CN206403708U - Clean robot - Google Patents

Clean robot Download PDF

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Publication number
CN206403708U
CN206403708U CN201621027991.3U CN201621027991U CN206403708U CN 206403708 U CN206403708 U CN 206403708U CN 201621027991 U CN201621027991 U CN 201621027991U CN 206403708 U CN206403708 U CN 206403708U
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China
Prior art keywords
clean robot
sensor
cleaning assemblies
robot
control unit
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CN201621027991.3U
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Chinese (zh)
Inventor
彭中美
岳鹏飞
吴永东
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Ecovacs Robotics Suzhou Co Ltd
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Ecovacs Robotics Suzhou Co Ltd
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Abstract

A kind of clean robot, including robot body (100), robot body bottom is provided with dismountable cleaning assemblies, sensing unit and control unit are additionally provided with the robot body, the sensing unit includes cleaning assemblies sensor (101) and ground medium sensor (102), described control unit performs corresponding operational mode according to cleaning assemblies sensor and the detection signal of ground medium sensor, control clean robot.The utility model utilization can detect the ground medium sensor of ground medium, the ground medium information fed back is combined with the cleaning assemblies information of clean robot, make rational planning for action, wide usage of the cleaning assemblies in multimedium floor cleaning is solved the problems, such as, especially prevents carpet from being damaged by clean robot.

Description

Clean robot
Technical field
The utility model is related to a kind of clean robot, belongs to small household appliances manufacturing technology field.
Background technology
Existing Intelligent robot for sweeping floor can be cleaned to ground automatically in the case where nobody looks after on the market, and And with a variety of functions, for example can spraying-rinsing floor sweeping robot, or the sweeping robot with wet wipe floor Deng.However, can have floor and carpet simultaneously in many home environments, the machine of sweeping the floor for the function that mopped floor with cleaning or rag People, it is very good to cleaning floor, but if when being worked on carpet, but carpet can be got wet or be made dirty.Therefore, such as What makes sweeping robot be applied to different home environments, as one of those skilled in the art's urgent problem.
Utility model content
Technical problem to be solved in the utility model is that there is provided a kind of cleaning machine in view of the shortcomings of the prior art People, utilization can detect the ground medium sensor of ground medium, the ground medium information that is fed back and clean robot Cleaning assemblies information is combined, and action of making rational planning for solves the problems, such as wide usage of the cleaning assemblies in multimedium floor cleaning, especially Prevent carpet from being damaged by clean robot.
Technical problem to be solved in the utility model is achieved by the following technical solution:
A kind of clean robot, including robot body, robot body bottom are provided with dismountable cleaning assemblies, described Sensing unit and control unit are additionally provided with robot body, the sensing unit includes cleaning assemblies sensor and ground medium Sensor, described control unit controls cleaning machine according to cleaning assemblies sensor and the detection signal of ground medium sensor People performs corresponding operational mode.
Preferably, the operational mode judges what ground medium sensor was sent comprising walking mode, control unit is avoided Detection signal is carpet signal, while when control unit judges the detection signal of cleaning assemblies sensor transmission for rag signal, Control unit control clean robot, which enters, avoids walking mode.
Preferably, the operational mode includes the walking mode that mops floor, and control unit judges what ground medium sensor was sent It is ground partitioned signal to detect signal, while when judging the detection signal of cleaning assemblies sensor transmission for rag signal, control unit Control clean robot enters the walking mode that mops floor.
Preferably, the operational mode includes carpet cleaning mode, and control unit judges what ground medium sensor was sent Detection signal is carpet signal, while when the detection signal of cleaning assemblies sensor transmission is without rag signal, control unit control Clean robot enters carpet cleaning mode.
Preferably, the sensing unit also includes environmental sensor, and the environmental sensor is used to recognize clean robot The region landform on periphery that works and/or the position of determination clean robot, and the detection signal of environmental sensor is sent to control Unit processed.
Preferably, using the direction of travel of clean robot as front, the ground medium sensor is arranged on robot master Body front end, cleaning assemblies is arranged on the rear of ground medium sensor.
In summary, the utility model utilization can recognize the ground medium sensor of ground medium, the ground fed back Face medium information is combined with the cleaning assemblies information of clean robot, action of making rational planning for, and solves cleaning assemblies in multimedium The wide usage problem of floor cleaning, especially prevents carpet from being damaged by clean robot.
Below in conjunction with the accompanying drawings and specific embodiment, the technical solution of the utility model is described in detail.
Brief description of the drawings
Fig. 1 is the structure top view of the utility model clean robot;
Fig. 2 is that cleaning assemblies includes the sectional view of clean robot during rag;
Fig. 3 be cleaning assemblies without rag when clean robot sectional view.
Embodiment
Fig. 1 is the structure top view of the utility model clean robot;Fig. 2 is that cleaning assemblies includes cleaning machine during rag The sectional view of people;Fig. 3 be cleaning assemblies without rag when clean robot sectional view.As shown in Figure 1 to Figure 3, the utility model A kind of clean robot, including robot body 100 are provided, the bottom of robot body 100 is provided with dismountable cleaning assemblies, no Same cleaning assemblies can help clean robot to complete different cleanings, and the cleaning assemblies can for example include rag 200th, nozzle etc..
The robot body 100 is described to drive provided with driver element, vacuum unit, sensing unit and control unit etc. Moving cell is used to drive clean robot to walk, and vacuum unit is used to produce suction, and sensing unit is used to detect clean robot The state and working environment of itself, control unit are used to control clean robot to work.Clean robot leads in the utility model Cross vacuum unit and produce suction, to suck the dust on surface to be cleaned, dust enters collection device.
The driver element includes motor and the driving wheel driven by motor.Sensing unit includes cleaning assemblies Sensor 101, control unit is sent to for detecting cleaning assemblies whether is provided with clean robot, and by detection signal.Such as Whether it is prior art provided with cleaning assemblies on what detection clean robot, for details, reference can be made in Patent No. CN101297267B Disclosed technical scheme, will not be repeated here.Sensing unit also includes ground medium sensor 102, for detecting ground medium Type, its can tell on ground whether there is carpet, and will detection signal be sent to control unit.The ground medium The specific method of sensor detection carpet can be found in Patent No. Unexamined Patent 7-313418 Japan Patent, will not be repeated here. Using the direction of travel of clean robot as front, the ground medium sensor 102 is preferably located on robot body front end, Cleaning assemblies is arranged on the rear of ground medium sensor 102.Specifically, the ground medium sensor 102 be arranged on it is described The front side of driving wheel.
Further, the sensing unit can also include environmental sensor, and the environmental sensor can detect cleaning The region landform on robot work periphery and/or the position for determining clean robot, so as to draw out working map, and by the ring The detection signal of border sensor is sent to control unit, helps clean robot programme path or working method.So as to enter one Step lifting operating efficiency.
The detection signal of control unit receiving sensing unit described in the utility model, according to cleaning assemblies sensor 101 With the detection signal of ground medium sensor 102, control clean robot performs corresponding operational mode.
The operational mode includes the walking mode that mops floor, and control unit judges the detection that ground medium sensor 102 is sent Signal is ground partitioned signal, and when control unit judges the detection signal of the transmission of cleaning assemblies sensor 101 for rag signal, control is single Member control clean robot enters the walking mode that mops floor.
The operational mode includes carpet cleaning mode, and control unit judges the detection that ground medium sensor 102 is sent Signal is carpet signal, and when control unit judges the detection signal of the transmission of cleaning assemblies sensor 101 without rag signal, control is single Member control clean robot enters carpet cleaning mode.
The operational mode judges the detection that ground medium sensor 102 is sent comprising walking mode, control unit is avoided Signal is carpet signal, while when control unit judges the detection signal of the transmission of cleaning assemblies sensor 101 for rag signal, control Unit control clean robot processed, which enters, avoids walking mode.
For example, clean robot bottom, which is provided with suction inlet, suction inlet, is provided with round brush, under carpet cleaning mode, improves Power of motor, or reduce the height of suction inlet etc..
Specifically, in the utility model, when the type of ground medium is mismatched with cleaning assemblies, control unit control Clean robot, which enters, avoids walking mode, so as to prevent clean robot from damaging ground medium.There is ground for example, working as on ground Blanket, when clean robot is provided with cleaning assemblies such as rag 200 and/or nozzle, carpet can be made or be got wet to this kind of cleaning assemblies dirty, I.e. the type of ground medium is mismatched with cleaning assemblies, the alarm of now control unit control clean robot or avoidance;Work as cleaning When the cleaning assemblies not being installed in robot, no matter whether there is carpet on ground, clean robot is all by former walking mode Walking.You need to add is that, clean robot alarm can be realized by the warning device being arranged on clean robot, described Warning device can send sound or light;The avoidance walking mode is that clean robot is retreated or turned to etc. and keeps away Turn up the soil the action of blanket;The former walking mode is by cleaning assemblies sensor 101 and the detection signal of ground medium sensor 102 Clean robot walking mode under the control unit control of influence, i.e. the walking cleaning of traditional clean robot in the prior art Pattern, its walk cleaning when control unit will not comprehensive descision cleaning assemblies sensor 101 and ground medium sensor 102 inspection Signal is surveyed, also clean robot can not be controlled according to the detection signal of cleaning assemblies sensor 101 and ground medium sensor 102 Action, above-mentioned former walking mode is prior art, be will not be repeated here.
The control method of clean robot is as follows in the utility model:
Step 10:Clean robot performs cleaning, and ground medium sensor 102 detects the type of ground medium, clearly Whether the clean detection of component sensors 101 robot body installs the cleaning assemblies, and detection signal is sent into control unit;
Step 20:The detection signal of ground medium sensor 102 is carpet signal, and cleaning assemblies sensor 101 When detecting that signal includes rag 200 and/or nozzle signal, control unit enters according to detection signal control clean robot to be avoided Walking mode.
In summary, the utility model provides a kind of clean robot, and utilization can detect the ground medium of ground medium Sensor, the ground medium information fed back is combined with the cleaning assemblies information of clean robot, action of making rational planning for, and is solved Wide usage problem of the cleaning assemblies in multimedium floor cleaning, especially prevents carpet from being damaged by clean robot;Meanwhile, The sweeping robot of environmental sensor is installed additional, floor cleaning will be made highly efficient.

Claims (6)

1. a kind of clean robot, including robot body (100), robot body bottom are provided with dismountable cleaning assemblies, Characterized in that, being additionally provided with sensing unit and control unit on the robot body, the sensing unit includes cleaning assemblies Sensor (101) and ground medium sensor (102), described control unit are sensed according to cleaning assemblies sensor and ground medium The detection signal of device, control clean robot performs corresponding operational mode.
2. clean robot as claimed in claim 1, it is characterised in that the operational mode is controlled comprising walking mode is avoided The detection signal that unit judges ground processed medium sensor (102) is sent is carpet signal, while control unit judges cleaning group When the detection signal that part sensor (101) is sent is rag signal, control unit control clean robot, which enters, avoids walking mould Formula.
3. clean robot as claimed in claim 1, it is characterised in that the operational mode includes the walking mode that mops floor, control The detection signal that unit judges ground processed medium sensor (102) is sent is ground partitioned signal, while judging cleaning assemblies sensor (101) when the detection signal sent is rag signal, control unit control clean robot enters the walking mode that mops floor.
4. clean robot as claimed in claim 1, it is characterised in that the operational mode includes carpet cleaning mode, control The detection signal that unit judges ground processed medium sensor (102) is sent is carpet signal, while cleaning assemblies sensor (101) When the detection signal of transmission is without rag signal, control unit control clean robot enters carpet cleaning mode.
5. clean robot as claimed in claim 1, it is characterised in that the sensing unit also includes environmental sensor, institute Stating environmental sensor is used for the region landform for recognizing clean robot work periphery and/or the position for determining clean robot, and The detection signal of environmental sensor is sent to control unit.
6. clean robot as claimed in claim 1, it is characterised in that using the direction of travel of clean robot as front, institute State ground medium sensor (102) and be arranged on robot body (100) front end, cleaning assemblies is arranged on ground medium sensor Rear.
CN201621027991.3U 2016-08-31 2016-08-31 Clean robot Active CN206403708U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621027991.3U CN206403708U (en) 2016-08-31 2016-08-31 Clean robot

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Application Number Priority Date Filing Date Title
CN201621027991.3U CN206403708U (en) 2016-08-31 2016-08-31 Clean robot

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Publication Number Publication Date
CN206403708U true CN206403708U (en) 2017-08-15

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018041191A1 (en) * 2016-08-31 2018-03-08 科沃斯机器人股份有限公司 Cleaning robot and control method therefor
CN108514381A (en) * 2018-03-14 2018-09-11 深圳市沃特沃德股份有限公司 Method, apparatus of sweeping the floor and sweeping robot
WO2019061399A1 (en) * 2017-09-30 2019-04-04 深圳拓邦股份有限公司 Floor identification device, and cleaning apparatus
WO2020103835A1 (en) * 2018-11-19 2020-05-28 上海楠木机器人科技有限公司 Robot cleaner and automatic cleaning method
US10925447B2 (en) 2017-03-10 2021-02-23 Sharkninja Operating Llc Agitator with debrider and hair removal
CN112493924A (en) * 2019-08-26 2021-03-16 苏州宝时得电动工具有限公司 Cleaning robot and control method thereof
US11202542B2 (en) 2017-05-25 2021-12-21 Sharkninja Operating Llc Robotic cleaner with dual cleaning rollers
CN114340464A (en) * 2019-07-31 2022-04-12 Lg电子株式会社 Mobile robot and control method thereof
WO2022170714A1 (en) * 2021-02-10 2022-08-18 北京石头创新科技有限公司 Cleaning robot escape method and apparatus, medium, and electronic device

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107788913A (en) * 2016-08-31 2018-03-13 科沃斯机器人股份有限公司 Clean robot and its control method
WO2018041191A1 (en) * 2016-08-31 2018-03-08 科沃斯机器人股份有限公司 Cleaning robot and control method therefor
US10925447B2 (en) 2017-03-10 2021-02-23 Sharkninja Operating Llc Agitator with debrider and hair removal
US11925303B2 (en) 2017-03-10 2024-03-12 Sharkninja Operating Llc Agitator with debrider and hair removal
US11839346B2 (en) 2017-05-25 2023-12-12 Sharkninja Operating Llc Robotic cleaner with dual cleaning rollers
US11202542B2 (en) 2017-05-25 2021-12-21 Sharkninja Operating Llc Robotic cleaner with dual cleaning rollers
WO2019061399A1 (en) * 2017-09-30 2019-04-04 深圳拓邦股份有限公司 Floor identification device, and cleaning apparatus
WO2019174084A1 (en) * 2018-03-14 2019-09-19 深圳市沃特沃德股份有限公司 Sweeping method and apparatus, and sweeping robot
CN108514381A (en) * 2018-03-14 2018-09-11 深圳市沃特沃德股份有限公司 Method, apparatus of sweeping the floor and sweeping robot
WO2020103835A1 (en) * 2018-11-19 2020-05-28 上海楠木机器人科技有限公司 Robot cleaner and automatic cleaning method
CN114340464A (en) * 2019-07-31 2022-04-12 Lg电子株式会社 Mobile robot and control method thereof
US11625039B2 (en) 2019-07-31 2023-04-11 Lg Electronics Inc. Moving robot and control method thereof
CN112493924A (en) * 2019-08-26 2021-03-16 苏州宝时得电动工具有限公司 Cleaning robot and control method thereof
CN112493924B (en) * 2019-08-26 2023-03-10 苏州宝时得电动工具有限公司 Cleaning robot and control method thereof
WO2022170714A1 (en) * 2021-02-10 2022-08-18 北京石头创新科技有限公司 Cleaning robot escape method and apparatus, medium, and electronic device

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