WO2018041191A1 - Cleaning robot and control method therefor - Google Patents

Cleaning robot and control method therefor Download PDF

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Publication number
WO2018041191A1
WO2018041191A1 PCT/CN2017/099834 CN2017099834W WO2018041191A1 WO 2018041191 A1 WO2018041191 A1 WO 2018041191A1 CN 2017099834 W CN2017099834 W CN 2017099834W WO 2018041191 A1 WO2018041191 A1 WO 2018041191A1
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Prior art keywords
cleaning
sensor
robot
control unit
cleaning robot
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PCT/CN2017/099834
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French (fr)
Chinese (zh)
Inventor
彭中美
岳鹏飞
吴永东
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科沃斯机器人股份有限公司
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Publication of WO2018041191A1 publication Critical patent/WO2018041191A1/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the invention relates to a cleaning robot and a control method thereof, and belongs to the technical field of small household appliance manufacturing.
  • the existing intelligent sweeping robots on the market can automatically clean the ground without being looked after, and have various functions, such as a sweeping robot that can spray the floor to clean the floor, or a sweeping robot with a wet rag to wipe the floor.
  • a sweeping robot with cleaning or rag mopping function is very good for cleaning the floor, but if it is working on the carpet, it will wet or stain the carpet. Therefore, how to make the cleaning robot suitable for different home environments has become one of the problems that those skilled in the art urgently need to solve.
  • the technical problem to be solved by the present invention is to provide a cleaning robot and a control method thereof according to the deficiencies of the prior art, and use the ground medium sensor capable of detecting the ground medium to combine the ground medium information fed back with the cleaning component information of the cleaning robot.
  • Reasonable planning action solves the ubiquitous problem of cleaning components in multi-media floor cleaning, especially preventing the carpet from being damaged by the cleaning robot.
  • a cleaning robot includes a robot body, a bottom of the robot body is provided with a detachable cleaning component, and the robot body is further provided with a sensing unit and a control unit, and the sensing unit comprises a cleaning component sensor and a ground medium sensor.
  • the control unit controls the cleaning robot to perform a corresponding operation mode according to the detection signals of the cleaning component sensor and the ground media sensor.
  • the operation mode includes a avoidance walking mode
  • the control unit determines that the detection signal sent by the ground medium sensor is a carpet signal, and the control unit controls the cleaning robot to enter the avoidance walking when the control unit determines that the detection signal sent by the cleaning component sensor is a rag signal. mode.
  • the operation mode includes a mopping walking mode
  • the control unit determines that the detection signal sent by the ground medium sensor is a floor signal, and determines that the detection signal sent by the cleaning component sensor is a rag signal, and the control unit controls the cleaning robot to enter the mopping floor. mode.
  • the operation mode includes a carpet cleaning mode
  • the control unit determines that the detection signal sent by the ground medium sensor is a carpet signal, and when the detection signal sent by the cleaning component sensor has no rag signal, the control unit controls the cleaning robot to enter the carpet cleaning mode.
  • the sensing unit further comprises an environmental sensor for identifying the terrain of the area surrounding the working area of the cleaning robot and/or determining the position of the cleaning robot, and transmitting the detection signal of the environmental sensor to the control unit.
  • the walking direction of the cleaning robot is forward
  • the ground medium sensor is disposed at the front end of the robot body
  • the cleaning component is disposed behind the ground medium sensor.
  • the present invention also provides a control method for a cleaning robot as described above, comprising the following steps:
  • Step 10 The cleaning robot performs a cleaning work, the ground medium sensor detects the type of the ground medium, and the cleaning component sensor detects whether the robot body mounts the cleaning component, and sends a detection signal to the control unit;
  • Step 20 When the detection signal of the ground medium sensor is a carpet signal, and the detection signal of the cleaning component sensor includes the rag and/or the nozzle signal, the control unit controls the cleaning robot to enter the avoidance walking mode according to the detection signal.
  • the present invention utilizes a ground media sensor that can identify the ground medium, combines the ground media information fed back with the cleaning component information of the cleaning robot, and rationally plans the action, thereby solving the versatility of the cleaning component in the cleaning of the multi-media floor.
  • the problem especially to prevent the carpet from being damaged by the cleaning robot.
  • Figure 1 is a plan view showing the structure of the cleaning robot of the present invention.
  • Figure 2 is a cross-sectional view of the cleaning robot when the cleaning assembly includes a rag
  • Figure 3 is a cross-sectional view of the cleaning robot when the cleaning assembly has no rag.
  • FIG. 1 is a plan view of a cleaning robot of the present invention
  • FIG. 2 is a cross-sectional view of the cleaning robot when the cleaning assembly includes a rag
  • FIG. 3 is a cross-sectional view of the cleaning robot when the cleaning assembly has no rag.
  • the present invention provides a cleaning robot including a robot main body 100.
  • the bottom of the robot main body 100 is provided with a detachable cleaning component, and different cleaning components can help the cleaning robot complete different cleaning work.
  • the cleaning assembly can include, for example, a rag 200, a nozzle, and the like.
  • the robot body 100 is provided with a driving unit, a vacuum unit, a sensing unit, a control unit, and the like.
  • the driving unit is used to drive the cleaning robot to walk
  • the vacuum unit is used to generate suction
  • the sensing unit is used to detect the cleaning robot itself.
  • the control unit is used to control the cleaning robot work.
  • the cleaning robot generates suction by the vacuum unit to suck dust from the surface to be cleaned, and the dust enters the collecting device.
  • the drive unit includes a drive motor and a drive wheel driven by the drive motor.
  • the sensing unit includes a cleaning assembly sensor 101 for detecting whether a cleaning component is provided on the cleaning robot and transmitting a detection signal to the control unit. How to detect whether a cleaning component is provided on the cleaning robot is a prior art. For details, refer to the technical solution disclosed in Patent No. CN101297267B, which is not described here.
  • the sensing unit also includes a ground media sensor 102 for detecting the type of ground medium that is capable of distinguishing whether a carpet is present on the ground and transmitting a detection signal to the control unit. A specific method for detecting a carpet by the ground medium sensor can be found in Japanese Patent Laid-Open No. Hei 7-313418, which is not described herein.
  • the ground medium sensor 102 is preferably disposed at the front end of the robot body, and the cleaning assembly is disposed behind the ground medium sensor 102. Specifically, the ground medium sensor 102 is disposed on a front side of the drive wheel.
  • the sensing unit may further include an environmental sensor capable of detecting the terrain topography of the working area around the cleaning robot and/or determining the position of the cleaning robot, thereby drawing a working map and detecting the environment sensor. Send to the control unit to help clean the robot to plan the route or work. Thereby further improving work efficiency.
  • control unit receives the detection signal of the sensing unit, and controls the cleaning robot to execute the corresponding operation mode according to the detection signals of the cleaning component sensor 101 and the ground medium sensor 102.
  • the operation mode includes a mopping walking mode, the control unit determines that the detection signal sent by the ground medium sensor 102 is a floor signal, and the control unit determines that the detection signal sent by the cleaning component sensor 101 is a rag signal, and the control unit controls the cleaning robot to enter the mopping floor. mode.
  • the operation mode includes a carpet cleaning mode
  • the control unit determines that the detection signal sent by the ground medium sensor 102 is a carpet signal
  • the control unit determines that the detection signal sent by the cleaning component sensor 101 has no rag signal
  • the control unit controls the cleaning robot to enter the carpet cleaning mode.
  • the operation mode includes a avoidance walking mode, and the control unit determines that the detection signal sent by the ground medium sensor 102 is a carpet signal, and the control unit controls the cleaning robot to enter the avoidance walking mode when the control unit determines that the detection signal sent by the cleaning component sensor 101 is a rag signal. .
  • the bottom of the cleaning robot is provided with a suction port, and the suction port is provided with a roller brush, in the carpet cleaning mode, the motor power is increased, or the height of the suction port is lowered.
  • the control unit controls the cleaning robot to enter the avoidance walking mode, thereby preventing the cleaning robot from damaging the ground medium.
  • the cleaning component may soil or wet the carpet, that is, the type of the ground medium does not match the cleaning component, and control is performed at this time.
  • the unit controls the cleaning robot to alarm or avoid; when the cleaning component is not installed on the cleaning robot, whether there is a carpet on the ground, the cleaning machine everybody walks in the original walking mode.
  • the cleaning robot alarm can be realized by an alarm device provided on the cleaning robot, and the alarm device can emit a sound or a light;
  • the avoiding walking mode is a motion of the cleaning robot to retreat or turn to avoid the carpet;
  • the original walking mode is a cleaning robot walking mode under the control of the control unit that is not affected by the detection signals of the cleaning component sensor 101 and the ground medium sensor 102, that is, the walking cleaning mode of the conventional cleaning robot in the prior art, and the control unit is not in the walking cleaning mode.
  • the detection signals of the cleaning component sensor 101 and the ground media sensor 102 are comprehensively determined, and the cleaning robot motion cannot be controlled according to the detection signals of the cleaning component sensor 101 and the ground media sensor 102.
  • the original walking mode is prior art, and details are not described herein. .
  • the control method of the cleaning robot in the present invention is as follows:
  • Step 10 The cleaning robot performs a cleaning operation, the ground medium sensor 102 detects the type of the ground medium, and the cleaning assembly sensor 101 detects whether the robot body mounts the cleaning component, and transmits a detection signal to the control unit;
  • Step 20 When the detection signal of the ground medium sensor 102 is a carpet signal, and the detection signal of the cleaning assembly sensor 101 includes the rag 200 and/or the nozzle signal, the control unit controls the cleaning robot to enter the avoidance walking mode according to the detection signal.
  • the present invention provides a cleaning robot and a control method thereof, which utilizes a ground medium sensor capable of detecting a ground medium, combines the ground media information fed back with the cleaning component information of the cleaning robot, and rationally plans the action to solve the cleaning.
  • a ground medium sensor capable of detecting a ground medium

Abstract

Disclosed is a cleaning robot and a control method therefor. The cleaning robot comprises a robot main body (100). The bottom of the robot main body (100) is provided with a detachable cleaning assembly, and the robot main body (100) is also provided with a sensing unit and a control unit. The sensing unit comprises a cleaning assembly sensor (101) and a floor material sensor (102). According to detection signals of the cleaning assembly sensor (101) and the floor material sensor (102), the control unit controls the leaning robot such that same executes a corresponding operating mode. The floor material sensor (102) capable of detecting a floor material is used for combining floor material information fed back thereby and cleaning assembly information about the cleaning robot, so as to rationally plan an action, thus solving the problem of extensive use of the cleaning assembly in cleaning floors of different materials, and preventing a carpet from being damaged by the cleaning robot.

Description

清洁机器人及其控制方法Cleaning robot and its control method 技术领域Technical field
本发明涉及一种清洁机器人及其控制方法，属于小家电制造技术领域。The invention relates to a cleaning robot and a control method thereof, and belongs to the technical field of small household appliance manufacturing.
背景技术Background technique
市面上现有的智能扫地机器人能够在无人照看的情况下自动对地面进行清扫，并且具有多种功能，例如能喷水清洗地板的扫地机器人，或者带有湿抹布擦地的扫地机器人等。然而，很多家庭环境中会同时存在地板和地毯，带有清洗或者抹布拖地功能的扫地机器人，对清洁地板非常有好处，但是如果在地毯上工作时，却会将地毯弄湿或者弄脏。因此，如何使扫地机器人适用于不同的家庭环境，成为本领域技术人员急需解决的问题之一。The existing intelligent sweeping robots on the market can automatically clean the ground without being looked after, and have various functions, such as a sweeping robot that can spray the floor to clean the floor, or a sweeping robot with a wet rag to wipe the floor. However, in many home environments, there are floors and carpets at the same time. A sweeping robot with cleaning or rag mopping function is very good for cleaning the floor, but if it is working on the carpet, it will wet or stain the carpet. Therefore, how to make the cleaning robot suitable for different home environments has become one of the problems that those skilled in the art urgently need to solve.
发明内容Summary of the invention
本发明所要解决的技术问题在于针对现有技术的不足，提供一种清洁机器人及其控制方法，利用可以检测地面介质的地面介质传感器，将其反馈的地面介质信息与清洁机器人的清洁组件信息结合，合理规划动作，解决了清洁组件在多介质地面清洁的泛用性问题，尤其防止地毯受到清洁机器人的损伤。The technical problem to be solved by the present invention is to provide a cleaning robot and a control method thereof according to the deficiencies of the prior art, and use the ground medium sensor capable of detecting the ground medium to combine the ground medium information fed back with the cleaning component information of the cleaning robot. Reasonable planning action solves the ubiquitous problem of cleaning components in multi-media floor cleaning, especially preventing the carpet from being damaged by the cleaning robot.
本发明所要解决的技术问题是通过如下技术方案实现的：The technical problem to be solved by the present invention is achieved by the following technical solutions:
一种清洁机器人，包括机器人主体，机器人主体底部设有可拆卸的清洁组件，所述机器人主体上还设有传感单元和控制单元，所述传感单元包括清洁组件传感器和地面介质传感器，所述控制单元根据清洁组件传感器和地面介质传感器的检测信号，控制清洁机器人执行相应运行模式。A cleaning robot includes a robot body, a bottom of the robot body is provided with a detachable cleaning component, and the robot body is further provided with a sensing unit and a control unit, and the sensing unit comprises a cleaning component sensor and a ground medium sensor. The control unit controls the cleaning robot to perform a corresponding operation mode according to the detection signals of the cleaning component sensor and the ground media sensor.
优选地，所述运行模式包含避让行走模式，控制单元判断地面介质传感器发送的检测信号为地毯信号，同时控制单元判断清洁组件传感器发送的检测信号为抹布信号时，控制单元控制清洁机器人进入避让行走模式。Preferably, the operation mode includes a avoidance walking mode, and the control unit determines that the detection signal sent by the ground medium sensor is a carpet signal, and the control unit controls the cleaning robot to enter the avoidance walking when the control unit determines that the detection signal sent by the cleaning component sensor is a rag signal. mode.
优选地，所述运行模式包含拖地行走模式，控制单元判断地面介质传感器发送的检测信号为地板信号，同时判断清洁组件传感器发送的检测信号为抹布信号时，控制单元控制清洁机器人进入拖地行走模式。Preferably, the operation mode includes a mopping walking mode, and the control unit determines that the detection signal sent by the ground medium sensor is a floor signal, and determines that the detection signal sent by the cleaning component sensor is a rag signal, and the control unit controls the cleaning robot to enter the mopping floor. mode.
优选地，所述运行模式包含地毯清洁模式，控制单元判断地面介质传感器发送的检测信号为地毯信号，同时清洁组件传感器发送的检测信号无抹布信号时，控制单元控制清洁机器人进入地毯清洁模式。 Preferably, the operation mode includes a carpet cleaning mode, and the control unit determines that the detection signal sent by the ground medium sensor is a carpet signal, and when the detection signal sent by the cleaning component sensor has no rag signal, the control unit controls the cleaning robot to enter the carpet cleaning mode.
优选地，所述传感单元还包括环境传感器，所述环境传感器用于识别清洁机器人工作周边的区域地形和/或确定清洁机器人的位置，并将环境传感器的检测信号发送给控制单元。Preferably, the sensing unit further comprises an environmental sensor for identifying the terrain of the area surrounding the working area of the cleaning robot and/or determining the position of the cleaning robot, and transmitting the detection signal of the environmental sensor to the control unit.
优选地，以清洁机器人的行走方向为前方，所述地面介质传感器设置在机器人主体前端，清洁组件设置在地面介质传感器的后方。Preferably, the walking direction of the cleaning robot is forward, the ground medium sensor is disposed at the front end of the robot body, and the cleaning component is disposed behind the ground medium sensor.
本发明还提供一种如上所述清洁机器人的控制方法，包括如下步骤：The present invention also provides a control method for a cleaning robot as described above, comprising the following steps:
步骤10：清洁机器人执行清洁工作，地面介质传感器检测地面介质的类型，清洁组件传感器检测机器人主体是否安装所述清洁组件，并将检测信号发送给控制单元；Step 10: The cleaning robot performs a cleaning work, the ground medium sensor detects the type of the ground medium, and the cleaning component sensor detects whether the robot body mounts the cleaning component, and sends a detection signal to the control unit;
步骤20：地面介质传感器的检测信号为地毯信号，并且清洁组件传感器的检测信号包括抹布和/或喷嘴信号时，控制单元根据检测信号控制清洁机器人进入避让行走模式。Step 20: When the detection signal of the ground medium sensor is a carpet signal, and the detection signal of the cleaning component sensor includes the rag and/or the nozzle signal, the control unit controls the cleaning robot to enter the avoidance walking mode according to the detection signal.
综上所述，本发明利用可以识别地面介质的地面介质传感器，将其反馈的地面介质信息与清洁机器人的清洁组件信息结合，合理规划动作，解决了清洁组件在多介质地面清洁的泛用性问题，尤其防止地毯受到清洁机器人的损伤。In summary, the present invention utilizes a ground media sensor that can identify the ground medium, combines the ground media information fed back with the cleaning component information of the cleaning robot, and rationally plans the action, thereby solving the versatility of the cleaning component in the cleaning of the multi-media floor. The problem, especially to prevent the carpet from being damaged by the cleaning robot.
下面结合附图和具体实施例，对本发明的技术方案进行详细地说明。The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
附图说明DRAWINGS
图1为本发明清洁机器人的结构俯视图；Figure 1 is a plan view showing the structure of the cleaning robot of the present invention;
图2为清洁组件包括抹布时清洁机器人的剖视图；Figure 2 is a cross-sectional view of the cleaning robot when the cleaning assembly includes a rag;
图3为清洁组件无抹布时清洁机器人的剖视图。Figure 3 is a cross-sectional view of the cleaning robot when the cleaning assembly has no rag.
具体实施方式detailed description
图1为本发明清洁机器人的结构俯视图；图2为清洁组件包括抹布时清洁机器人的剖视图；图3为清洁组件无抹布时清洁机器人的剖视图。如图1至图3所示，本发明提供一种清洁机器人，包括机器人主体100，机器人主体100底部设有可拆卸的清洁组件，不同的清洁组件可以帮助清洁机器人完成不同的清洁工作，所述清洁组件例如可以包括抹布200、喷嘴等。1 is a plan view of a cleaning robot of the present invention; FIG. 2 is a cross-sectional view of the cleaning robot when the cleaning assembly includes a rag; and FIG. 3 is a cross-sectional view of the cleaning robot when the cleaning assembly has no rag. As shown in FIG. 1 to FIG. 3, the present invention provides a cleaning robot including a robot main body 100. The bottom of the robot main body 100 is provided with a detachable cleaning component, and different cleaning components can help the cleaning robot complete different cleaning work. The cleaning assembly can include, for example, a rag 200, a nozzle, and the like.
所述机器人主体100上设有驱动单元、真空单元、传感单元和控制单元等，所述驱动单元用于驱动清洁机器人行走，真空单元用于产生吸力，传感单元用于检测清洁机器人自身的状态及工作环境，控制单元用于控制清洁机器人工作。本发明中清洁机器人通过真空单元产生吸力，以吸入待清洁表面的灰尘，灰尘进入收集装置。 The robot body 100 is provided with a driving unit, a vacuum unit, a sensing unit, a control unit, and the like. The driving unit is used to drive the cleaning robot to walk, the vacuum unit is used to generate suction, and the sensing unit is used to detect the cleaning robot itself. State and working environment, the control unit is used to control the cleaning robot work. In the present invention, the cleaning robot generates suction by the vacuum unit to suck dust from the surface to be cleaned, and the dust enters the collecting device.
所述驱动单元包括驱动电机及由驱动电机驱动的驱动轮。传感单元包括清洁组件传感器101，用于检测清洁机器人上是否设有清洁组件，并将检测信号发送给控制单元。如何检测清洁机器人上是否设有清洁组件为现有技术，具体可参见专利号为CN101297267B中公开的技术方案，在此不再赘述。传感单元还包括地面介质传感器102，用于检测地面介质的类型，其能够分辨出地面上是否存在地毯，并将检测信号发送给控制单元。所述地面介质传感器检测地毯的具体方法可参见专利号为特开平7-313418的日本专利，在此不再赘述。以清洁机器人的行走方向为前方，所述地面介质传感器102优选的设置在机器人主体前端，清洁组件设置在地面介质传感器102的后方。具体的，所述地面介质传感器102设置在所述驱动轮的前侧。The drive unit includes a drive motor and a drive wheel driven by the drive motor. The sensing unit includes a cleaning assembly sensor 101 for detecting whether a cleaning component is provided on the cleaning robot and transmitting a detection signal to the control unit. How to detect whether a cleaning component is provided on the cleaning robot is a prior art. For details, refer to the technical solution disclosed in Patent No. CN101297267B, which is not described here. The sensing unit also includes a ground media sensor 102 for detecting the type of ground medium that is capable of distinguishing whether a carpet is present on the ground and transmitting a detection signal to the control unit. A specific method for detecting a carpet by the ground medium sensor can be found in Japanese Patent Laid-Open No. Hei 7-313418, which is not described herein. With the walking direction of the cleaning robot as the front, the ground medium sensor 102 is preferably disposed at the front end of the robot body, and the cleaning assembly is disposed behind the ground medium sensor 102. Specifically, the ground medium sensor 102 is disposed on a front side of the drive wheel.
进一步地，所述传感单元还可以包括环境传感器，所述环境传感器能够检测清洁机器人工作周边的区域地形和/或确定清洁机器人的位置，从而绘制出工作地图，并将该环境传感器的检测信号发送给控制单元，帮助清洁机器人规划路线或者工作方式。从而进一步提升工作效率。Further, the sensing unit may further include an environmental sensor capable of detecting the terrain topography of the working area around the cleaning robot and/or determining the position of the cleaning robot, thereby drawing a working map and detecting the environment sensor. Send to the control unit to help clean the robot to plan the route or work. Thereby further improving work efficiency.
本发明中所述控制单元接收传感单元的检测信号，根据清洁组件传感器101和地面介质传感器102的检测信号，控制清洁机器人执行相应运行模式。In the present invention, the control unit receives the detection signal of the sensing unit, and controls the cleaning robot to execute the corresponding operation mode according to the detection signals of the cleaning component sensor 101 and the ground medium sensor 102.
所述运行模式包含拖地行走模式，控制单元判断地面介质传感器102发送的检测信号为地板信号，控制单元判断清洁组件传感器101发送的检测信号为抹布信号时，控制单元控制清洁机器人进入拖地行走模式。The operation mode includes a mopping walking mode, the control unit determines that the detection signal sent by the ground medium sensor 102 is a floor signal, and the control unit determines that the detection signal sent by the cleaning component sensor 101 is a rag signal, and the control unit controls the cleaning robot to enter the mopping floor. mode.
所述运行模式包含地毯清洁模式，控制单元判断地面介质传感器102发送的检测信号为地毯信号，控制单元判断清洁组件传感器101发送的检测信号无抹布信号时，控制单元控制清洁机器人进入地毯清洁模式。The operation mode includes a carpet cleaning mode, the control unit determines that the detection signal sent by the ground medium sensor 102 is a carpet signal, and when the control unit determines that the detection signal sent by the cleaning component sensor 101 has no rag signal, the control unit controls the cleaning robot to enter the carpet cleaning mode.
所述运行模式包含避让行走模式，控制单元判断地面介质传感器102发送的检测信号为地毯信号，同时控制单元判断清洁组件传感器101发送的检测信号为抹布信号时，控制单元控制清洁机器人进入避让行走模式。The operation mode includes a avoidance walking mode, and the control unit determines that the detection signal sent by the ground medium sensor 102 is a carpet signal, and the control unit controls the cleaning robot to enter the avoidance walking mode when the control unit determines that the detection signal sent by the cleaning component sensor 101 is a rag signal. .
举例来说，清洁机器人底部设有吸口，吸口处设有滚刷，在地毯清洁模式下，提高电机功率，或者降低吸口的高度等。For example, the bottom of the cleaning robot is provided with a suction port, and the suction port is provided with a roller brush, in the carpet cleaning mode, the motor power is increased, or the height of the suction port is lowered.
具体来说，本发明中，当地面介质的类型与清洁组件不匹配时，控制单元控制清洁机器人进入避让行走模式，从而防止清洁机器人损伤地面介质。例如，当地面上存在地毯，清洁机器人上设有清洁组件如抹布200和/或喷嘴时，该种清洁组件会弄脏或弄湿地毯，即地面介质的类型与清洁组件不匹配，此时控制单元控制清洁机器人报警或避让；当清洁机器人上未安装所述清洁组件时，无论地面上是否存在地毯，清洁机 器人皆按原行走模式行走。需要补充的是，清洁机器人报警可以通过设置在清洁机器人上的报警装置实现，所述报警装置能够发出响声或者光亮；所述避让行走模式为清洁机器人进行后退或者转向等避开地毯的动作；所述原行走模式为不受清洁组件传感器101和地面介质传感器102检测信号影响的控制单元控制下的清洁机器人行走模式，即现有技术中传统清洁机器人的行走清洁模式，其行走清洁时控制单元不会综合判断清洁组件传感器101和地面介质传感器102的检测信号，也无法根据清洁组件传感器101和地面介质传感器102的检测信号控制清洁机器人动作，上述原行走模式为现有技术，在此不再赘述。Specifically, in the present invention, when the type of the local medium does not match the cleaning component, the control unit controls the cleaning robot to enter the avoidance walking mode, thereby preventing the cleaning robot from damaging the ground medium. For example, when there is a carpet on the local surface and a cleaning component such as a rag 200 and/or a nozzle is provided on the cleaning robot, the cleaning component may soil or wet the carpet, that is, the type of the ground medium does not match the cleaning component, and control is performed at this time. The unit controls the cleaning robot to alarm or avoid; when the cleaning component is not installed on the cleaning robot, whether there is a carpet on the ground, the cleaning machine Everyone walks in the original walking mode. It should be added that the cleaning robot alarm can be realized by an alarm device provided on the cleaning robot, and the alarm device can emit a sound or a light; the avoiding walking mode is a motion of the cleaning robot to retreat or turn to avoid the carpet; The original walking mode is a cleaning robot walking mode under the control of the control unit that is not affected by the detection signals of the cleaning component sensor 101 and the ground medium sensor 102, that is, the walking cleaning mode of the conventional cleaning robot in the prior art, and the control unit is not in the walking cleaning mode. The detection signals of the cleaning component sensor 101 and the ground media sensor 102 are comprehensively determined, and the cleaning robot motion cannot be controlled according to the detection signals of the cleaning component sensor 101 and the ground media sensor 102. The original walking mode is prior art, and details are not described herein. .
本发明中清洁机器人的控制方法如下：The control method of the cleaning robot in the present invention is as follows:
步骤10：清洁机器人执行清洁工作，地面介质传感器102检测地面介质的类型，清洁组件传感器101检测机器人主体是否安装所述清洁组件，并将检测信号发送给控制单元；Step 10: The cleaning robot performs a cleaning operation, the ground medium sensor 102 detects the type of the ground medium, and the cleaning assembly sensor 101 detects whether the robot body mounts the cleaning component, and transmits a detection signal to the control unit;
步骤20：地面介质传感器102的检测信号为地毯信号，并且清洁组件传感器101的检测信号包括抹布200和/或喷嘴信号时，控制单元根据检测信号控制清洁机器人进入避让行走模式。Step 20: When the detection signal of the ground medium sensor 102 is a carpet signal, and the detection signal of the cleaning assembly sensor 101 includes the rag 200 and/or the nozzle signal, the control unit controls the cleaning robot to enter the avoidance walking mode according to the detection signal.
综上所述，本发明提供一种清洁机器人及其控制方法，利用可以检测地面介质的地面介质传感器，将其反馈的地面介质信息与清洁机器人的清洁组件信息结合，合理规划动作，解决了清洁组件在多介质地面清洁的泛用性问题，尤其防止地毯受到清洁机器人的损伤；同时，加装了环境传感器的扫地机器人，将使地面清洁更为高效。 In summary, the present invention provides a cleaning robot and a control method thereof, which utilizes a ground medium sensor capable of detecting a ground medium, combines the ground media information fed back with the cleaning component information of the cleaning robot, and rationally plans the action to solve the cleaning. The versatility of components in multi-media floor cleaning, especially to prevent the carpet from being damaged by the cleaning robot; at the same time, the cleaning robot with the environmental sensor added will make the floor cleaning more efficient.

Claims (7)

  1. 一种清洁机器人，包括机器人主体(100)，机器人主体底部设有可拆卸的清洁组件，其特征在于，所述机器人主体上还设有传感单元和控制单元，所述传感单元包括清洁组件传感器(101)和地面介质传感器(102)，所述控制单元根据清洁组件传感器和地面介质传感器的检测信号，控制清洁机器人执行相应运行模式。A cleaning robot includes a robot body (100), and a bottom of the robot body is provided with a detachable cleaning component, wherein the robot body further comprises a sensing unit and a control unit, and the sensing unit comprises a cleaning component The sensor (101) and the ground medium sensor (102) control the cleaning robot to perform a corresponding operation mode according to the detection signals of the cleaning component sensor and the ground media sensor.
  2. 如权利要求1所述的清洁机器人，其特征在于，所述运行模式包含避让行走模式，控制单元判断地面介质传感器(102)发送的检测信号为地毯信号，同时控制单元判断清洁组件传感器(101)发送的检测信号为抹布信号时，控制单元控制清洁机器人进入避让行走模式。The cleaning robot according to claim 1, wherein the operation mode comprises a avoidance walking mode, and the control unit determines that the detection signal transmitted by the ground medium sensor (102) is a carpet signal, and the control unit determines the cleaning component sensor (101). When the transmitted detection signal is a rag signal, the control unit controls the cleaning robot to enter the avoidance walking mode.
  3. 如权利要求1所述的清洁机器人，其特征在于，所述运行模式包含拖地行走模式，控制单元判断地面介质传感器(102)发送的检测信号为地板信号，同时判断清洁组件传感器(101)发送的检测信号为抹布信号时，控制单元控制清洁机器人进入拖地行走模式。The cleaning robot according to claim 1, wherein the operation mode comprises a mopping walking mode, and the control unit determines that the detection signal sent by the ground medium sensor (102) is a floor signal, and determines that the cleaning component sensor (101) transmits When the detection signal is the rag signal, the control unit controls the cleaning robot to enter the mopping walking mode.
  4. 如权利要求1所述的清洁机器人，其特征在于，所述运行模式包含地毯清洁模式，控制单元判断地面介质传感器(102)发送的检测信号为地毯信号，同时清洁组件传感器(101)发送的检测信号无抹布信号时，控制单元控制清洁机器人进入地毯清洁模式。The cleaning robot according to claim 1, wherein said operation mode comprises a carpet cleaning mode, and the control unit determines that the detection signal transmitted by the ground medium sensor (102) is a carpet signal, and the detection of the cleaning component sensor (101) is transmitted. When the signal has no rag signal, the control unit controls the cleaning robot to enter the carpet cleaning mode.
  5. 如权利要求1所述的清洁机器人，其特征在于，所述传感单元还包括环境传感器，所述环境传感器用于识别清洁机器人工作周边的区域地形和/或确定清洁机器人的位置，并将环境传感器的检测信号发送给控制单元。The cleaning robot according to claim 1, wherein said sensing unit further comprises an environmental sensor for identifying a terrain topography of a cleaning robot working periphery and/or determining a position of the cleaning robot, and the environment The detection signal of the sensor is sent to the control unit.
  6. 如权利要求1所述的清洁机器人，其特征在于，以清洁机器人的行走方向为前方，所述地面介质传感器(102)设置在机器人主体(100)前端，清洁组件设置在地面介质传感器的后方。The cleaning robot according to claim 1, wherein the grounding direction of the cleaning robot is forward, the ground medium sensor (102) is disposed at a front end of the robot body (100), and the cleaning assembly is disposed behind the ground medium sensor.
  7. 一种清洁机器人的控制方法，其特征在于，所述清洁机器人包括机器人主体(100)，机器人主体底部设有可拆卸的清洁组件，所述机器人主体上还设有传感单元 和控制单元，所述传感单元包括清洁组件传感器(101)和地面介质传感器(102)，所述控制方法包括如下步骤：A control method for a cleaning robot, characterized in that the cleaning robot comprises a robot body (100), a bottom of the robot body is provided with a detachable cleaning component, and the robot body is further provided with a sensing unit And a control unit comprising a cleaning assembly sensor (101) and a ground medium sensor (102), the control method comprising the steps of:
    步骤10：清洁机器人执行清洁工作，地面介质传感器(102)检测地面介质的类型，清洁组件传感器(101)检测机器人主体是否安装所述清洁组件，并将检测信号发送给控制单元；Step 10: The cleaning robot performs a cleaning work, the ground medium sensor (102) detects the type of the ground medium, and the cleaning component sensor (101) detects whether the robot body mounts the cleaning component, and transmits a detection signal to the control unit;
    步骤20：地面介质传感器(102)的检测信号为地毯信号，并且清洁组件传感器(101)的检测信号包括抹布(200)和/或喷嘴信号时，控制单元根据检测信号控制清洁机器人进入避让行走模式。 Step 20: When the detection signal of the ground medium sensor (102) is a carpet signal, and the detection signal of the cleaning component sensor (101) includes the rag (200) and/or the nozzle signal, the control unit controls the cleaning robot to enter the avoidance walking mode according to the detection signal. .
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