations and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (13)

1. The detection device is characterized by comprising an in-place detection circuit and at least one in-place sensing part, wherein the at least one in-place sensing part is connected with the in-place detection circuit;
each in-place sensing part is provided with a first state that a part to be detected is in place and a second state that the part to be detected is not in place; the in-place detection circuit is used for generating different circuit parameters under the condition that at least one sensing part is switched from the second state to the first state.
2. The device of claim 1, wherein the first state is a conductive state and the second state is an off state, and the circuit parameter comprises a total impedance value of the in-place detection circuit.
3. The detecting device according to claim 2, wherein the in-place detecting circuit includes resistors corresponding to at least one of the in-place sensing portions, all of the resistors having different resistance values from each other;
the first end of each in-place sensing part is connected with the first end of the corresponding resistor to form an in-place detection branch; the second ends of the in-place sensing parts of all the in-place detection branches are connected, and the second ends of the resistors of the in-place detection branches are connected.
4. The device according to claim 1, wherein each of the in-place sensing parts comprises a sensing assembly, the part to be detected comprises a part main body and a trigger part arranged on the part main body;
the sensing component is connected under the condition that the sensing component is triggered by the triggering part; or in case the triggering member is not triggered by the triggering portion, the sensing assembly is disconnected.
5. The detection device of claim 4, wherein the sensing assembly comprises a magnetic attraction assembly, the trigger portion comprising a magnetic member, the magnetic attraction assembly being connected when subjected to a magnetic field of the magnetic member; or in the event that the magnetic field is removed, the magnetic attraction assembly is disconnected.
6. The device of claim 5, wherein the magnetic assembly comprises a first resilient metal sheet and a second resilient metal sheet disposed in spaced relation, the first resilient metal sheet being disposed at least partially opposite the second resilient metal sheet.
7. The detection device of claim 6, wherein the magnetic member is a permanent magnet.
8. A cleaning appliance comprising a body and a detection device as claimed in any one of claims 1 to 7.
9. The cleaning apparatus of claim 8, wherein the component to be tested is one or more of a dust box, a clean water tank, a dirty water tank, or a cleaning head.
10. A method of detection comprising:
acquiring current circuit parameters of the in-place detection circuit;
determining the current state of each in-place sensing part according to the current circuit parameters, wherein the current state of each in-place sensing part is a first state in which a part to be detected is in place or a second state in which the part to be detected is not in place;
and determining whether the component to be detected meets a preset condition according to the current state of each in-place sensing part.
11. The method of claim 10, wherein determining the status of each in-place sensing portion based on the current circuit parameter comprises:
acquiring a corresponding relation between preset circuit parameters and the state of each in-place sensing part;
comparing the current circuit parameter with a preset circuit parameter to find a target circuit parameter, wherein the target circuit parameter is the same as the current circuit parameter;
and determining the state of each in-place sensing part corresponding to the target circuit parameter as the current state of each in-place sensing part.
12. The method of claim 10, wherein the circuit parameter is a total impedance value of the in-place detection circuit, the first state is a conductive state, and the second state is an off state.
13. The method of claim 10, wherein the satisfaction of the preset condition is that the portion to be detected is triggered, including that the portion to be detected is installed in place or that the in-place sensing portion reaches a preset position.
CN202311201756.8A 2023-09-18 2023-09-18 Detection device and method and cleaning equipment Pending CN117378967A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311201756.8A CN117378967A (en) 2023-09-18 2023-09-18 Detection device and method and cleaning equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311201756.8A CN117378967A (en) 2023-09-18 2023-09-18 Detection device and method and cleaning equipment

Publications (1)

Publication Number Publication Date
CN117378967A true CN117378967A (en) 2024-01-12

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311201756.8A Pending CN117378967A (en) 2023-09-18 2023-09-18 Detection device and method and cleaning equipment

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Country Link
CN (1) CN117378967A (en)

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