CN211022470U

CN211022470U - Cleaning robot

Info

Publication number: CN211022470U
Application number: CN201921315394.4U
Authority: CN
Inventors: 梁飞渡
Original assignee: Shenzhen Silver Star Intelligent Technology Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2019-08-14
Filing date: 2019-08-14
Publication date: 2020-07-17
Anticipated expiration: 2029-08-14

Abstract

The embodiment of the utility model provides an in, cleaning machines people includes main part, drive cleaning machines people treat the cleaning surface on the drive unit who removes, store fluidic liquid reserve tank, with the cleaning member and the power device of liquid reserve tank intercommunication, through power device provides power, can control fluidic flow or stop in the liquid reserve tank makes the liquid reserve tank outwards applys fluid, can effective control with first confession liquid mode or second confession liquid mode the confession liquid mode of liquid reserve tank to improve clean effect, promote user experience and feel.

Description

Cleaning robot

Technical Field

The utility model relates to an intelligent robot field especially relates to a cleaning robot.

Background

The cleaning robot mainly replaces manpower and is used for cleaning the family environment. The cleaning robot integrates the automatic cleaning technology and the humanized intelligent design, along with the development of the intelligent cleaning robot in the existing market, in order to further meet the cleaning requirements of users and greatly reduce the burdensome tasks of sweeping and mopping the floor of the users, the intelligent cleaning robot gradually realizes the multifunctional development from dust collection, cleaning to floor washing and mopping, mainly arranges a water tank in the intelligent cleaning robot, so that the users only need to fill the water tank with water, and put into the intelligent cleaning robot, and start the corresponding working mode, the intelligent cleaning robot can realize the function of washing or mopping the floor, the interior of the cleaning robot mainly relates to a waterway water supply technology, the water supply mode of the existing cleaning robot is single, after the cleaning robot enters the water supply process, the water flow can continuously flow out, so that the water flow is excessive, the cleaning effect is poor, and the use requirement of a user is difficult to meet.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a cleaning robot is provided, power device is configured as and provides power control fluidic flow or stop in the liquid reserve tank makes the liquid reserve tank outwards applys fluid with the liquid supply mode of difference, or control the liquid reserve tank stops to apply fluid to improve clean effect, promote user experience and feel.

In order to solve the technical problem, the embodiment of the utility model adopts the following technical scheme:

the utility model provides a cleaning robot, include:

a main body;

a driving part configured to drive the cleaning robot to move on a surface to be cleaned;

a tank configured to store a fluid;

a cleaning member configured to cooperate with the fluid to clean a surface to be cleaned; and

and the power device is configured to provide power to control the flow or stop of the fluid in the liquid storage tank, so that the liquid storage tank applies the fluid outwards in the first liquid supply mode or the second liquid supply mode.

In an embodiment of the present invention, the power device includes a pipette, a pressing pipe, and a pump body, and the pump body sucks the fluid in the liquid storage tank through the pipette and discharges through the pressing pipe.

In an embodiment of the present invention, the one end of the pipette with the pump body fixed connection, the other end of the pipette is connected to the bottom of the liquid storage tank.

In an embodiment of the present invention, one end of the liquid pressing pipe is fixedly connected to the pump body, and the other end of the liquid pressing pipe is connected to the liquid outlet.

In an embodiment of the present invention, a guiding portion is disposed between the liquid pressing tube and the liquid outlet, and the fluid pressed out by the liquid pressing tube flows to the middle portion of the guiding portion and is then split at both ends of the guiding portion.

In an embodiment of the present invention, the pump body is installed in one end of the liquid storage tank.

In an embodiment of the present invention, the liquid storage tank further comprises a filtering component, the filtering component is installed at the joint of the liquid suction pipe and the liquid storage tank.

In one embodiment of the invention, the filter assembly is detachable from the outside of the reservoir.

In an embodiment of the present invention, when the cleaning robot enters the first working mode, the liquid storage tank applies the fluid to the outside in a first liquid supply manner;

when the cleaning robot enters a second working mode, the liquid storage tank applies fluid outwards in a second liquid supply mode;

and when the cleaning robot enters a third working mode, the liquid storage tank stops applying the fluid outwards.

In an embodiment of the present invention, the cleaning robot further includes a controller capable of controlling the liquid outlet speed and the liquid outlet time, and the power device is electrically connected to the controller.

Compared with the prior art, the utility model discloses technical scheme has following beneficial effect at least:

Drawings

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

Fig. 1 is a perspective view of a cleaning robot according to an embodiment of the present invention;

fig. 2 is a bottom view of the cleaning robot in an embodiment of the present invention;

fig. 3 is a perspective view of a liquid storage tank according to an embodiment of the present invention;

FIG. 4 is a schematic illustration of the cleaning elements in an embodiment of the invention;

FIG. 5 is a bottom view of a reservoir in an embodiment of the invention;

fig. 6 is a schematic perspective view of a power plant according to an embodiment of the present invention;

fig. 7 is a schematic perspective view of a filter assembly according to an embodiment of the present invention;

fig. 8 is a partial cross-sectional view of the filter assembly mounted to the reservoir in an embodiment of the invention;

fig. 9 is a schematic view of the power unit mounted to the reservoir in an embodiment of the present invention;

FIG. 10 is a schematic view of a power unit mounted to a reservoir in another embodiment of the present invention;

FIG. 11 is a flow chart of method steps performed by the controller;

FIG. 12 is a flow chart illustrating the application of fluid to a cleaning member in a first fluid supply configuration in accordance with an embodiment of the present invention;

FIG. 13 is a flow chart illustrating the application of fluid to the cleaning member in a second supply manner according to an embodiment of the present invention;

fig. 14 is a schematic diagram illustrating a condition that the cleaning robot enters the third operation mode according to an embodiment of the present invention;

fig. 15 is a block diagram of a sensor system in an embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The terms "front", "rear", "left" and "right" in the present description refer to the forward direction of the cleaning robot, and the terms "top", "bottom", "up", "down", "horizontal" and "vertical" in the present description refer to the state of the cleaning robot during normal operation.

The patent of the utility model discloses an with the clean robot mainly used carry out the clean exemplary illustration to ground family environment, in other embodiments, the clean robot can also be other indoor or outdoor environment clean, for example: the environment of restaurants, stations, airports and the like is cleaned.

Referring to fig. 1 and 2, fig. 1 is a perspective view of a cleaning robot according to an embodiment of the present invention, and fig. 2 is a bottom view of the cleaning robot according to an embodiment of the present invention. Cleaning machines people include: the cleaning robot comprises a main body 10, a driving part 20 for driving the cleaning robot to move on a surface to be cleaned, a liquid storage tank 30 configured to store fluid, a cleaning piece 40 for cleaning the surface to be cleaned by matching with the fluid in the liquid storage tank 30, a controller 50 installed inside the main body 10 and a power device 34.

The body is generally circular in shape in this embodiment, and in other embodiments, the body 10 may be generally oval, triangular, D-shaped, or other shape in shape. The top of the main body 10 is provided with a concave portion 13, the liquid storage tank 30 is mounted in the concave portion 13, and the liquid storage tank 30 may be provided with a fastening component to lock the liquid storage tank 30 in the concave portion 13.

The driving wheel assembly 20 includes left and right driving wheels 21 and omni wheels 22, the left and right driving wheels 21 are installed at left and right sides of a bottom of the main body 10, the bottom is a surface of the main body 10 facing a surface to be cleaned, and the driving wheel assembly 20 is configured to carry the cleaning robot and drive the cleaning robot to move on the surface to be cleaned. The surface to be cleaned can be a relatively smooth floor surface, a carpeted surface, or other surface to be cleaned. The left and right driving wheels 21 are configured to be at least partially extendable and retractable to the bottom of the main body 10. The omni-directional wheel 22 is installed at a front position of the bottom of the main body 10, and the omni-directional wheel 22 is a movable caster wheel which can horizontally rotate 360 degrees, so that the cleaning robot can flexibly turn. The omni-directional wheel 22 may be further installed at a rear position of the bottom of the main body 10, and the left and right driving wheels 21 and the omni-directional wheel 22 are installed to form a triangle, so as to improve the walking smoothness of the cleaning robot.

In the embodiment of the present invention, the controller 50 is installed in the main body 10, and the controller 50 may include a plurality of components, respectively control each component, or only one component may be provided to control all the components. For example: the controller, 50, may include a main controller provided to the main body 10, a driving part controller sensing speed information of the driving part 20 and controlling the driving part 20 to adjust the operation of the cleaning robot, and the like. The controllers of all the components transmit respective information to the main controller, and the main controller processes the information according to all the components and respectively feeds corresponding control instructions back to all the components. All the components take the main controller as a center, communicate with each other and transmit signals. The controller 50 may be a micro-control unit such as a single chip, an FPGA, an ASIC, or a DSP.

The cleaning robot may further include a cleaning assembly 410, the cleaning assembly 410 includes a cleaning roller 411, the cleaning roller 411 is disposed in a receiving groove formed at the bottom of the main body 10, and the cleaning roller 411 may be any one or a combination of a cleaning brush and a cleaning rubber brush. The sweeping assembly 410 may further include a motor-driven side brush 412, and the side brush 412 is disposed at the left and/or right front portion of the main body 10. The edge brush 412 may rotate along an axis substantially perpendicular to the ground. The side brush 412 has a plurality of long bristles spaced around the shaft and extending outwardly beyond the contour of the main body 10 for sweeping the garbage on the ground beyond the coverage of the contour of the main body 10 to the position of the receiving groove at the bottom of the main body 10. The bottom of the body 10 may be provided with one or two side brushes 412.

Referring to fig. 3 and 4, fig. 3 is a perspective view of a liquid storage tank according to an embodiment of the present invention, and fig. 4 is a liquid storage tank according to an embodiment of the present invention. The liquid storage box 30 is mounted in the concave portion 13, a liquid inlet 31 is formed in the top of the liquid storage box 30 and used for a user to add fluid into the liquid storage box 30, a communication contact 32 communicated with the controller 50 is arranged on the side wall of the liquid storage box 30, and when the liquid storage box 30 is mounted in the concave portion 13, the controller 50 transmits a control instruction to the liquid storage box 30 through the communication contact 32 to control a liquid supply mode of the liquid storage box 30. The fluid may be a cleaning fluid for more effectively removing dirt attached to a surface to be cleaned, such as a floor surface to which oil stains are attached, and a portion of the fluid having an oil stain cleaning function may be added to the tank 30 to more effectively remove the oil stains. In most cases, of course, the fluid stored in the reservoir 30 is clear water for mopping the surface to be cleaned.

The cleaning member 40 is installed at a rear position of the bottom of the main body 10, and the outer edge of the cleaning member 40 has the same shape as that of the main body 10. The cleaning piece 40 comprises a pad support 41 and a cleaning pad 42 installed on one surface, facing the surface to be cleaned, of the pad support 41, a pressing portion 45 is arranged at the rear end of the pad support 41, a hook 44 is arranged on one surface, facing the bottom of the main body 10, of the pad support 41, the pressing portion 45 is pressed to control the hook 44 to retract, and the pressing portion 45 is released to control the hook 44 to extend. The bottom of the main body 10 is provided with a locking protrusion corresponding to the locking hook 44, and the pad holder 41 can be attached to the main body 10 or detached from the main body 10 by pressing or releasing the pressing part 45. The cleaning pad 42 is mounted on the pad holder 41 and fixed by a hook and loop fastener.

The bottom of the liquid storage tank 30 is provided with a liquid outlet 33, and the pad support 41 and the concave portion 13 are both provided with fluid guide holes 43 corresponding to the liquid outlet 33, so as to guide the fluid flowing out of the liquid storage tank 30 to the cleaning pad 42. In other embodiments, fluid from the reservoir 30 may be directed to the cleaning pad 42 through an external conduit. In the normal operation process of the cleaning robot, the cleaning pad 42 is attached to the surface to be cleaned, so as to clean the surface to be cleaned.

Please refer to fig. 5, fig. 6, fig. 7 and fig. 8, in which fig. 5 is a bottom view of a liquid storage tank according to an embodiment of the present invention, fig. 6 is a schematic perspective view of a power device according to an embodiment of the present invention, fig. 7 is a schematic perspective view of a filtering assembly according to an embodiment of the present invention, and fig. 8 is a partial cross-sectional view of the filtering assembly installed in the liquid storage tank according to an embodiment of the present invention. The power device 34 includes a pipette 341, a hydraulic tube 342, and a pump 343, and the pump 343 sucks the fluid in the tank 30 through the pipette 341 and discharges the fluid through the hydraulic tube 342. The top of the liquid storage tank 30 is further provided with a liquid inlet 31, the power device 34 is mounted at one end of the liquid storage tank 30, the power device 34 has a large volume, in order to better fix the power device 34 in the liquid storage tank 30, when the liquid storage tank 30 has a small volume, the front and rear side walls of the power device 34 are attached to the inner wall of the liquid storage tank 30, if the power device 34 is mounted at the middle position of the liquid storage tank 30, the space for storing fluid in the liquid storage tank 30 is divided into two parts, when the fluid is less, the fluid can be stored in only one part of the liquid storage tank 30, if the fluid needs to be stored in the other part, a guide groove needs to be formed, and when the fluid in the two parts needs to be extracted, two liquid suction pipes need to be arranged, which results in a complicated structure and increases cost, so in this embodiment, when the liquid storage tank 30 has a small volume, the two side walls of the power device 34 are attached to the two side walls of the liquid storage box 30, and at the moment, the power device 34 is installed at one end of the liquid storage box 30, so that the structure is simplified, the cost is saved, three side walls of the power device 34 are attached to the inner wall of the liquid storage box 30, and the stability of the power device 34 is enhanced. The motive device 34 may be mounted at other locations within the reservoir 30, without otherwise being limited by the volume of the reservoir 30.

One end of the pipette 341 is fixedly connected to the pump body 343, and the other end of the pipette 341 is connected to the bottom of the liquid storage tank 30, so that the liquid can be sucked and discharged from the liquid outlet 33 when the liquid in the liquid storage tank 30 is low. The liquid storage tank 30 further includes a filter assembly 35, and the filter assembly 35 is installed at a connection of the pipette 341 and the liquid storage tank 30. The filter assembly 35 includes a mounting portion 353 and an extension portion 351, the extension portion 351 is provided with a filter screen 352, the filter screen 352 is a metal fine screen, and can filter impurities in the fluid entering the liquid suction pipe 341, and in other embodiments, the filter screen 352 may also be a nylon filter screen or a metal rubber filter screen.

The bottom of the liquid storage box 30 is provided with a bulge 303, and the bulge 303 is formed by sinking towards the inner side from the outer side of the bottom of the liquid storage box 30. With reference to fig. 9 and 10, fig. 9 is a schematic view illustrating the power device installed in the liquid storage tank according to an embodiment of the present invention, fig. 10 is a schematic view illustrating the power device installed in the liquid storage tank according to another embodiment of the present invention, the pipette 341 passes through the top of the protrusion 303 substantially extending to the bottom of the liquid storage tank 30, a notch 3031 is disposed on the sidewall of the protrusion 303, the notch 3031 may be disposed along the vertical direction of the sidewall of the protrusion 303, or along the horizontal direction of the sidewall of the protrusion 303. The filter assembly 35 is detachable from the outside of the reservoir 30, the filter assembly 35 is installed from the outside of the bottom of the reservoir 30, when the filter assembly 35 is mounted in the reservoir 30, a gap is formed between the outer wall 3411 of the pipette 341 and the inner wall 3521 of the filter screen 352, the outer wall 3522 of the filter screen 352 is attached to the inner wall of the protrusion 303, the extension 351 abuts against the top of the protrusion 303, the filter screen 352 is just opposite to the notch 3031, the fluid in the liquid storage tank 30 flows in from the notch 3031, and enters the liquid suction pipe 341 after being filtered by the filter screen 352, so that impurities, dirt and the like in the fluid are prevented from entering the liquid suction pipe 341 or the pump body 343, the liquid suction pipe 341 or the pump body 343 or the night pressing pipe 342 is blocked and is difficult to clean, and the filter assembly 35 is removable from the exterior of the reservoir 30 for easy cleaning.

The filter assembly 35 may further include a gasket 355, the gasket 355 may be made of a soft rubber material, and the gasket 355 may be sleeved on the extension 351 and may contact the mounting portion 353. Round hole 354 has been seted up to filtering component 35's installation department 353, the bottom of liquid reserve tank 30 is provided with screw hole 304, filtering component 35 install in behind the liquid reserve tank 30, it is fixed through screw 356.

One end of the liquid pressing pipe 342 is fixedly connected to the pump body 343, the other end of the liquid pressing pipe 342 is connected to the liquid outlet 33, a guide portion 36 is disposed between the liquid pressing pipe 342 and the liquid outlet 33, and the fluid pressed out by the liquid pressing pipe 342 flows to the middle of the guide portion 36 and then branches to both ends of the guide portion 36. In this embodiment, the guide part 36 includes a first guide part 361 and a second guide part 362, the fluid pressed out from the night tube 342 flows into the first guide part 361 first, and flows into the second guide part 362 under the guidance of the first guide part 361, the first guide part 361 communicates with the middle of the second guide part 362, and a water distribution structure may be provided at the communication position between the first guide part 361 and the second guide part 362 to equally divide the fluid flowing out from the first guide part 361 into two halves, and the two halves flow to the two ends of the second guide part 362 respectively. The liquid outlet 33 communicates with an end of the second guide to apply the fluid to the outside, which in this embodiment is a cleaning member 40 installed at a rear position of the bottom of the body 10. The hydraulic tube 342 may also be provided with a one-way valve 344 to prevent fluid from flowing back into the pump body 343. In other embodiments, the liquid outlet 33 may be integrally formed with the second guiding portion 362. In other embodiments, the fluid pressed out by the liquid pressing tube 342 flows to the middle of the guiding portion 36 and then spreads and divides the fluid around the guiding portion 36. Specifically, the guide part 36 is provided to uniformly distribute the fluid to each part of the cleaning element 40, so that the cleaning element 40 has a uniform wetting effect, and when the cleaning element 40 is in a disk shape, the first guide part 361 of the guide part 36 guides the fluid to the central position of the disk, and then the fluid is spread around the first guide part 361 by the second guide part 362, so that the disk-shaped cleaning element 40 is effectively wetted.

The motive device 34 is configured to provide motive force to control or stop the flow of fluid in the tank 30, to cause the tank 30 to apply fluid outwardly in a first supply mode, or to cause the tank 30 to apply fluid outwardly in a second supply mode. When the cleaning robot enters a first working mode, the liquid storage tank 30 applies fluid outwards in a first liquid supply mode, when the cleaning robot enters a second working mode, the liquid storage tank 30 applies fluid outwards in a second liquid supply mode, when the cleaning robot enters a third working mode, the liquid storage tank 30 stops applying fluid outwards, and the amount of fluid applied outwards in the first liquid supply mode is different from that applied outwards in the second liquid supply mode. The first working mode is that the cleaning robot is started up within a certain time and is in the first working mode, the second working mode is that the cleaning robot enters another state, and the third working mode is that the cleaning robot triggers the condition of stopping working. For example, when the tank 30 is configured to apply fluid to the cleaning members 40, the cleaning robot may apply fluid to the cleaning members 40 in a first supply manner within two minutes of starting the cleaning robot, where the first supply manner is primarily to wet the cleaning members, and when the cleaning robot enters a cleaning mode, i.e., the cleaning robot enters a second mode of operation, the tank 30 may apply fluid to the cleaning members 40 in a second supply manner, where the second supply manner is to supply a different amount of fluid than the first supply manner based on the cleaning requirements over time, typically the amount of fluid applied to the cleaning members 40 in the second supply manner is less than the amount of fluid applied to the cleaning members 40 in the first supply manner. Ceasing the application of fluid to the exterior when the cleaning robot enters a third mode of operation, the third mode of operation including at least one of: the cleaning robot walks to a soft surface to be cleaned, the electric quantity of the cleaning robot is smaller than the preset electric quantity or the cleaning robot is in a charging state, the cleaning robot is in an abnormal working state, and the cleaning robot receives a command of stopping applying fluid.

In another embodiment, the cleaning robot is equipped with an air humidification module, the liquid outlet 33 is a liquid jet orifice configured to jet the fluid toward the space around the cleaning robot, the fluid stored in the liquid storage tank 30 may be water, the cleaning robot selects the time for applying the fluid to the outside in the first liquid supply manner according to the air dryness after starting, when the humidity of the air reaches a certain threshold, the cleaning robot enters the second operation mode, the fluid is jetted to the outside in the second liquid supply manner, and when the humidity of the air reaches a requirement, the cleaning robot enters the third operation mode, and the fluid jetting to the outside is stopped. In other embodiments, the cleaning robot may further carry an air purification module, the liquid storage tank 30 stores air purification liquid, and essence may be applied to the outside in a first liquid supply manner and/or a second liquid supply manner to purify air. In other embodiments, the outward application of fluid from the tank 30 may also be to the exterior surface.

In another embodiment, the cleaning robot further comprises a controller 50 capable of controlling the liquid discharging speed and the liquid discharging time, the power device 34 is electrically connected to the controller 50, and the controller 50 can control the speed or the time of the liquid discharging to enable the power device 34 to control the flow or stop of the fluid in the liquid storage tank 30, so as to further control the liquid storage tank 30 to apply the fluid to the outside in the first liquid supplying manner, or enable the liquid storage tank 30 to apply the fluid to the outside in the second liquid supplying manner.

Specifically, the controller 50 is configured to cause the fluid reservoir 30 to be applied outwardly in a first supply manner or the fluid reservoir 30 to be applied outwardly in a second supply manner, and the application of fluid from the fluid reservoir 30 to the cleaning chamber 40 is described herein by way of example with reference to fig. 11, which is a flow chart of method steps executed by the controller.

S10, determining that the reservoir 30 is in communication with the cleaning members 40.

When the cleaning robot is turned on, the controller 50 starts to operate, and the reservoir 30 is mounted in the recess 13, the communication contact 32 and the controller 50 are connected through a first circuit. When the cleaning member 40 is mounted on the main body 10, the cleaning member is communicated with the controller 50 through a second circuit, and when the controller 50 detects that the liquid storage tank 30 and the cleaning member 40 are both mounted on the main body 10, the cleaning robot performs step S20 to enter a first working mode, and controls the liquid storage tank 30 to apply fluid to the cleaning member in a first liquid supply manner.

S20, controlling the cleaning robot to enter a first working mode, so that the liquid storage tank 30 applies the fluid to the cleaning member in a first liquid supply manner.

When the cleaning robot enters a first working mode, when the cleaning robot detects that the liquid storage tank 30 is communicated with the cleaning piece 40, fluid is applied to the cleaning piece in the first liquid supply mode within a preset time length. Referring to fig. 12, fig. 12 is a flow chart illustrating a first fluid supply method for applying fluid to a cleaning member according to an embodiment of the present invention. The cleaning robot enters a first mode of operation, i.e. a process in which the controller 50 controls the reservoir 30 to initiate, comprising step 200 the reservoir 30 starts applying fluid to the cleaning member 40, step 201 the reservoir applies fluid to the cleaning member for a first period of time, and step 202 the reservoir stops applying fluid to the cleaning member for a second period of time. A liquid outlet is formed at the bottom of the liquid storage tank 30, and the fluid flowing out of the liquid storage tank 30 is guided to the cleaning pad 42 corresponding to the fluid guide hole 43 formed in the pad holder 41 and the concave portion 13. When the reservoir 30 is mounted to the recess 13 and the cleaning member 40 is in communication with the reservoir 30, the reservoir 30 begins to apply fluid to the cleaning member 40, the reservoir 30 stops applying fluid to the cleaning member 40 after the fluid application period reaches the second period, and the reservoir 30 reapplies fluid to the cleaning member 40 after the reservoir 30 stops applying fluid to the cleaning member 40 for the first period. And if the execution step 203 reaches the preset time, the controller 50 controls the cyclic execution step 201 to apply fluid to the cleaning member at intervals of a first time and the step 202 to stop applying fluid to the cleaning member at intervals of a second time, timing is carried out, whether the accumulated time of the first time and the second time reaches the preset time is judged in real time, if so, the step S30 is executed, and if not, the step 201 and the step 202 are continuously and cyclically executed. The first liquid supply mode is to open and close the liquid storage tank 30 in a circulating mode to apply the fluid to the cleaning member 40. The manner of opening or closing the liquid storage tank 30 may be to provide other components to open or close the liquid outlet, or to control the fluid to flow out or not to flow out by changing the air pressure inside the liquid storage tank 30. When the cleaning robot enters a first working mode, within a preset time period for controlling the liquid storage tank 30 to apply the fluid to the cleaning member 40 in a first liquid supply mode, a first time period for the liquid storage tank 30 to stop applying the fluid to the cleaning member 40 is shorter than a second time period for the liquid storage tank 30 to apply the fluid to the cleaning member 40.

It is possible to have a larger amount of fluid applied to the cleaning members 40 and to quickly wet the cleaning members 40, during which the cleaning robot is switched on and stays in place. And executing the step S30 to enable the cleaning robot to enter the second working mode until the accumulated time of the first time length and the second time length meets the preset time length.

And S30, controlling the cleaning robot to enter a second working mode, and enabling the liquid storage tank to apply the fluid to the cleaning piece in a second liquid supply mode.

The cleaning robot enters the second working mode, and applies fluid to the cleaning piece 40 in the second fluid supply mode after the first working mode is finished. Referring specifically to fig. 13, fig. 13 is a flow chart illustrating the application of fluid to the cleaning elements in a second fluid supply manner according to an embodiment of the present invention. The applying fluid to the cleaning member in the second supply manner includes applying fluid from the tank 30 to the cleaning member 40 every third period 301 and stopping applying fluid from the tank 30 to the cleaning member 40 every fourth period 302. And when the cleaning robot enters a second working mode, the liquid storage tank 30 applies the fluid to the cleaning piece 40 in a second liquid supply mode, the fluid application to the cleaning piece 40 is stopped after the time for applying the fluid to the cleaning piece 40 by the liquid storage tank 30 reaches a fourth time, and the fluid is applied to the cleaning piece 40 again by the liquid storage tank 30 after the time for applying the fluid to the cleaning piece 40 is stopped reaches a third time.

The second liquid supply mode is to open and close the liquid storage tank 30 in a circulating mode to apply the fluid to the cleaning member 40. The manner of opening or closing the liquid storage tank 30 may be to provide other components to open or close the liquid outlet, or to control the fluid to flow out or not to flow out by changing the air pressure inside the liquid storage tank 30.

After the cleaning robot enters the second mode of operation, it starts to perform a cleaning operation, and in the first mode of operation, the reservoir 30 applies fluid to the cleaning members 40 so that the cleaning members 40 are wetted. The first liquid supply mode applies the fluid at the same speed as the second liquid supply mode applies the fluid, and a third time period for closing the liquid storage tank 30 to apply the fluid to the cleaning member 40 is longer than a fourth time period for opening the liquid storage tank 30 to apply the fluid to the cleaning member 40 in the process of applying the fluid to the cleaning member 40 in the second liquid supply mode. The second supply mode reduces the amount of fluid from the reservoir 30 applied to the cleaning member 40 compared to a first period of time in which the reservoir 30 stops applying fluid to the cleaning member 40 in the first supply mode which is less than a second period of time in which the reservoir 30 applies fluid to the cleaning member 40. The amount of the fluid applied to the cleaning members by the first liquid supply mode is larger than that of the fluid applied to the cleaning members by the second liquid supply mode within the same time length. Cleaning machines people carries out clean working process, prevents that cleaning member 40 is too wet, after dragging and wiping the face of waiting to clean, has liquid drippage to clean face, leads to secondary pollution, improves clean effect effectively, promotes user experience.

In some embodiments, the amount of fluid applied to the cleaning members 40 by the first fluid supply means is greater than the amount of fluid applied to the cleaning members 40 by the second fluid supply means by: the second time period for opening the liquid storage tank 30 to apply the fluid to the cleaning member 40 in the first liquid supply mode is longer than the fourth time period for opening the liquid storage tank 30 to apply the fluid to the cleaning member 40 in the second liquid supply mode, and the first time period for closing the liquid storage tank 30 to apply the fluid to the cleaning member 40 in the first liquid supply mode is shorter than the third time period for closing the liquid storage tank 30 to apply the fluid to the cleaning member 40 in the second liquid supply mode. The amount of the fluid applied to the cleaning members by the first liquid supply mode is larger than that of the fluid applied to the cleaning members by the second liquid supply mode within the same time length. Cleaning machines people carries out clean working process, prevents that cleaning member 40 is too wet, after dragging and wiping the face of waiting to clean, has liquid drippage to clean face, leads to secondary pollution, improves clean effect effectively, promotes user experience.

During the cleaning operation performed when the cleaning robot enters the second operation mode, the controller 50 monitors whether the operation state of the cleaning robot satisfies a condition for entering the third operation mode. And if the working condition is met, controlling the cleaning robot to enter a third working mode, if the working condition is not met, continuing to apply the fluid to the cleaning piece 40 in a second fluid supply mode, and in the process, controlling the fluid storage tank to apply the fluid to the cleaning piece every third time interval in a circulating mode, and stopping applying the fluid to the cleaning piece 40 every fourth time interval by using the fluid storage tank 30. Until step S40 is performed.

In some embodiments, the cleaning robot may further comprise a power device configured to provide power to control the flow or stop of the tank fluid. The power device may be a water pump, and the controller 50 may control the liquid storage tank 30 to apply the fluid to the cleaning members 40 by controlling the water pump to start or stop pumping the water, and specifically may change the rate of pumping the water by controlling the power of the water pump, so that the amount of fluid applied to the cleaning members by the first liquid supply manner is different from the amount of fluid applied to the cleaning members by the second liquid supply manner. For example, when the cleaning robot enters the first operation mode, the water pump operates at a first power, the tank 30 is controlled to apply the fluid to the cleaning member in a first supply manner, when the cleaning robot enters the second operation mode, the water pump operates at a second power, the tank 30 is controlled to apply the fluid to the cleaning member 40 in a second supply manner, the first power is greater than the second power, so that the flow rate of the fluid in the first supply manner is greater than the flow rate of the fluid in the second supply manner, and the tank 30 applies the fluid to the cleaning member in the first supply manner and the second supply manner for the same on-supply duration and the same off-supply duration, so that the amount of the fluid applied to the cleaning member in the first supply manner is greater than the amount of the fluid applied to the cleaning member in the second supply manner.

The motive device may also be a moving part, the movement of which may control opening or closing of the liquid outlet to control the reservoir 30 to apply fluid to the cleaning members 40. For example, the moving part is driven by a motor to move, the moving part closes the liquid outlet in the original state, the moving part moves to open the liquid outlet when the motor rotates forward, the fluid in the liquid storage tank 30 flows out, and after the duration of applying the fluid to the cleaning member reaches the second duration or the fourth duration, the controller 50 controls the motor to rotate reversely, the liquid outlet of the moving part is closed, and the liquid storage tank 30 stops applying the fluid to the cleaning member. And after the time length for stopping applying the fluid reaches the first time length or the third time length, the motor rotates forwards again to open the liquid outlet until the cleaning robot enters other working modes.

In further embodiments, the controller may be configured to control the cleaning robot to enter a first mode of operation causing the tank to apply fluid outwardly in a first supply and to control the cleaning robot to enter a second mode of operation causing the tank to apply fluid outwardly in a second supply. The outward application of fluid may be directed in any direction other than the cleaning robot. For example: when the cleaning robot is an air humidifier, the cleaning robot may apply fluid toward the top of or around the cleaning robot. At this time, the first working mode of the cleaning robot may be a working mode with a slow walking speed, the cleaning robot needs to detect the surrounding environment while walking, determine the region that can be humidified and the region that cannot be humidified, and after determining the region that can be humidified, the cleaning robot enters a second working mode, where the second working mode is a working mode with a slow walking speed. In other embodiments, the cleaning robot may apply the fluid to the surface to be cleaned. The cleaning robot enters a first working mode to cause the liquid storage tank 30 to apply fluid outwards in a first liquid supply manner, and the cleaning robot is controlled to enter a second working mode to cause the liquid storage tank to apply fluid outwards in a second liquid supply manner. The first liquid supply manner and the second liquid supply manner are the same as those of the previous embodiment, and are not described again.

In further embodiments, the controller may be further configured to control the tank 30 to apply fluid to the cleaning members 40 on an intermittent supply that cycles the tank on and off to apply fluid to the cleaning members. The gap type liquid supply mode comprises a first liquid supply mode and a second liquid supply mode, and the amount of fluid applied to the cleaning piece by the first liquid supply mode is larger than that applied to the cleaning piece by the second liquid supply mode within a time length with the same size.

And S40, controlling the cleaning robot to enter a third working mode, and enabling the liquid storage tank to stop applying the fluid to the cleaning piece.

Referring to fig. 14 and 15 in detail, fig. 14 is a schematic diagram of a condition that the cleaning robot enters the third working mode according to an embodiment of the present invention, and fig. 15 is a block diagram of a sensor system according to an embodiment of the present invention.

The cleaning robot enters a third working mode and at least one of the following conditions is met:

in condition one, the 401 cleaning robot walks to a soft surface to be cleaned. And when the cleaning robot detects that the cleaning robot walks to a soft surface to be cleaned in the cleaning working process executed in the second working mode, the cleaning robot is controlled to enter a third working mode. The soft surface to be cleaned is a surface which is paved with a carpet or a blanket and is not suitable for wet mopping. The sensor system 60 can further comprise a surface type detection sensor 61 to be cleaned, the surface type detection sensor 61 to be cleaned can be an infrared sensor, different surface types to be cleaned have different reflections on infrared sensor signals, the infrared sensor signals are reflected strongly when the surface of cement, ceramic tiles or smooth floors is covered, and when the cleaning robot runs to the surface of a carpet or a blanket, the infrared sensor signals are reflected weakly, so that the type of the surface to be cleaned by the cleaning robot can be judged. In other embodiments, the surface-to-be-cleaned type detecting sensor 61 may be a visual sensor that identifies the type of surface to be cleaned by comparing the difference in pixels on a visual image of different surfaces to be cleaned. In another embodiment, the cleaning robot includes a cleaning roller 411, the type of the surface to be cleaned detecting sensor 61 may be a sensor for detecting a current change of a driving motor of the cleaning roller 411, and when the cleaning robot runs to the surface to be cleaned with a carpet or a blanket laid thereon, an increase in cleaning resistance may cause an increase in current of the driving motor of the cleaning roller, thereby determining that the cleaning robot runs to a soft surface to be cleaned. And when the cleaning robot is detected to walk to a soft surface to be cleaned, the cleaning robot is controlled to enter a third working mode, and the liquid storage tank 30 is controlled to stop applying the fluid to the cleaning piece 40.

In a second condition 402, the power of the cleaning robot is less than a preset power. The cleaning robot may continuously consume the power of the battery during the cleaning operation in the second operation mode, and the sensor system 60 may include a power monitoring sensor 62 for detecting the power of the battery, and when the power of the battery is less than a preset power, the cleaning robot needs to find the recharging base and return to the recharging base for charging. And in the process of finding and recovering the charging seat by the cleaning robot, the cleaning robot enters a third working mode, and the liquid storage tank is controlled to stop applying the fluid to the cleaning piece so as to reduce the consumption of the electric quantity of the battery and prevent the cleaning robot from being dead due to the exhaustion of the electric quantity in the process of finding the charging seat. The electric quantity detection sensor 62 may obtain the current battery electric quantity by detecting information such as current or voltage.

Condition three, 403 the cleaning robot is in a charged state. The cleaning robot searches for the charging seat due to the fact that the electric quantity is lower than the preset electric quantity, when the cleaning robot is in a charging state, the cleaning robot enters a third working mode, and the liquid storage tank is controlled to stop applying the fluid to the cleaning piece. Sensor system 60 can be used for detecting cleaning machines people's operating condition including operating condition sensor 63, operating condition sensor 63 can be the charging seat butt joint sensor, can detect cleaning machines people and the charging contact butt joint of charging seat after successful, control liquid reserve tank 30 stops to apply fluid extremely cleaning member 40 prevents that the fluid from flowing out and the charging contact of charging seat, causes charging circuit's short circuit or brings other potential safety hazards.

And in the fourth condition, 404, the cleaning robot is in an abnormal working state. The cleaning robot is in an abnormal working state and is also detected by the working state sensor 63, the working state sensor 63 further includes a collision sensor or an obstacle detection sensor arranged at the front of the main body 10, the collision sensor is configured to detect collision information with an object in the environment during the operation of the cleaning robot, and the obstacle detection sensor is configured to detect operation environment information of the robot, so as to reduce the collision between the main body 10 and the object as much as possible. When the cleaning robot moves in all directions or turns to trigger the collision sensor, the cleaning robot is considered to be trapped, for example, the cleaning robot is difficult to move out when moving to the middle of the stool foot, the cleaning robot is judged to be in an abnormal working state, the cleaning robot enters a third working mode, and the liquid storage tank 30 is controlled to stop applying the fluid to the cleaning member 40. The working state sensor 63 further includes a driving member sensor which can detect the operation conditions of the left and right driving wheels and the front wheel, and thus can determine whether the cleaning robot is in a normal working state. The omni wheel sensor is disposed at a position where the main body 10 of the omni wheel 22 is installed, color blocks between black and white wheels are disposed on the omni wheel 22, the driving part sensor is an infrared sensor, no signal is output when the driving part sensor is reflected by the black blocks, signal is output when the driving part sensor is reflected by the white blocks, when the cleaning robot is in a normal working state, the omni wheel 22 rotates, the black blocks and the white blocks alternately reflect light emitted by the omni wheel sensor, and signal output can be alternately generated. If the signal detected by the omni-directional wheel sensor is continuously output without a signal or continuously output with the same signal within a predetermined time period, it may be determined that the cleaning robot is in an abnormal working state. The driving part sensor may also be a sensor for detecting driving motors of the left and right driving wheels, when the cleaning robot is trapped, it is determined that the cleaning robot is in an abnormal working state by detecting that the current or voltage of the driving motors of the left and right driving wheels is in an abnormal state by the driving part sensor, and the cleaning robot enters a third working mode to control the liquid storage tank 30 to stop applying the fluid to the cleaning member 40. Through the judgment that the cleaning robot is in an abnormal working state, the liquid storage tank 30 is controlled to stop applying the fluid to the cleaning piece 40 in time, and the situation that when the cleaning robot is trapped in the same place or runs in a small range, the fluid applied to the cleaning piece 40 is too much, so that the fluid seeps out of a cleaning surface and causes secondary pollution to the cleaning surface is prevented.

Conditional five, the user issues an indication to the cleaning robot to stop applying fluid to the cleaning members. When the user desires the cleaning robot to dry the floor without wet mopping, an indication may be given to the cleaning robot to stop applying fluid to the cleaning members 40. The indication may be sent by a peripheral device of the cleaning robot, such as: remote control or cell-phone APP. Of course, a corresponding switch can be arranged on the cleaning robot for control, and the switch can be a pressing type or a touch type. In other embodiments, the cleaning robot may also be provided with a voice interaction module, and the user may voice control the cleaning robot to stop applying fluid to the cleaning members.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "an alternative embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.

Claims

1. A cleaning robot, characterized by comprising:

a main body;

a tank configured to store a fluid, the tank comprising a liquid outlet;

2. The cleaning robot as claimed in claim 1, wherein the power unit includes a pipette, a squeeze tube, and a pump body which sucks the fluid in the tank through the pipette and discharges the fluid through the squeeze tube.

3. A cleaning robot according to claim 2, wherein one end of the pipette is fixedly connected with the pump body and the other end of the pipette is connected to the bottom of the reservoir.

4. The cleaning robot as claimed in claim 2, wherein one end of the liquid pressing pipe is fixedly connected to the pump body, and the other end of the liquid pressing pipe is connected to the liquid outlet.

5. The cleaning robot as claimed in claim 4, wherein a guide portion is disposed between the liquid pressing tube and the liquid outlet, and the fluid pressed out by the liquid pressing tube flows to a middle portion of the guide portion and is then diverged to two ends or four sides of the guide portion.

6. The cleaning robot of claim 2, wherein the tank further comprises a filter assembly mounted at a connection of the pipette and the tank.

7. The cleaning robot of claim 6, wherein the filter assembly is detachable from an exterior of the tank.

8. The cleaning robot of claim 1, wherein the motive device is mounted at one end of the tank.

9. The cleaning robot of any one of claims 1 to 8, wherein the tank applies fluid outwardly in a first liquid supply when the cleaning robot enters a first mode of operation;

when the cleaning robot enters a third working mode, the liquid storage tank stops applying fluid outwards;

the first liquid supply mode applies fluid outwards in a different amount from the second liquid supply mode.

10. The cleaning robot as claimed in any one of claims 1 to 8, further comprising a controller for controlling a liquid discharge speed and a liquid discharge time, wherein the power device is electrically connected to the controller.