CN210931181U

CN210931181U - Cleaning robot

Info

Publication number: CN210931181U
Application number: CN201921471236.8U
Authority: CN
Inventors: 牛延升; 丛一鸣
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Stone Innovation Technology Co ltd
Priority date: 2019-09-05
Filing date: 2019-09-05
Publication date: 2020-07-07
Anticipated expiration: 2029-09-05

Abstract

The disclosed embodiment provides a cleaning robot, including: a chassis; a fluid applicator carried on the chassis for dispensing cleaning fluid across at least a portion of the cleaning width; a fluid storage device removably attached to the chassis; wherein the fluid storage device is in communication with the fluid applicator and is arranged to apply cleaning fluid dispensed by the fluid applicator to the floor; the in-place sensor is arranged in a groove of the chassis, which is used for installing the fluid storage device, and is used for detecting whether the fluid storage device is in place or not and reporting the in-place state signal of the fluid storage device to the control system; and the control system is carried on the chassis, plans a sweeping path according to the in-place state signal of the fluid storage device and controls the fluid applicator to distribute the cleaning fluid according to the sweeping path. The cleaning robot provided by the disclosure can work according to a preset forbidden area, prevents secondary pollution and improves user experience.

Description

Cleaning robot

Technical Field

The present disclosure relates to the field of control technology, and more particularly, to a cleaning robot.

Background

With the development of technology, a wide variety of automatic cleaning devices have emerged. Such as an automatic floor sweeping robot, an automatic floor mopping robot, etc. The automatic cleaning equipment can automatically perform cleaning operation, and is convenient for users. Taking an automatic sweeping robot as an example, the automatic cleaning of the area to be cleaned is realized by direct scraping, vacuum dust collection and other technologies. The wiping operation may be achieved by a wiper strip and roller brush arrangement at the bottom of the automatic cleaning device.

For an automatic cleaning robot with a floor mopping function, a water tank is usually required to be arranged on the robot when mopping is carried out so as to provide a water source required by mopping. When the existing automatic cleaning robot is used in a household, some parts, such as a carpet, a foot pad outside a bathroom and a kitchen, have poor cleaning effect when being used for mopping the floor, and can affect the secondary pollution of a mopping cleaning part. There is a need for a sweeping robot that automatically avoids these areas.

SUMMERY OF THE UTILITY MODEL

In view of this, the embodiments of the present disclosure provide a cleaning robot, so that the robot can avoid an forbidden zone to mop the floor.

According to a specific embodiment of the present disclosure, an embodiment of the present disclosure provides a cleaning robot, including:

a chassis;

a fluid applicator carried on the chassis for dispensing cleaning fluid across at least a portion of the cleaning width;

a fluid storage device removably attached to the chassis; wherein the fluid storage device is in communication with the fluid applicator, arranged to apply cleaning fluid dispensed by the fluid applicator to a floor surface;

the in-place sensor is arranged in a groove of the chassis, wherein the groove is used for installing the fluid storage device, and is used for detecting whether the fluid storage device is in place or not and reporting an in-place state signal of the fluid storage device to a control system;

a control system carried on the chassis, the control system planning a purge path based on the fluid storage device presence status signal and controlling the fluid applicator to dispense cleaning fluid based on the purge path.

Optionally, the fluid applicator comprises a pump arranged to dispense cleaning fluid over at least a portion of the cleaning width.

Optionally, the in-place sensor detects whether the fluid storage device is in place in real time, and if the detection signal is yes, the detection is repeated at certain time intervals; and when the detection signal is negative, reporting the no-bit state signal to a control system, and stopping detection.

Optionally, the method further includes:

and the navigation device receives information of a working area of the robot, wherein the working area comprises a normal area and a forbidden area, the forbidden area is activated when the fluid storage device is in place, and the fluid storage device is deactivated when the fluid storage device is not in place.

Optionally, the method further includes:

and the navigation device detects whether the intersection point exists between the edge 180 degrees right ahead of the robot and the forbidden area in real time, and if the intersection point exists, the position alarm is triggered to enable the robot to retreat out of the forbidden area.

Optionally, the method further includes:

a wheel drive supporting the chassis and operable to maneuver the robot over a robot work surface;

one or more cleaning elements carried on the chassis to clean the entire cleaning width.

Compared with the prior art, the method has the following technical effects:

the cleaning robot provided by the disclosure can work according to a preset forbidden area, when the cleaning robot travels to the forbidden area, the cleaning robot can know that the area is not suitable for mopping the floor through a map, can control to avoid the forbidden area, prevents secondary pollution caused by mopping the floor in the unsuitable area, improves user experience, and improves cleaning efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.

Fig. 1 is a schematic view of an application scenario provided in the present disclosure;

fig. 2 is a perspective view of a robot structure provided in an embodiment of the present disclosure;

fig. 3 is a top view of a robot structure provided by an embodiment of the present disclosure;

fig. 4 is a bottom view of a robot structure provided by an embodiment of the present disclosure;

fig. 5 is a block diagram of a robot provided in an embodiment of the present disclosure;

fig. 6 is a schematic flowchart of a robot control method according to an embodiment of the disclosure;

fig. 7 is a structural block diagram of a water tank of a robot provided in an embodiment of the present disclosure;

fig. 8 is an electronic structural schematic diagram of a robot provided in the embodiment of the present disclosure.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

It should be understood that although the terms first, second, third, etc. may be used to describe … … in embodiments of the present disclosure, these … … should not be limited to these terms. These terms are used only to distinguish … … from each other. For example, the first … … can also be referred to as the second … … and, similarly, the second … … can also be referred to as the first … … without departing from the scope of embodiments of the present disclosure.

To describe the behavior of the robot more clearly, the following directional definitions are made:

as shown in fig. 1, a user controls a cleaning area of a cleaning device through a mobile terminal such as a mobile phone, for example, the cleaning area includes a first cleaning area, a second cleaning area, and a third cleaning area, the user can set the cleaning device to any one or more of the cleaning areas to clean, and at the same time, the user can define any cleaning

forbidden area

1 or 2 in any one cleaning area, for example, a place of a doorway of a toilet, a place under a sofa, and the like. After the user finishes setting, the set cleaning area command is sent to the cleaning equipment through the local area network, and the cleaning equipment acts on the designated area according to the user command.

Automatic cleaning equipment carries out cleaning work in appointed region, and when cleaning the task completion back or the electric quantity is not enough, automatic cleaning equipment can automatic search and fill electric pile's position, confirms to fill electric pile's position after, and automatic cleaning equipment advances to fill electric pile's position automatically and charges.

As shown in fig. 2, the robotic cleaning device 100 may travel over the floor surface through various combinations of movement relative to three mutually perpendicular axes defined by the body 110: a front-back axis X, a lateral axis Y, and a central vertical axis Z. The forward driving direction along the forward-rearward axis X is denoted as "forward", and the rearward driving direction along the forward-rearward axis X is denoted as "rearward". The direction of the transverse axis Y is essentially the direction extending between the right and left wheels of the robot along the axis defined by the center points of the drive wheel modules 141.

The robotic cleaning device 100 may be rotated about the Y-axis. "pitch up" when the forward portion of the automatic cleaning apparatus 100 is tilted upward and the rearward portion is tilted downward, and "pitch down" when the forward portion of the automatic cleaning apparatus 100 is tilted downward and the rearward portion is tilted upward. In addition, the robot 100 may rotate about the Z-axis. In the forward direction of the automatic cleaning apparatus 100, when the automatic cleaning apparatus 100 is tilted to the right side of the X-axis, it turns to the right, and when the automatic cleaning apparatus 100 is tilted to the left side of the X-axis, it turns to the left.

As shown in fig. 3, the automatic cleaning apparatus 100 includes a machine body 110, a sensing system 120, a control system, a driving system 140, a cleaning system 150, an energy system 160, and a human-machine interaction system 170.

The machine body 110 includes a forward portion 111, a rearward portion 112, and a chassis portion 113, and has an approximately circular shape (circular front to rear), but may have other shapes including, but not limited to, an approximately D-shape with a front to rear circle.

As shown in fig. 3, the sensing system 120 includes a position determining device 121 located above the machine body 110, a bumper 122 located at the forward portion 111 of the machine body 110, a cliff sensor 123, and an ultrasonic sensor, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, a odometer, etc., and provides various position information and motion state information of the machine to the control system 130. The position determining device 121 includes, but is not limited to, a camera, a laser distance measuring device (LDS). The following describes how position determination is performed by taking a laser distance measuring device of the triangulation method as an example. The basic principle of the triangulation method is based on the geometric relation of similar triangles, and is not described herein.

The laser ranging device includes a light emitting unit and a light receiving unit. The light emitting unit may include a light source that emits light, and the light source may include a light emitting element, such as an infrared or visible Light Emitting Diode (LED) that emits infrared light or visible light. Alternatively, the light source may be a light emitting element that emits a laser beam. In the present embodiment, a Laser Diode (LD) is taken as an example of the light source. In particular, a light source using a laser beam may make the measurement more accurate than other lights due to the monochromatic, directional, and collimation characteristics of the laser beam. The Laser Diode (LD) may be a spot laser for measuring two-dimensional position information of an obstacle, or a line laser for measuring three-dimensional position information of an obstacle within a certain range.

The light receiving unit may include an image sensor on which a light spot reflected or scattered by an obstacle is formed. The image sensor may be a set of a plurality of unit pixels of a single row or a plurality of rows. These light receiving elements can convert optical signals into electrical signals. The image sensor may be a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge Coupled Device (CCD) sensor, and is preferably a Complementary Metal Oxide Semiconductor (CMOS) sensor due to cost advantages. Also, the light receiving unit may include a light receiving lens assembly. Light reflected or scattered by the obstruction may travel through a light receiving lens assembly to form an image on the image sensor. The light receiving lens assembly may comprise a single or multiple lenses. The base may support the light emitting unit and the light receiving unit, which are disposed on the base and spaced apart from each other by a certain distance. In order to measure the obstacle situation in the 360 degree direction around the robot, the base may be rotatably disposed on the main body 110, or the base itself may be rotated without rotating the emitted light, the received light by providing a rotating element. The rotating angular speed of the rotating element can be obtained by arranging the optical coupling element and the coded disc, the optical coupling element senses tooth gaps on the coded disc, and instantaneous angular speed can be obtained by dividing the sliding time of the tooth gap distance and the tooth gap distance value. The higher the density of the tooth notches on the coded disc is, the higher the measurement accuracy and precision are correspondingly, but the structure is more precise, and the calculated amount is higher; on the contrary, the smaller the density of the tooth defects is, the lower the accuracy and precision of measurement are, but the structure can be relatively simple, the calculation amount is smaller, and the cost can be reduced.

The data processing device, e.g. DSP, connected to the light receiving unit records and transmits the obstacle distance values at all angles in the direction of 0 degrees with respect to the robot to the data processing unit in the control system 130, e.g. Application Processor (AP) comprising CPU running a particle filter based positioning algorithm to obtain the current position of the robot and to map it according to this position for navigation. The positioning algorithm preferably uses instant positioning and mapping (SLAM).

Although the laser distance measuring device based on the triangulation method can measure the distance value at an infinite distance beyond a certain distance in principle, in practice, the realization of the long-distance measurement, for example, more than 6 meters, is difficult, mainly because of the size limitation of the pixel unit on the sensor of the light receiving unit, and at the same time, the laser distance measuring device is also influenced by the photoelectric conversion speed of the sensor, the data transmission speed between the sensor and the connected DSP, and the calculation speed of the DSP. The measured value obtained by the laser ranging device under the influence of temperature can also have variation which cannot be tolerated by a system, mainly because the angle between incident light and emergent light is changed due to thermal expansion deformation of a structure between the light emitting unit and the light receiving unit, and the light emitting unit and the light receiving unit can also have the temperature drift problem. After the laser ranging device is used for a long time, the measurement result is also seriously influenced by deformation caused by accumulation of various factors such as temperature change, vibration and the like. The accuracy of the measuring result directly determines the accuracy of the map drawing, and is the basis for further strategy implementation of the robot, and is particularly important.

As shown in fig. 3, the forward portion 111 of the machine body 110 may carry a bumper 122, the bumper 122 detects one or more events in the travel path of the automatic cleaning apparatus 100 via a sensor system, such as an infrared sensor, when the driving wheel module 141 propels the robot to walk on the ground during cleaning, and the automatic cleaning apparatus 100 may control the driving wheel module 141 to cause the automatic cleaning apparatus 100 to respond to the events, such as to move away from an obstacle, by the events detected by the bumper 122, such as an obstacle, a wall.

The control system 130 is disposed on a circuit board in the machine body 110, and includes a non-transitory memory, such as a hard disk, a flash memory, and a random access memory, a communication computing processor, such as a central processing unit, and an application processor, and the application processor uses a positioning algorithm, such as SLAM, to map an instant map of the environment where the robot is located according to the obstacle information fed back by the laser ranging device. And the current working state of the sweeper is comprehensively judged by combining distance information and speed information fed back by the buffer 122, the cliff sensor 123, the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer and other sensing devices, for example, when the sweeper passes a threshold, a carpet is arranged at the cliff, the upper part or the lower part of the sweeper is clamped, a dust box is full, the sweeper is taken up and the like, and a specific next-step action strategy is provided according to different conditions, so that the robot can work more according with the requirements of an owner, and better user experience is achieved. Further, the control system 130 can plan the most efficient and reasonable cleaning path and cleaning mode based on map information drawn by the SLAM, thereby greatly improving the cleaning efficiency of the robot.

As shown in fig. 4, the drive system 140 may steer the robot 100 across the ground based on drive commands having distance and angle information, such as x, y, and theta components. The drive system 140 includes a drive wheel module 141, and the drive wheel module 141 can control both the left and right wheels, and in order to more precisely control the motion of the machine, it is preferable that the drive wheel module 141 includes a left drive wheel module and a right drive wheel module, respectively. The left and right drive wheel modules are opposed along a transverse axis defined by the body 110. In order for the robot to be able to move more stably or with greater mobility over the ground, the robot may include one or more driven wheels 142, including but not limited to universal wheels. The driving wheel module comprises a traveling wheel, a driving motor and a control circuit for controlling the driving motor, and can also be connected with a circuit for measuring driving current and a milemeter. The driving wheel module 141 may be detachably coupled to the main body 110 to facilitate disassembly and maintenance. The drive wheel may have a biased drop-type suspension system movably secured, e.g., rotatably attached, to the robot body 110 and receiving a spring bias biased downward and away from the robot body 110. The spring bias allows the drive wheel to maintain contact and traction with the floor surface with a certain landing force while the cleaning elements of the robotic cleaning device 100 also contact the floor surface 10 with a certain pressure.

The cleaning system may be a dry cleaning system 150 and/or a wet cleaning system 153. As a dry cleaning system, the main cleaning function is derived from the sweeping system 151 constituted by the roll brush, the dust box, the blower, the air outlet, and the connecting members therebetween. The rolling brush with certain interference with the ground sweeps the garbage on the ground and winds the garbage to the front of a dust suction opening between the rolling brush and the dust box, and then the garbage is sucked into the dust box by air which is generated by the fan and passes through the dust box and has suction force. The dust removal capacity of the sweeper can be characterized by the sweeping efficiency of garbage, the sweeping efficiency is influenced by the structure and the materials of the rolling brush, the wind power utilization rate of an air duct formed by the dust suction port, the dust box, the fan, the air outlet and connecting parts among the dust suction port, the dust box, the fan, the air outlet and the dust box, and the type and the power of the fan. Compared with the common plug-in dust collector, the improvement of the dust removal capability is more significant for the cleaning robot with limited energy. Because the improvement of the dust removal capability directly and effectively reduces the energy requirement, namely the machine which can clean the ground of 80 square meters by charging once can be developed into the machine which can clean 100 square meters or more by charging once. And the service life of the battery, which reduces the number of times of charging, is also greatly increased, so that the frequency of replacing the battery by the user is also increased. More intuitively and importantly, the improvement of the dust removal capability is the most obvious and important user experience, and the user can directly draw a conclusion whether the sweeping/wiping is clean. The dry cleaning system may also include an edge brush 152 having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning system.

The wet cleaning system 153 mainly includes a detachable water tank 1531 disposed at a rear end of the chassis, water 1531 fixed to a bottom end of the chassis by a fastening structure or a plurality of fixing screws, a detachable mop 1532 disposed at a bottom of the water tank and connected to the bottom of the water tank 1531 by a sticking method.

Energy source system 160 includes rechargeable batteries such as nickel metal hydride batteries and lithium batteries. The charging 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 single chip microcomputer control circuit. The host computer is connected with the charging pile for charging through a charging electrode (which can be a first charging elastic sheet 161 and a second charging elastic sheet 162) arranged on the side of the body or below the chassis.

The human-computer interaction system 170 comprises keys on a panel of the host computer, and the keys are used for a user to select functions; the machine control system can further comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; and a mobile phone client program can be further included. For the path navigation type automatic cleaning equipment, a map of the environment where the equipment is located and the position of a machine can be displayed to a user at a mobile phone client, and richer and more humanized function items can be provided for the user.

Fig. 5 is an electrical connection block diagram of an automated cleaning apparatus provided in accordance with an embodiment of the present invention.

The automatic cleaning apparatus according to the current embodiment may include: a microphone array unit for recognizing a user's voice, a communication unit for communicating with a remote control device or other devices, a moving unit for driving the main body, a cleaning unit, and a memory unit for storing information. An input unit (a key of the sweeping robot, etc.), an object detection sensor, a charging unit, a microphone array unit, a direction detection unit, a position detection unit, a communication unit, a driving unit, and a memory unit may be connected to the control unit to transmit or receive predetermined information to or from the control unit.

The microphone array unit may compare the voice input through the receiving unit with information stored in the memory unit to determine whether the input voice corresponds to a specific command. If it is determined that the input voice corresponds to a specific command, the corresponding command is transmitted to the control unit. If the detected speech cannot be compared to the information stored in the memory unit, the detected speech may be treated as noise to ignore the detected speech.

For example, the detected voice corresponds to the word "come, go", and there is a word control command (come) corresponding to the word stored in the information of the memory unit. In this case, a corresponding command may be transmitted to the control unit.

The direction detecting unit may detect the direction of the voice by using a time difference or a level of the voice input to the plurality of receiving units. The direction detection unit transmits the detected direction of the voice to the control unit. The control unit may determine the moving path by using the voice direction detected by the direction detecting unit.

The position detection unit may detect coordinates of the subject within predetermined map information. In one embodiment, the information detected by the camera and the map information stored in the memory unit may be compared with each other to detect the current position of the subject. The position detection unit may use a Global Positioning System (GPS) in addition to the camera.

In a broad sense, the position detection unit may detect whether the main body is disposed at a specific position. For example, the position detection unit may include a unit for detecting whether the main body is disposed on the charging pile.

For example, in the method for detecting whether the main body is disposed on the charging pile, whether the main body is disposed at the charging position may be detected according to whether power is input into the charging unit. For another example, whether the main body is disposed at the charging position may be detected by a charging position detecting unit disposed on the main body or the charging pile.

The communication unit may transmit/receive predetermined information to/from a remote control device or other devices. The communication unit may update map information of the sweeping robot.

The driving unit may operate the moving unit and the cleaning unit. The driving unit may move the moving unit along the moving path determined by the control unit.

The memory unit stores therein predetermined information related to the operation of the sweeping robot. For example, map information of an area where the sweeping robot is arranged, control command information corresponding to a voice recognized by the microphone array unit, direction angle information detected by the direction detection unit, position information detected by the position detection unit, and obstacle information detected by the object detection sensor may be stored in the memory unit.

The control unit may receive information detected by the receiving unit, the camera, and the object detection sensor. The control unit may recognize a user's voice based on the transmitted information, detect a direction in which the voice occurs, and detect a position of the automatic cleaning apparatus. Further, the control unit may also operate the moving unit and the cleaning unit.

According to a specific embodiment of the present disclosure, an embodiment of the present disclosure provides a cleaning robot, including: a chassis; a fluid applicator carried on the chassis for dispensing cleaning fluid across at least a portion of the cleaning width; a fluid storage device removably attached to the chassis; wherein the fluid storage device is in communication with the fluid applicator, arranged to apply cleaning fluid dispensed by the fluid applicator to a floor surface; an in-place sensor, disposed in a groove 1533 of the chassis, in which the fluid storage device is installed, as shown in fig. 7, for detecting whether the fluid storage device is in place, and reporting an in-place state signal of the fluid storage device to a control system; a control system carried on the chassis, the control system planning a purge path based on the fluid storage device presence status signal and controlling the fluid applicator to dispense cleaning fluid based on the purge path.

The in-place sensors may be infrared sensors, inductive contact sensors, gravity sensors, etc., each sensor may be located on a circuit board on the chassis, and the specific locations for placing the grooves 1533 of the fluid storage device may be different according to the different types of sensors, for example, the infrared sensors may be located at the bottom corners of the grooves 1533, and when the fluid storage device is placed in the grooves 1533, the infrared sensors may sense that an object is placed in the fluid storage device, and then it may be determined that the fluid storage device is loaded into the cleaning robot.

Optionally, the fluid applicator comprises a pump arranged to dispense cleaning fluid over at least a portion of the cleaning width. The pump is turned on or off by the control of the control system.

Optionally, the in-place sensor detects whether the fluid storage device is in place in real time, and if the detection signal is yes, the detection is repeated at certain time intervals; and when the detection signal is negative, reporting the no-bit state signal to a control system, and stopping detection. When the machine starts cleaning or resumes cleaning after suspension, judging whether the water tank is in place, if so, loading forbidden zone data into a program, marking the edge of the forbidden zone as an obstacle point on a cleaning map, and starting a timer which triggers once every 30 milliseconds to check whether the forbidden zone buffer triggers. And if the water tank is not in place, ignoring the floor mopping forbidden zone and deleting the marked floor mopping forbidden zone from the cleaning map.

Optionally, the method further includes: and the navigation device receives information of a working area of the robot, wherein the working area comprises a normal area and a forbidden area, the forbidden area is activated when the fluid storage device is in place, and the fluid storage device is deactivated when the fluid storage device is not in place.

Optionally, the method further includes: and the navigation device detects whether the intersection point exists between the edge 180 degrees right ahead of the robot and the forbidden area in real time, and if the intersection point exists, the position alarm is triggered to enable the robot to retreat out of the forbidden area. The triggering condition of the forbidden zone buffer is to detect whether there is an intersection point between the edge 180 degrees right ahead of the machine and the forbidden zone (for example, if the robot knows the center coordinate, knows the radius of the machine, and the machine direction, the coordinates of each point of the edge of the robot can be calculated), if there is an intersection point, the forbidden zone buffer is triggered, and the machine retreats until the forbidden zone buffer does not trigger, so as to prevent the machine from entering the forbidden zone.

Optionally, the method further includes: a wheel drive supporting the chassis and operable to maneuver the robot over a robot work surface; one or more cleaning elements carried on the chassis to clean the entire cleaning width.

As shown in fig. 6, according to an embodiment of the present disclosure, an embodiment of the present disclosure provides a control method of a cleaning robot, which specifically includes the following method steps:

step S602: and detecting whether the fluid storage device is in place in real time, and reporting the in-place state signal of the fluid storage device to a control system.

Optionally, the detecting whether the fluid storage device is in place in real time includes: detecting whether the fluid storage device is in place in real time, and when the detection signal is positive, repeatedly detecting at certain time intervals; and when the detection signal is negative, reporting the no-bit state signal to a control system, and stopping detection. When the machine starts cleaning or resumes cleaning after suspension, judging whether the water tank is in place, if so, loading forbidden zone data into a program, marking the edge of the forbidden zone as an obstacle point on a cleaning map, and starting a timer which triggers once every 30 milliseconds to check whether the forbidden zone buffer triggers. And if the water tank is not in place, ignoring the floor mopping forbidden zone and deleting the marked floor mopping forbidden zone from the cleaning map.

Optionally, the detecting whether the fluid storage device is in place in real time and reporting the in-place state signal of the fluid storage device to the control system includes:

receiving working area information of a cleaning robot, wherein the working area comprises a normal area and a forbidden area, the forbidden area is activated when the fluid storage device is in place, and the fluid storage device is deactivated when the fluid storage device is not in place. The mopping exclusion zone is an exclusion zone that only takes effect when the water tank is in place. The adding and deleting operation of the floor dragging forbidden zone is completed through the app, the data of each forbidden zone is described by a quadrangle formed by four vertex coordinates, and the data of the forbidden zones are stored in the machine.

Optionally, the method further includes: and detecting whether the intersection point exists between the edge 180 degrees right ahead of the robot and the forbidden area in real time, and if so, enabling the robot to retreat out of the forbidden area. The triggering condition of the forbidden zone buffer is to detect whether there is an intersection point between the edge 180 degrees right ahead of the machine and the forbidden zone (for example, if the robot knows the center coordinate, knows the radius of the machine, and the machine direction, the coordinates of each point of the edge of the robot can be calculated), if there is an intersection point, the forbidden zone buffer is triggered, and the machine retreats until the forbidden zone buffer does not trigger, so as to prevent the machine from entering the forbidden zone.

Optionally, when the forbidden area is active, the quadrilateral of the forbidden area is represented as an obstacle. When the machine plans the path point, the machine bypasses the cleaning forbidden zone according to the obstacle point marked by the edge of the floor-dragging forbidden zone on the map.

Optionally, the forbidden area is set by the navigation device during traveling by self planning or by the user.

Step S604: and planning a sweeping path according to the fluid storage device on-site state signal, and controlling a fluid applicator to dispense cleaning fluid according to the sweeping path.

The control system controls the fluid storage device to perform mopping operations, controls the fluid applicator to normally dispense cleaning fluid when in a normal operating region, and performs mopping operations after backing off and bypassing a forbidden region when encountering the forbidden region.

The disclosed embodiments provide a cleaning robot, comprising a processor and a memory, wherein the memory stores computer program instructions capable of being executed by the processor, and the processor executes the computer program instructions to implement the method steps of any of the foregoing embodiments.

The disclosed embodiments provide a non-transitory computer readable storage medium storing computer program instructions which, when invoked and executed by a processor, implement the method steps of any of the preceding embodiments.

As shown in fig. 8, the robot 800 may include a processing device (e.g., central processing unit, graphics processor, etc.) 801 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)802 or a program loaded from a storage device 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data necessary for the operation of the electronic robot 800 are also stored. The processing apparatus 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.

Generally, the following devices may be connected to the I/O interface 805: input devices 806 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 807 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, and the like; storage 808 including, for example, magnetic tape, hard disk, etc.; and a communication device 809. The communication means 809 may allow the electronic robot 800 to perform wireless or wired communication with other robots to exchange data. While fig. 8 illustrates an electronic robot 800 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication means 809, or installed from the storage means 808, or installed from the ROM 802. The computer program, when executed by the processing apparatus 801, performs the above-described functions defined in the methods of the embodiments of the present disclosure.

It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

The computer readable medium may be embodied in the robot; or may be separate and not assembled into the robot.

Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. A cleaning robot, characterized by comprising:

a chassis;

2. The cleaning robot according to claim 1, wherein: the fluid applicator includes a pump arranged to dispense cleaning fluid across at least a portion of the cleaning width.

3. The cleaning robot according to claim 1, wherein: the in-place sensor detects whether the fluid storage device is in place in real time, and if the detection signal is positive, the detection is repeated at certain time intervals; and when the detection signal is negative, reporting the no-bit state signal to a control system, and stopping detection.

4. The cleaning robot of claim 3, further comprising:

5. The cleaning robot of claim 4, further comprising:

6. The cleaning robot of claim 1, further comprising: