CN211484376U - Cleaning robot with low-noise cleaning function and chip thereof - Google Patents

Abstract

The utility model discloses a cleaning machines people and chip with low noise cleans function, cleaning machines people utilizes and installs the rubbish of limit brush assembly hole department and puts together baffle 102 and carry out rubbish and put together the processing. The cleaning robot keeps closing the main brush and the vacuum cleaner, enters a quiet cleaning mode, collects the garbage to be cleaned on a preset walking path in a current cleaning area to a preset collecting position according to the map data of the map recording component, opens the main brush and the vacuum cleaner, and is switched from the quiet cleaning mode to a conventional cleaning mode to absorb the collected garbage at the preset collecting position into a garbage box. Compared with the prior art, the embodiment of the utility model provides a reduce the whole noise that cleans the process, reduce and clean the consumption.

Description

Cleaning robot with low-noise cleaning function and chip thereof

Technical Field

The utility model belongs to intelligence domestic appliance field, in particular to cleaning machines people and chip with low noise cleans function.

Background

Along with the progress of the technology, the function of the cleaning robot can gradually meet the daily life of people, and the market penetration rate is continuously improved. At present, a cleaning robot mainly realizes the cleaning of garbage by a rolling brush and dust collection mode, but has the problem of large noise.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an improper condition in view of above-mentioned prior art provides, its technical scheme as follows:

a cleaning robot with low-noise cleaning function is provided with a shell, a main brush, a side brush, a vacuum cleaner, a map recording component and a garbage box, and further comprises a garbage collecting baffle which is fixedly arranged at a side brush assembly opening at the bottom of the shell or in front of an original side brush structure and used for collecting garbage to be cleaned on a preset walking path in a current cleaning area to a preset collecting position according to map data of the map recording component in a quiet cleaning mode, so that the cleaning robot is switched from the quiet cleaning mode to a conventional cleaning mode and then absorbs the collected garbage at the preset collecting position into the garbage box; wherein, in a quiet sweeping mode, the cleaning robot keeps turning off the main brush and the vacuum cleaner; and in a normal sweeping mode, the cleaning robot keeps the main brush and the vacuum cleaner turned on.

Furthermore, the lower end of the garbage collecting baffle inclines towards the main brush, and the upper end of the garbage collecting baffle inclines towards the front far away from the main brush.

Further, when the preset walking path is a spiral walking path, the preset collecting position is a spiral center position of the spiral walking path.

Further, the cleaning robot is further provided with a wall surface detection component, the wall surface detection component is used for detecting physical boundary information of a current cleaning area, when the preset traveling path is an intermittent linear traveling path, the preset collection position is a garbage collection position on each section of linear path, and an end point of each section of linear path corresponds to the physical boundary detected by the wall surface detection component.

The cleaning robot further comprises a garbage detection part which is arranged in front of the garbage collecting baffle and used for collecting and detecting parameters corresponding to collected garbage to be cleaned in real time and controlling the main brush and the vacuum cleaner to perform cleaning operation according to a determined cleaning operation mode matched with the parameters; wherein the cleaning operation mode includes the quiet sweeping mode and the normal sweeping mode.

A chip is used for controlling the cleaning robot to gather garbage to be cleaned on a preset walking path in a current cleaning area to a preset collecting position according to map data of a map recording component in a quiet cleaning mode, and then controlling the cleaning robot to be switched to a conventional cleaning mode from the quiet cleaning mode so as to absorb the garbage gathered at the preset collecting position into a garbage box.

Compared with the prior art, the beneficial effects of the utility model are that: the cleaning robot is controlled to gather the garbage to a preset collecting position for absorption treatment in the spiral walking process, so that the noise of the whole cleaning process is reduced; the intermittent operation of the sweeper component and the dust collection component is realized by collecting the garbage at the detected physical boundary, so that the overall sweeping power consumption is reduced.

Drawings

Fig. 1 is a schematic structural distribution diagram of a garbage collecting baffle of a cleaning robot with a low-noise cleaning function according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a spiral walking path of a cleaning robot with a low-noise sweeping function according to an embodiment;

fig. 3 is a schematic diagram of an intermittent linear traveling path of a cleaning robot with a low-noise cleaning function according to a second embodiment.

Detailed Description

The technical solution in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.

The embodiment of the utility model provides a cleaning machines people with low noise cleans function, this cleaning machines people can install casing, main brush, limit brush, vacuum cleaner, map record part, rubbish box, drive wheel, actuating mechanism, guiding mechanism, sensing mechanism, main control board, power etc. and have current cleaning machines people's conventional configuration module, the utility model provides a cleaning machines people's innovation point mainly lies in cleaning machines people still includes rubbish and draws together the baffle, and the fixed limit brush assembly mouth department that sets up at the chassis bottom perhaps fixes the place ahead that sets up at original limit brush structure, cleans the partial structure of collection as rubbish, and the structure and the function text of other parts are no longer repeated.

As shown in fig. 1, the cleaning robot with low noise cleaning function provided in this embodiment includes a housing 101, a garbage collecting baffle 102 and a main brush 103, wherein a side brush mounting opening is formed at the bottom of the housing 101 and located in front of the main brush 103, and the garbage collecting baffle 102 is fixedly disposed at the side brush mounting opening at the bottom of the housing 101, or is fixedly disposed in the forward direction of the original side brush structure, as shown in fig. 1, the lower end of the garbage collecting baffle 102 is inclined toward the main brush 103, and the upper end of the garbage collecting baffle 102 is inclined toward the front far away from the main brush 103. During the sweeping process, the cleaning robot is divided into a quiet sweeping mode and a normal sweeping mode. In the normal cleaning mode, the main brush 103 and the vacuum cleaner are turned on to collect the garbage while walking, which is the same as that of other cleaning robots. In the quiet cleaning mode, the cleaning robot keeps closing the main brush 103 and the vacuum cleaner, and collects the garbage to be cleaned on the preset traveling path in the current cleaning area to a preset collection position according to the map data of the map recording component, thereby reducing the noise of the whole cleaning process. In the garbage collecting process, the garbage collecting baffle plate 102 moves forwards under the driving action of the driving mechanism, the collected garbage to be cleaned is swept to the garbage collecting baffle plate 102 until the garbage to be cleaned on the preset walking path is collected to the preset collecting position, and then the main brush 103 and the vacuum cleaner are opened. Specifically, the main brush 103 rolls on the preset collection position, and simultaneously cooperates with the blocking function of the garbage collecting baffle 102, so that the garbage to be cleaned can be conveyed to the garbage collecting baffle 102 and a garbage inlet channel between the garbage collecting baffle 102 and the housing 101 above the garbage collecting baffle 102 along the garbage collecting baffle 102, and then the garbage to be cleaned is sucked into the garbage box under the action of the vacuum cleaner.

Preferably, when the preset walking path is a spiral walking path, the preset collecting position is a spiral center position of the spiral walking path. When the preset walking path is set to be a spiral or zigzag walking path, the map recording component marks the current cleaning area and writes the current cleaning area into the map in the walking process of the cleaning robot, and the spiral center position is marked to be a uniform garbage collection position, namely the preset collection position, until the periphery of the spiral center position of the spiral walking path is the marked area position. The map recording component can provide the map data in the current cleaning area for the cleaning robot through a map generated by an existing visual scheme or a laser scheme, the cleaning robot can plan a corresponding walking path by using the map recording component in the cleaning process, so that the cleaning robot walks spirally or in a zigzag manner in the current cleaning area, continuously pushes the garbage to the center of the spiral from the periphery, starts a main brush 103 and a vacuum cleaner at the final collection point (which can be at the wall side and can also be as shown in a position O of FIG. 2), uniformly absorbs the garbage into the garbage box, and then finishes cleaning.

Preferably, the cleaning robot is further provided with a wall surface detecting means for detecting physical boundary information of a current cleaning area, that is, a wall and a door corresponding to an outer periphery of an area that can move indoors, or a physical boundary of an obstacle area arranged by the map recording means. When the preset traveling path is set to be an intermittent linear traveling path, the preset collection position is a garbage collection position on each linear path, and the end point of each linear path corresponds to the physical boundary detected by the wall surface detection component. In the process of the cleaning robot walking on the straight path, garbage to be cleaned on the current straight path is gathered to the current physical boundary position recorded by the map data to be absorbed through the garbage gathering baffle, and then the garbage to be cleaned on the next straight path is gathered to the next physical boundary position to be absorbed into the garbage box.

Preferably, the cleaning robot further comprises a garbage detection part which is arranged in front of the garbage collecting baffle and used for collecting and detecting the parameters corresponding to the collected garbage to be cleaned in real time and controlling the main brush and the vacuum cleaner to perform cleaning operation according to the determined cleaning operation mode matched with the parameters. Wherein the cleaning operation mode includes the quiet sweeping mode and the normal sweeping mode. Rubbish detection part can be a set of infrared correlation unit, installs rubbish is put together in the front of baffle, when rubbish blocks the sensor that infrared correlation unit corresponds, through gathering the parameter that waits to clean rubbish volume and correspond of detecting to put together and comparing with presetting the threshold value, works as when the parameter is greater than presetting the threshold value, the rubbish that sign rubbish is put together in baffle 102 the place ahead and is put together is more, then cleaning machines people by quiet clean the mode switch to the convention cleans the mode, opens main brush with vacuum cleaner inhales rubbish.

The embodiment of the utility model provides a cleaning control method based on above-mentioned cleaning robot, include, step S1: the cleaning robot closes the main brush 103 and the vacuum cleaner, so as to enter a quiet cleaning mode, collects garbage to be cleaned on a preset walking path according to the map data recorded by the map recording component, and when the cleaning robot sets the preset walking path to be a spiral walking path, the cleaning robot goes to step S2, and a cleaning control method of the cleaning robot corresponding to the cleaning robot can be taken as an embodiment one, and a specific path is shown in fig. 2; when the cleaning robot sets the preset traveling path as an intermittent linear traveling path, the process proceeds to step S3, and the corresponding cleaning control method of the cleaning robot may be implemented as embodiment two, where a specific path is shown in fig. 3.

The first embodiment is as follows: in step S2, the cleaning robot collects the garbage to be cleaned in the current cleaning area to a preset collection position along a spiral traveling path, then opens the main brush and the vacuum cleaner, enters a normal cleaning mode, and absorbs the collected garbage into the garbage box; wherein the preset collecting position is a spiral center position of the spiral walking path. As shown in fig. 2, 201 denotes a current cleaning area, a position a is a starting position of the cleaning robot, a position O is a spiral center position of the spiral walking path, the cleaning robot starts from the position a and walks to the position B along a path AB, the garbage to be cleaned on the path AB is collected to the position B, the path AB is a first transverse walking path of the spiral walking path, it should be noted that, although the path AB in fig. 2 is a straight line, the path AB in fig. 2 is only described as a preferred embodiment, and the first transverse walking path may also include a curve; the cleaning robot starts to turn at a position B, and walks to a position C along a path BC, so that the garbage to be cleaned on the path AB and the path BC is gathered to the position C, the path BC is used as a first longitudinal walking path of the spiral walking path, the first longitudinal walking path is continuous with a first transverse walking path, and the first longitudinal walking path comprises a straight line or a curve path; then, the cleaning robot turns at the position C to enable the cleaning robot to walk to the position D along the path CD, the garbage to be cleaned on the path AB, the path BC and the path CD are gathered to the position D, the path CD is used as a second transverse walking path of the spiral walking path, and the second transverse walking path is parallel to the first transverse walking path and is continuous with the first longitudinal walking path; then the cleaning robot turns at the position D to enable the cleaning robot to walk to the position E along the path DE, the garbage to be cleaned on the path AB, the path BC, the path CD and the path DE are gathered to the position E, and the path DE is used as a second longitudinal walking path of the spiral walking path; in this case, among the spiral traveling path, the first transverse traveling path (path AB), the first longitudinal traveling path (path BC), the second transverse traveling path (path CD), and the second longitudinal traveling path (path DE) constitute a first periodic path of the spiral traveling path. And then the cleaning robot turns at the position E to change the walking direction, so that the cleaning robot walks to the position F along a path EF, the garbage to be cleaned on the periodic path is collected to the position F, the path EF is used as a first transverse walking path of a second periodic path of the spiral walking path, and the path EF is continuous with the second longitudinal walking path (path DE) of the first periodic path. And then the cleaning robot moves to a spiral center position O of the spiral walking path according to the walking path planning method, so that the cleaning robot walks on a periodic path of a plurality of continuous spiral walking paths which are connected with each other, and finally, at the spiral center position O of the spiral walking path, the cleaning robot opens the main brush and the vacuum cleaner to enter a conventional cleaning mode, and the collected garbage is absorbed into the garbage box. Wherein the interval of two consecutive periodic paths is represented in fig. 2 as: the distance between the straight line of the path EF and the straight line of the path AB, that is, the distance between the first transverse traveling path (path AB) of the first periodic path and the first transverse traveling path (path EF) of the second periodic path is set by the cleaning robot to be 1 to 2 times the cleaning width of the main brush 102. The cleaning control method in the present embodiment reduces cleaning noise.

It should be noted that, when the preset walking path is set to be a spiral or zigzag walking path, the map recording component marks the current cleaning area and writes the current cleaning area into the map during the walking process of the cleaning robot, and when the circumference of the spiral center position 0 of the spiral walking path is already the marked area position, the map recording component enters a conventional cleaning mode at the spiral center position O, and performs garbage absorption processing on the current position, wherein the path length of the first transverse walking path (path AB) is smaller than the transverse length of the current cleaning area 201, and the first longitudinal walking path (path BC) is smaller than the longitudinal length of the current cleaning area 201.

In addition, the cleaning control method does not generate differences due to different cleaning areas, after the cleaning robot enters a new cleaning area after the cleaning robot finishes the step S2, the spiral walking path is still planned according to the cleaning control method, the quiet cleaning mode is kept for collecting the garbage to be cleaned, and finally the cleaning robot is switched to the normal cleaning mode at a new spiral center position for absorption treatment.

Example two: in step S3, the cleaning robot collects the garbage to be cleaned on the current straight traveling path to a physical boundary detected by the wall surface detecting part through the garbage collection barrier 102, and then opens the main brush 103 and the vacuum cleaner so that the collected garbage is absorbed into the garbage box, and then proceeds to step S4. As shown in fig. 3, 301 denotes a current cleaning area, and position A1 is a cleaning start position of the cleaning robot, which moves along a path A1B1 to position B1, and collects the garbage to be cleaned on the path A1B1 to position B1 in a quiet cleaning mode in which the main brush 103 and the vacuum cleaner are kept off, and then path A1B1 is a first traverse traveling path of the intermittent straight traveling path. At position B1, the wall detection unit detects a physical boundary of the cleaning area 301, and the cleaning robot switches from the quiet cleaning mode to the normal cleaning mode, turns on the main brush 103 and the vacuum cleaner, and absorbs the garbage collected at position B1.

In step S4, the cleaning robot turns off the main brush 103 and the vacuum cleaner, turns around at an intersection of the current linear travel path and the lateral or longitudinal physical boundary thereof, travels a preset distance along the lateral or longitudinal physical boundary, determines the direction of the next linear travel path according to the map data of the map recording component, and proceeds to step S5. Wherein the preset distance is set to be a width of a body of the cleaning robot. As shown in fig. 3, the cleaning robot turns off the main brush 103 and the vacuum cleaner, turns a corner at a position B1, and moves to a position C1 along a path B1C1, the map recording part marks the position information of the path B1C1 and writes a map as map data during the travel of the cleaning robot, and the cleaning robot determines the direction of the next straight travel path according to the map data of the map recording part, i.e., controls the cleaning robot to turn from the direction of the path B1C1 to the direction of the path C1D1 at the position C1 so as to travel from the position C1 to the position D1 along the path C1D1, wherein the path B1C1 is a longitudinal physical boundary corresponding to the path A1B1, and the path B1C1 is also used as a first longitudinal travel path of the intermittent straight travel path; position B1 is the intersection of path B1C1 and path A1B 1.

It should be noted that, when the current linear walking path is the first transverse walking path, the next linear walking path is the second transverse walking path; or, when the current linear walking path is the first longitudinal walking path, the next linear walking path is the second longitudinal walking path. The distance between the current linear walking path and the next linear walking path is set to be the width of the body of the cleaning robot.

Step S5: repeating steps S3 through S4 until the cleaning robot has traversed the current cleaning area. As shown in fig. 3, in the quiet cleaning mode in which the main brush 103 and the vacuum cleaner are kept off, the cleaning robot starts to travel from the position C1 to the position D1 along the path C1D1 and collects the garbage to be cleaned on the path C1D1 to the position D1, and the path C1D1 is a second traverse path of the intermittent linear travel path, which is parallel to the first traverse path in the present embodiment. Then at position D1, the wall detection means detects another physical boundary of the cleaning zone 301, the cleaning robot switches from the quiet cleaning mode to the normal cleaning mode, the main brush 103 and the vacuum cleaner are turned on, and the garbage collected at position D1 is subjected to the absorption treatment. The cleaning robot turns off the main brush 103 and the vacuum cleaner first, turns a corner at a position D1, and then moves to a position E1 along a path D1E1, the map recording part marks the position information of the path D1E1 and writes a map as map data during the traveling of the cleaning robot, and the cleaning robot determines the direction of the next straight traveling path according to the map data of the map recording part. The path D1E1 is a longitudinal physical boundary corresponding to the path C1D1, and the path C1D1 is also a second longitudinal traveling path of the intermittent linear traveling path; the position D1 is the intersection position of the path C1D1 and the path D1E 1. The above steps S3 to S4 are then repeated starting from position E1 until the cleaning robot has traversed the cleaning region 301 through the intermittent straight-line travel path and reaches position O1. The cleaning robot then walks edgewise within the cleaning zone 301 back to the starting position. In the embodiment of the present invention, although the cleaning control method may generate intermittent noise, the cleaning power consumption is generally reduced relative to the first embodiment.

In the intermittent linear travel path, as shown in fig. 3, the first transverse travel path (path A1B 1), the first longitudinal travel path (path B1C 1), the second transverse travel path (path C1D 1), and the second longitudinal travel path (path D1E 1) form a zigzag travel path, wherein the first longitudinal travel path (path B1C 1) and the second longitudinal travel path (path D1E 1) are linear paths in which the physical boundary is located, and the distance length between the first longitudinal travel path (path B1C 1) and the second longitudinal travel path (path D1E 1) is set to be equal to the width of the body of the cleaning robot, which is advantageous for improving the cleaning coverage. Before the wall surface detection part detects the physical boundary, the cleaning robot keeps the main brush 103 and the vacuum cleaner closed, and garbage is continuously gathered through the garbage gathering baffle. In addition, the first transverse traveling path and the second transverse moving path may also be straight paths where the physical boundaries are located, which is different depending on the position of the obstacle or the wall in the current cleaning area, and the cleaning path planned based on the cleaning control method is only exchanged between the transverse and longitudinal path states, and thus, the details are not repeated. In summary, until the wall surface detecting part detects the physical boundary, the cleaning robot keeps the main brush 103 and the vacuum cleaner closed, and continuously performs the garbage collection process by the garbage collection baffle.

Preferably, in the cleaning control method according to the first and second embodiments, the method further includes: and in the process that the cleaning robot collects the garbage to be cleaned on the preset walking path, the garbage detection part collects and detects the parameters representing the amount of the garbage to be cleaned in real time and compares the parameters with a preset threshold value. The garbage detection component can be a group of infrared correlation units, and when the amount of garbage collected in front of the garbage collection baffle plate 102 is large, the infrared correlation units are blocked, so that parameters obtained by detection and collection of the infrared correlation units are changed greatly. When the parameter is greater than the preset threshold (for example, 20%), determining that the quiet cleaning mode enters a conventional cleaning mode, and starting the main brush 103 and the vacuum cleaner, so that the garbage to be cleaned before the garbage collection baffle 102 is sucked into a garbage box, and the cleaning efficiency is prevented from being influenced by too much collected garbage; when the parameter is less than the preset threshold, the quiet sweeping mode is maintained, the main brush 103 and the vacuum cleaner are kept closed until the main brush moves to the preset collection position and then absorption treatment is performed, so as to reduce sweeping noise.

A chip stores a program code corresponding to the cleaning control method. The program code is used for controlling the robot to execute the cleaning control method described in the above embodiment. The chip can be a robot main control chip, a robot auxiliary control chip or a robot processor chip and the like. The chip is used for controlling the cleaning robot to gather the garbage to be cleaned on a preset walking path in the current cleaning area to the preset collecting position in the quiet cleaning mode according to the map data of the map recording component, and then controlling the cleaning robot to be switched from the quiet cleaning mode to the conventional cleaning mode so as to absorb the garbage gathered at the preset collecting position into the garbage box. Wherein, in a quiet sweeping mode, the chip controls the cleaning robot to keep closing the main brush 102 and the vacuum cleaner; while in the normal sweeping mode, the chip controls the cleaning robot to keep the main brush 102 and the vacuum cleaner on.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, it should be understood by those skilled in the art that: the invention can be modified or equivalent substituted for some technical features; without departing from the spirit of the present invention, it should be understood that the scope of the claims is intended to cover all such modifications and variations.

Claims (5)

1. A cleaning robot with low-noise cleaning function is provided with a machine shell, a main brush, an edge brush, a vacuum cleaner, a map recording component and a garbage box and is characterized by further comprising a garbage collecting baffle which is fixedly arranged at an edge brush assembly opening at the bottom of the machine shell or in front of an original edge brush structure.

2. The cleaning robot as claimed in claim 1, wherein the lower end of the garbage collection barrier is inclined toward the main brush, and the upper end of the garbage collection barrier is inclined toward the front away from the main brush.

3. The cleaning robot as claimed in claim 1, wherein the preset collecting position is a spiral center position of the spiral walking path when the preset walking path is the spiral walking path.

4. The cleaning robot according to claim 3, further comprising a wall surface detecting unit for detecting information on physical boundaries of a current cleaning area, wherein when the predetermined traveling path is an intermittent linear traveling path, the predetermined collecting position is a garbage collecting position on each linear path, and an end point of each linear path corresponds to the physical boundary detected by the wall surface detecting unit.

5. The cleaning robot as claimed in claim 1 or claim 2, further comprising a garbage detection part mounted in front of the garbage collection baffle for collecting and detecting parameters corresponding to collected garbage to be cleaned in real time, and controlling the main brush and the vacuum cleaner to perform cleaning operation according to a determined cleaning operation mode matched with the parameters;

wherein the cleaning operation mode includes a quiet sweeping mode and a normal sweeping mode.

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