WO2018041195A1 - Vacuum dust suction device and control method therefor, and self-moving robot - Google Patents

Vacuum dust suction device and control method therefor, and self-moving robot Download PDF

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WO2018041195A1
WO2018041195A1 PCT/CN2017/099845 CN2017099845W WO2018041195A1 WO 2018041195 A1 WO2018041195 A1 WO 2018041195A1 CN 2017099845 W CN2017099845 W CN 2017099845W WO 2018041195 A1 WO2018041195 A1 WO 2018041195A1
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dust
vacuum source
vacuum
vacuum cleaner
inlet
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PCT/CN2017/099845
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French (fr)
Chinese (zh)
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许波建
潘福强
付春燕
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科沃斯机器人股份有限公司
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Priority to CN201610789201 priority Critical
Priority to CN201610789201.3 priority
Priority to CN201611243792.0A priority patent/CN107773157A/en
Priority to CN201611243792.0 priority
Application filed by 科沃斯机器人股份有限公司 filed Critical 科沃斯机器人股份有限公司
Publication of WO2018041195A1 publication Critical patent/WO2018041195A1/en

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    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners

Abstract

Disclosed are a vacuum dust suction device and a control method therefor, and a self-moving robot. The vacuum dust suction device comprises a main body (100), the main body (100) being provided with dust inlets (110, 120), dust boxes (112, 122), vacuum sources (111, 121) and a cleaning assembly (300), wherein the dust inlets (110, 120) comprise a first dust inlet (110) and a second dust inlet (120); the dust boxes (112, 122) comprise a first dust box (112) and a second dust box (122) respectively corresponding to the first dust inlet (110) and the second dust inlet (120); the vacuum sources (111, 121) comprise a first vacuum source (111) connected to the first dust box (112) and a second vacuum source (121) connected to the second dust box (122); and the cleaning assembly (300) comprises a rolling brush, the rolling brush being arranged in the second dust inlet (120); the first vacuum source (111) provides suction to suck dust into the first dust box (112) through the first dust inlet (110), the second vacuum source (121) provides suction to suck dust into the second dust box (122) through the second dust inlet (120). The vacuum dust suction device can be adapted to the requirements of various working environments, with less dust, thorough cleaning, strong controllability and high dust removal efficiency in a cleaning process.

Description

真空吸尘装置及其控制方法和自移动机器人Vacuum cleaner device and control method thereof and self-mobile robot 技术领域Technical field
本发明涉及一种真空吸尘装置及其控制方法和自移动机器人,属于小家电制造技术领域。The invention relates to a vacuum cleaner device, a control method thereof and a self-mobile robot, and belongs to the technical field of small household appliance manufacturing.
背景技术Background technique
智能扫地机以其使用方便高效而得到广泛的应用,市场上现有的智能扫地机主要包括三种结构,设有纯吸口、纯滚刷或者吸口加滚刷,但无论采用上述哪种结构,都属于只有一套吸尘系统的机器,除尘效率低。另外,吸口加滚刷的结构在单个真空源的前提下,不能完全吸走由滚刷扫尘时扬起的灰尘,同时,滚刷扫起颗粒灰尘时也没有足够的真空力将其吸入尘盒。因此,在造成二次扬尘污染的同时,滚刷也做了无用功,能效较低。而在纯吸口、纯滚刷这两种结构形式中,除了单个真空源能力有限外,为了兼顾大、小颗粒和灰尘同时被同一个吸尘口吸入的问题,吸尘口一般都开的比较大,开设位置也都比较靠近地面。这种结构的限制,使得尘盒使用率低,同时会出现不必要的泄压现象,无论是清洁效率还是吸尘系统的利用率都会有所下降。The intelligent sweeping machine is widely used for its convenient and efficient use. The existing intelligent sweeping machine on the market mainly includes three structures, which have a pure suction port, a pure roller brush or a suction port and a roller brush, but no matter which structure is adopted, All belong to a machine with only one set of vacuum system, and the dust removal efficiency is low. In addition, the structure of the suction port and the roller brush cannot completely absorb the dust raised by the roller brush under the premise of a single vacuum source, and at the same time, the roller brush does not have enough vacuum force to suck it into the dust when sweeping the particle dust. box. Therefore, while causing secondary dust pollution, the roller brush also has no use of work, and the energy efficiency is low. In the pure structure of the pure suction port and the pure roller brush, in addition to the limited capacity of the single vacuum source, in order to balance the problem that large and small particles and dust are inhaled by the same suction port at the same time, the suction port is generally opened. Large, the location is also relatively close to the ground. This structural limitation makes the dust box use rate low, and unnecessary pressure relief occurs, and both the cleaning efficiency and the utilization rate of the vacuum system are reduced.
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,提供一种真空吸尘装置及其控制方法和自移动机器人,能够适应多种工作环境的需要,清洁过程中扬尘小、清洁彻底、可控性强且除尘效率高。The technical problem to be solved by the present invention is to provide a vacuum cleaner device, a control method thereof and a self-mobile robot, which can adapt to the needs of various working environments, and the dust is small and clean in the cleaning process. Strong control and high dust removal efficiency.
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:
一种真空吸尘装置,包括本体,所述本体上设有进尘口、尘盒、真空源及清洁组件,所述进尘口包括第一进尘口和第二进尘口,所述尘盒包括分别对应所述第一进尘口、第二进尘口的第一尘盒和第二尘盒,所述真空源包括与所述第一尘盒相连的第一真空源和与所述第二尘盒相连的第二真空源,所述清洁组件包括滚刷,所述滚刷设于所述第二进尘口内;所述第一真空源提供吸力使灰尘经第一进尘口吸入第一尘盒,所述第二真空源提供吸力使灰尘经第二进尘口吸入第二尘盒。A vacuum cleaner device includes a body, the body is provided with a dust inlet, a dust box, a vacuum source and a cleaning assembly, and the dust inlet includes a first dust inlet and a second dust inlet, the dust The box includes a first dust box and a second dust box respectively corresponding to the first dust inlet and the second dust inlet, the vacuum source including a first vacuum source connected to the first dust box and a second vacuum source connected to the second dust box, the cleaning assembly comprising a roller brush, the roller brush being disposed in the second dust inlet; the first vacuum source providing suction to allow dust to be inhaled through the first dust inlet The first dust box, the second vacuum source provides suction to draw dust into the second dust box through the second dust inlet.
为了便于控制,所述本体上还设有识别单元及与所述识别单元、所述真空源分别相连的控制单元;所述控制单元根据所述识别单元发送的识别信息控制第一真空源和/或第二真空源工作。 For convenience of control, the body is further provided with an identification unit and a control unit respectively connected to the identification unit and the vacuum source; the control unit controls the first vacuum source and/or according to the identification information sent by the identification unit. Or work with a second vacuum source.
具体来说,所述识别单元通过传感单元获得识别信息;所述识别信息为灰尘信息或工作环境信息。Specifically, the identification unit obtains identification information through a sensing unit; the identification information is dust information or working environment information.
进一步地,所述识别单元通过输入端获得识别信息;所述输入端具体包括:人机界面、遥控器或app控制端;所述识别信息为通过上述输入端输入的指令。Further, the identification unit obtains identification information through an input end; the input end specifically includes: a human machine interface, a remote controller or an app control end; and the identification information is an instruction input through the input end.
根据需要,在真空吸尘装置的前进方向上,所述传感单元设置在所述第一进尘口的前方。The sensing unit is disposed in front of the first dust inlet in a forward direction of the vacuum cleaner as needed.
为了使清洁更加彻底,所述第二进尘口的开口面积≥所述第一进尘口的开口面积。In order to make the cleaning more thorough, the opening area of the second dust inlet is ≥ the opening area of the first dust inlet.
更进一步地,所述第一进尘口设有刮条组件,所述刮条组件包括在所述真空吸尘装置前进方向上前、后设置的第一刮条和第二刮条,所述第一刮条与工作表面留有间隙,所述第二刮条与工作表面贴合。Further, the first dust inlet is provided with a scraper assembly, and the scraper assembly includes a first scraper and a second scraper disposed front and rear in a forward direction of the vacuum cleaner, The first wiper strip has a gap with the work surface, and the second scraper strip fits the work surface.
本发明还提供一种自移动机器人,包括机器人机体,所述机器人机体上设有行走机构,所述机器人机体上还设有如上所述的真空吸尘装置。The invention also provides a self-mobile robot, comprising a robot body, wherein the robot body is provided with a running mechanism, and the robot body is further provided with a vacuum cleaner device as described above.
本发明还提供一种真空吸尘装置的控制方法,所述真空吸尘装置包括本体,所述本体上设有进尘口、尘盒、真空源及清洁组件,所述进尘口包括第一进尘口和第二进尘口,所述尘盒包括分别对应所述第一进尘口及所述第二进尘口的第一尘盒和第二尘盒,所述真空源包括与所述第一尘盒相连的第一真空源和与所述第二尘盒相连的第二真空源,所述清洁组件包括滚刷,所述滚刷设于所述第二进尘口内;所述第一真空源提供吸力使灰尘经第一进尘口吸入第一尘盒,所述第二真空源提供吸力使灰尘经第二进尘口吸入第二尘盒;所述本体上还设有识别单元及与所述识别单元、所述真空源分别相连的控制单元;该方法包括如下步骤:The present invention also provides a control method of a vacuum cleaner device, the vacuum cleaner device comprising a body, the body is provided with a dust inlet, a dust box, a vacuum source and a cleaning assembly, and the dust inlet includes a first a dust inlet and a second dust inlet, the dust box includes a first dust box and a second dust box respectively corresponding to the first dust inlet and the second dust inlet, and the vacuum source includes a first vacuum source connected to the first dust box and a second vacuum source connected to the second dust box, the cleaning assembly includes a roller brush, and the roller brush is disposed in the second dust inlet; The first vacuum source provides suction to draw dust into the first dust box through the first dust inlet, and the second vacuum source provides suction to suck the dust into the second dust box through the second dust inlet; the body is further provided with an identification a unit and a control unit respectively connected to the identification unit and the vacuum source; the method comprises the following steps:
步骤100:真空吸尘装置的识别单元获得识别信息并反馈所述识别信息给控制单元;Step 100: The identification unit of the vacuum cleaner obtains identification information and feeds back the identification information to the control unit;
步骤200:所述控制单元根据反馈的识别信息控制第一真空源和/或第二真空源工作。Step 200: The control unit controls the first vacuum source and/or the second vacuum source to operate according to the feedback identification information.
在其中一个实施例中,所述识别单元通过传感单元获得识别信息,所述识别信息为灰尘信息,所述灰尘信息包括灰尘量信息,所述步骤200具体包括:所述控制单元内预设有灰尘量阈值,所述控制单元将反馈的灰尘量与灰尘量阈值进行比较;In one embodiment, the identification unit obtains identification information by using a sensing unit, the identification information is dust information, and the dust information includes dust amount information, and the step 200 specifically includes: presetting in the control unit a dust amount threshold, the control unit compares the amount of dust fed back with the dust amount threshold;
当灰尘量<灰尘量阈值时,控制单元判断为灰尘较少的工作环境,控制所述真空吸尘装置进入自动工作模式,第一真空源或第二真空源单独工作;When the amount of dust is less than the dust amount threshold, the control unit determines that the dust is less working environment, and controls the vacuum cleaner to enter an automatic working mode, and the first vacuum source or the second vacuum source operates separately;
当灰尘量≥灰尘量阈值时,控制单元判断为灰尘较多工作环境,控制所述真空吸尘装置进入双风机大功率精扫模式,第一真空源和第二真空源同时工作。 When the dust amount ≥ the dust amount threshold, the control unit determines that the dust is more working environment, and controls the vacuum cleaner to enter the dual-fan high-power fine sweep mode, and the first vacuum source and the second vacuum source work simultaneously.
在另一个实施例中,所述识别单元通过传感单元获得识别信息,所述识别信息为工作环境信息,所述步骤200具体包括:In another embodiment, the identification unit obtains the identification information by using the sensing unit, and the identification information is the working environment information, and the step 200 specifically includes:
当工作环境被识别为地毯时,控制单元控制所述真空吸尘装置进入双风机大功率精扫模式,第一真空源和第二真空源同时工作;When the working environment is recognized as a carpet, the control unit controls the vacuum cleaner to enter the dual-fan high-power cleaning mode, and the first vacuum source and the second vacuum source work simultaneously;
否则,控制单元控制所述真空吸尘装置进入自动工作模式,第一真空源或第二真空源单独工作。Otherwise, the control unit controls the vacuum cleaner to enter an automatic mode of operation, the first vacuum source or the second vacuum source operating separately.
所述控制单元内预设有灰尘量阈值,所述真空吸尘装置处于所述步骤200中的自动工作模式时,所述控制方法进一步包括:The control unit further includes: a dust amount threshold is preset in the control unit, and the vacuum cleaning device is in the automatic working mode in the step 200, the control method further includes:
所述真空吸尘装置通过识别单元检测灰尘量;The vacuum cleaner detects the amount of dust by the identification unit;
当灰尘量<灰尘量阈值时,控制单元判断为灰尘较少的工作环境,控制所述真空吸尘装置保持原有自动工作模式,第一真空源或第二真空源单独工作;When the amount of dust is less than the dust amount threshold, the control unit determines that the dust is less working environment, and controls the vacuum cleaner to maintain the original automatic working mode, and the first vacuum source or the second vacuum source operates separately;
当灰尘量≥灰尘量阈值时,控制单元判断为灰尘较多工作环境,控制所述真空吸尘装置从原有自动工作模式进入双风机大功率精扫模式,第一真空源和第二真空源同时工作。When the dust amount ≥ the dust amount threshold, the control unit determines that the dust is more working environment, and controls the vacuum cleaner to enter the dual-fan high-power fine sweep mode from the original automatic working mode, the first vacuum source and the second vacuum source. Work at the same time.
所述识别单元通过输入端获得识别信息,所述识别信息为通过输入端输入的指令;所述输入端包括:人机界面、遥控器或app控制端。The identification unit obtains identification information through an input end, and the identification information is an instruction input through an input end; the input end includes: a human machine interface, a remote controller or an app control end.
在又一个实施例中,所述步骤200具体包括:In still another embodiment, the step 200 specifically includes:
所述控制单元根据反馈的识别信息控制真空吸尘装置进入自动工作模式或双风机大功率精扫模式;The control unit controls the vacuum cleaner to enter an automatic working mode or a dual-fan high-power cleaning mode according to the feedback information of the feedback;
选择进入自动工作模式时,控制单元控制第一真空源或第二真空源单独工作;When the automatic operation mode is selected, the control unit controls the first vacuum source or the second vacuum source to work separately;
选择进入双风机大功率精扫模式时,控制单元控制所述第一真空源和第二真空源同时工作。The control unit controls the first vacuum source and the second vacuum source to operate simultaneously when selecting to enter the dual fan high power cleaning mode.
在上述三个实施例中,在所述自动工作模式下,所述第二真空源单独工作优先。In the above three embodiments, in the automatic operation mode, the second vacuum source operates preferentially.
综上所述,本发明提供一种真空吸尘装置及其控制方法和自移动机器人,能够适应多种工作环境的需要,清洁过程中扬尘小、清洁彻底、可控性强且除尘效率高。In summary, the present invention provides a vacuum cleaner device, a control method thereof and a self-moving robot, which can adapt to the needs of various working environments, and the dust is small, clean, controllable, and high in dust removal efficiency in the cleaning process.
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为本发明真空吸尘装置实施例一局部结构示意图;1 is a partial structural schematic view of a vacuum cleaner device according to an embodiment of the present invention;
图2为本发明真空吸尘装置实施例一整体结构剖视图;2 is a cross-sectional view showing the entire structure of a vacuum cleaner of the present invention;
图3为本发明真空吸尘装置实施例一第一、第二进尘口设置位置示意图; 3 is a schematic view showing the position of the first and second dust inlets of the first embodiment of the vacuum cleaner of the present invention;
图4为本发明真空吸尘装置实施例一电子识别眼设置位置示意图;4 is a schematic view showing the position of an electronic recognition eye according to Embodiment 1 of the vacuum cleaner device of the present invention;
图5为本发明真空吸尘装置实施例一尘盒结构剖视图。Figure 5 is a cross-sectional view showing the structure of a dust box of the vacuum cleaner of the present invention.
具体实施方式detailed description
真空吸尘装置实施例一Vacuum cleaner device embodiment 1
图1为本发明真空吸尘装置实施例一局部结构示意图;图2为本发明真空吸尘装置实施例一整体结构剖视图;图3为本发明真空吸尘装置实施例一第一、第二进尘口设置位置示意图;图4为本发明真空吸尘装置实施例一电子识别眼设置位置示意图;图5为本发明真空吸尘装置实施例一尘盒结构剖视图。如图1至图5所示,本发明提供一种真空吸尘装置,包括本体100,所述本体上设有进尘口、尘盒、真空源及清洁组件300,所述进尘口包括第一进尘口110和第二进尘口120,所述尘盒包括分别对应所述第一进尘口110、第二进尘口120的第一尘盒112和第二尘盒122。所述真空源包括与所述第一尘盒112相连的第一真空源111和与所述第二尘盒122相连的第二真空源121。所述清洁组件300包括滚刷,所述滚刷设于所述第二进尘口120内。所述第一真空源111提供吸力使灰尘经第一进尘口110吸入第一尘盒112,所述第二真空源121提供吸力使灰尘经第二进尘口120吸入第二尘盒122。1 is a partial structural view of a vacuum cleaner device according to an embodiment of the present invention; FIG. 2 is a cross-sectional view showing the entire structure of a vacuum cleaner device according to the present invention; FIG. 3 is a first and second embodiment of the vacuum cleaner device of the present invention. FIG. 4 is a schematic view showing the position of an electronic recognition eye according to an embodiment of the vacuum cleaner of the present invention; FIG. 5 is a cross-sectional view showing the structure of a dust box according to an embodiment of the vacuum cleaner of the present invention. As shown in FIG. 1 to FIG. 5, the present invention provides a vacuum cleaner comprising a body 100. The body is provided with a dust inlet, a dust box, a vacuum source and a cleaning assembly 300, and the dust inlet includes a first a dust inlet 110 and a second dust inlet 120, the dust box including a first dust box 112 and a second dust box 122 corresponding to the first dust inlet 110 and the second dust inlet 120, respectively. The vacuum source includes a first vacuum source 111 coupled to the first dust box 112 and a second vacuum source 121 coupled to the second dust box 122. The cleaning assembly 300 includes a roller brush, and the roller brush is disposed in the second dust inlet 120. The first vacuum source 111 provides suction to draw dust into the first dust box 112 through the first dust inlet 110, and the second vacuum source 121 provides suction to suck the dust into the second dust box 122 through the second dust inlet 120.
如图2并结合图3所示,为了使清洁更加彻底,且所述第二进尘口120的开口面积≥所述第一进尘口110的开口面积,以收容上述滚刷。更进一步地,第一进尘口110向下设有刮条组件,所述刮条组件包括在所述真空吸尘装置前进方向A上前、后设置的第一刮条113和第二刮条114,所述第一刮条113与工作表面B之间留有间隙,所述第二刮条114与工作表面B贴合。As shown in FIG. 2 and in conjunction with FIG. 3, in order to make the cleaning more thorough, and the opening area of the second dust inlet 120 is ≥ the opening area of the first dust inlet 110, the roller brush is accommodated. Further, the first dust inlet 110 is downwardly provided with a scraper assembly, and the scraper assembly includes a first scraper 113 and a second scraper disposed before and after the advancement direction A of the vacuum cleaner. 114, a gap is left between the first scraper strip 113 and the working surface B, and the second scraper strip 114 is in contact with the working surface B.
需要注意的是,在包含上述第二进尘口、滚刷、第二尘盒及第二真空源的第二吸尘系统工作时,由于第二进尘口较大,在不替换更高功率的真空源的情况下,其进尘口处的吸力较小,很难通过吸力直接吸取工作表面灰尘,在实际清扫时,由于滚刷转动而将大颗粒灰尘及部分细灰扬起,该第二吸尘系统主要清扫该等扬起的灰尘;在包含上述第一进尘口、第一尘盒及第一真空源的第一吸尘系统工作时,第一进尘口较小,在使用同样功率的真空源的情况下,第一进尘口处的吸力更大,并通过上述第一刮条及第二刮条贴近工作表面,使得工作表面的细灰能够直接被第一吸尘系统吸走,而且由于吸力大、离工作表面近,使得该第一吸尘系统在遇到类似于地毯之类表面不平整的工作环境时也能吸走细灰,深度清洁。综上所述,本发明采用上述第二吸尘系统与第一吸尘系统的结合,通过二级清扫即可以有效地避免灰尘量大的工作环境清理时带 来的灰尘残留现象,也可以使得真空吸尘装置适用多样化的工作环境(类如,地板、地毯、瓷砖等工作环境),同时相比于替换高功率的真空源以达到相同效果的替代方案,节约了成本(在业内常用昂贵的无刷电机代替一般的有刷电机来提高真空源功率)。It should be noted that when the second dust collecting system including the second dust inlet, the roller brush, the second dust box and the second vacuum source is working, since the second dust inlet is large, the higher power is not replaced. In the case of a vacuum source, the suction force at the dust inlet is small, and it is difficult to directly suck the dust on the working surface by suction. In actual cleaning, large particles of dust and some fine gray are lifted due to the rotation of the roller brush. The second vacuuming system mainly cleans the raised dust; when the first vacuuming system including the first dust inlet, the first dust box and the first vacuum source is working, the first dust inlet is small and is in use In the case of a vacuum source of the same power, the suction force at the first dust inlet is larger, and the first scraper and the second scraper are brought close to the working surface, so that the fine ash of the working surface can be directly used by the first dust collecting system. It is sucked away, and because of the large suction force and close to the working surface, the first vacuuming system can also absorb the fine ash and deep clean when encountering a working environment similar to a surface such as a carpet. In summary, the present invention adopts the combination of the second vacuuming system and the first vacuuming system, and can effectively avoid the dust-proof working environment cleaning time by the secondary cleaning. The residual dust can also make the vacuum cleaner suitable for a variety of working environments (such as floor, carpet, tile and other working environments), while replacing the high-power vacuum source to achieve the same effect. , saving costs (there is an expensive brushless motor commonly used in the industry to replace the general brush motor to increase the vacuum source power).
如图2至图4所示,所述本体100上还设有识别单元及与所述识别单元、所述真空源分别相连的控制单元。所述控制单元根据所述识别单元发送的识别信息控制第一真空源111和/或第二真空源121工作。所述识别单元通过传感单元200获得识别信息;所述识别信息为灰尘信息或工作环境信息,该灰尘信息包括灰尘量/灰尘浓度信息。具体来说,所述传感单元200可以根据不同的需要采用红外传感器或者摄像头,实现对灰尘量或环境信息的甄别。比如:使用摄像头作为甄别的传感单元时,可以通过对比工作表面的灰度值变化,来判断灰尘量多少或甄别地面和地毯。而该工作环境信息则是识别工作环境为地面工作环境还是地毯工作环境。如图2、图3并结合图4所示,在本实施例中,所述传感单元200为电子识别眼,如果按照图2所示,真空吸尘装置的前进方向为A向,箭头所指方向为前。为了便于感测,所述传感单元200设置在所述第一进尘口110的前方。另外,根据需要,所述识别单元还可以通过输入端获得识别信息;所述输入端具体包括:人机界面、遥控器或app控制端;所述识别信息为通过上述输入端输入的指令。As shown in FIG. 2 to FIG. 4, the body 100 further includes an identification unit and a control unit respectively connected to the identification unit and the vacuum source. The control unit controls the first vacuum source 111 and/or the second vacuum source 121 to operate according to the identification information transmitted by the identification unit. The identification unit obtains identification information through the sensing unit 200; the identification information is dust information or working environment information, and the dust information includes dust amount/dust concentration information. Specifically, the sensing unit 200 can adopt an infrared sensor or a camera according to different needs to realize the discrimination of the amount of dust or environmental information. For example, when using the camera as a sensing unit, you can determine the amount of dust or screen the ground and carpet by comparing the gray value of the working surface. The working environment information is to identify whether the working environment is a ground working environment or a carpet working environment. As shown in FIG. 2 and FIG. 3 and in conjunction with FIG. 4, in the embodiment, the sensing unit 200 is an electronic recognition eye. If the vacuum cleaning device is in the A direction according to FIG. 2, the arrow direction is as shown in FIG. Point the direction to the front. The sensing unit 200 is disposed in front of the first dust inlet 110 for ease of sensing. In addition, the identification unit may further obtain identification information through an input end; the input end specifically includes: a human-machine interface, a remote controller or an app control terminal; and the identification information is an instruction input through the input terminal.
如图1、图2并结合图5所示,为了优化结构空间,所述第一尘盒112设置在所述本体100的底盘上,所述第二尘盒122叠置在第一尘盒112的上方,通过吸尘通道400与所述第二进尘口120相连。同时,所述第一真空源111和第二真空源121并列设置在所述本体100内,对应设置在所述第一尘盒112和第二尘盒122的末端。As shown in FIG. 1 and FIG. 2 and in conjunction with FIG. 5, in order to optimize the structure space, the first dust box 112 is disposed on the chassis of the body 100, and the second dust box 122 is stacked on the first dust box 112. Above, the second dust inlet 120 is connected through the dust suction passage 400. Meanwhile, the first vacuum source 111 and the second vacuum source 121 are juxtaposed in the body 100, and are disposed at the ends of the first dust box 112 and the second dust box 122, respectively.
在如图1至图5所示的实施例中,所述的清洁组件300包括滚刷,则该真空吸尘装置的作业过程可以包括:当传感单元200识别环境为常规环境,如:地板工作环境且灰尘较少,进入自动(AUTO)工作模式,在第二真空源121提供吸力并且滚刷旋转清扫下,颗粒灰尘通过第二进尘口120,进入到第二尘盒122,达到清除颗粒灰尘的效果。但是,在环境灰尘较多或者工作环境为地毯等不易清扫的工作表面时,滚刷将很难扬起工作表面上的全部细小颗粒,单靠第二真空源、第二进尘口及滚刷等组成的自动工作模式将无法对地毯等工作表面做细致清洁。所以,当传感单元200识别环境灰尘较多或者工作环境为地毯时,该真空吸尘装置进入双风机大功率精扫模式,所述双风机大功率精扫包括滚刷和第二真空源121协同工作的初级清扫及所述第一真空源111独立工作的次级清扫。在滚刷和第二真空源协同工作的初级清扫过程中,第二真空源121为第二进尘口120提供吸力,同时滚刷滚动带动工作表面的大颗粒灰尘或垃 圾及部分细灰进入第二尘盒122;在第一真空源111独立工作的次级清扫过程中,第一真空源111为所述第一进尘口110提供吸力,由于第一进尘口110较小,并面向工作表面设置刮条组件,使得第一进尘口110处的吸力远大于第二进尘口120处的吸力,从而使得残余的细灰能有效地被吸入第一尘盒112内,以达到低残留精扫的目的。需要说明的是,尽管在所述自动工作模式下,所述第二真空源单独工作优先,但用户根据自家的实际环境,在自动工作模式下,还可以进一步手动选择不同的清扫模式,以便达到更好的清洁效果。比如:如果家居环境中毛发或者棉絮较多,可以通过手动选择的方式,实现仅第一真空源工作,第二真空源及滚刷均不工作,这样可以避免出现毛发或者棉絮等缠绕滚刷,造成机体运行不畅或者清扫不干净等情况的产生。In the embodiment shown in FIGS. 1 to 5, the cleaning assembly 300 includes a roller brush, and the working process of the vacuum cleaner device may include: when the sensing unit 200 recognizes the environment as a normal environment, such as: a floor The working environment has less dust and enters an automatic (AUTO) working mode. Under the second vacuum source 121 providing suction and the roller brush is swept and cleaned, the particulate dust passes through the second dust inlet 120 and enters the second dust box 122 to be cleared. The effect of particulate dust. However, when the environment is dusty or the working environment is a work surface that is difficult to clean such as a carpet, it is difficult for the roller brush to lift all the fine particles on the working surface, and the second vacuum source, the second dust inlet and the roller brush alone The automatic working mode of the composition will not be able to clean the working surface such as the carpet. Therefore, when the sensing unit 200 recognizes that the environment is dusty or the working environment is a carpet, the vacuum cleaner enters the dual fan high power cleaning mode, and the dual fan high power cleaning includes the roller brush and the second vacuum source 121. A primary cleaning that works in concert and a secondary cleaning in which the first vacuum source 111 operates independently. During the primary cleaning process in which the roller brush and the second vacuum source work together, the second vacuum source 121 provides suction for the second dust inlet 120, while the roller brushing drives large particles of dust or waste on the working surface. The garbage and part of the fine ash enter the second dust box 122; during the secondary cleaning process in which the first vacuum source 111 operates independently, the first vacuum source 111 provides suction to the first dust inlet 110, due to the first dust inlet 110 is small and is provided with a scraper assembly facing the working surface such that the suction force at the first dust inlet 110 is much larger than the suction force at the second dust inlet 120, so that the residual fine ash can be effectively sucked into the first dust box. Within 112, to achieve the goal of low residual cleaning. It should be noted that, although in the automatic working mode, the second vacuum source is prioritized, the user may further manually select different cleaning modes in the automatic working mode according to the actual environment of the user. Better cleaning results. For example, if there are more hair or cotton wadding in the home environment, only the first vacuum source can be operated by manual selection, and the second vacuum source and the roller brush are not working, so that the winding brush such as hair or cotton wadding can be avoided. Causes the body to run poorly or the cleaning is not clean.
真空吸尘装置实施例二Vacuum cleaner device embodiment 2
本实施例是在前述实施例一基础上的简化,具体来说,本实施例提供一种真空吸尘装置,包括本体100,所述本体上设有进尘口、尘盒、真空源及清洁组件300,所述进尘口包括第一进尘口110和第二进尘口120,所述尘盒包括分别对应所述第一进尘口110、第二进尘口120的第一尘盒112和第二尘盒122。所述真空源包括与所述第一尘盒112相连的第一真空源111和与所述第二尘盒122相连的第二真空源121。所述清洁组件包括滚刷,所述滚刷设于所述第二进尘口120内。在本实施例中,一旦该真空吸尘装置启动开始工作,所述第一真空源111和第二真空源121都处于常开状态,提供吸力,使灰尘经第一进尘口110吸入第一尘盒112、经第二进尘口120吸入第二尘盒122。无需通过传感单元200识别环境并控制工作状态。The embodiment is simplified based on the foregoing embodiment 1. Specifically, the embodiment provides a vacuum cleaner device, including a body 100, and the body is provided with a dust inlet, a dust box, a vacuum source, and a cleaning device. In the assembly 300, the dust inlet includes a first dust inlet 110 and a second dust inlet 120, and the dust box includes a first dust box corresponding to the first dust inlet 110 and the second dust inlet 120, respectively. 112 and the second dust box 122. The vacuum source includes a first vacuum source 111 coupled to the first dust box 112 and a second vacuum source 121 coupled to the second dust box 122. The cleaning assembly includes a roller brush, and the roller brush is disposed in the second dust inlet 120. In this embodiment, once the vacuum cleaner is started to start working, the first vacuum source 111 and the second vacuum source 121 are both in a normally open state, providing suction to allow dust to be inhaled through the first dust inlet 110. The dust box 112 sucks the second dust box 122 through the second dust inlet 120. There is no need to identify the environment and control the working state through the sensing unit 200.
由上述作业过程可知,本发明所提供的上述真空吸尘装置的控制方法,具体包括如下几种:It can be seen from the above operation process that the control method of the above-mentioned vacuum cleaner device provided by the present invention specifically includes the following:
控制方法实施例一Control method embodiment 1
本发明提供一种真空吸尘装置的控制方法,包括如下步骤:The invention provides a control method of a vacuum cleaner device, comprising the following steps:
步骤100:真空吸尘装置的识别单元获得识别信息并反馈所述识别信息给控制单元;Step 100: The identification unit of the vacuum cleaner obtains identification information and feeds back the identification information to the control unit;
步骤200:所述控制单元根据反馈的识别信息控制第一真空源和/或第二真空源工作。Step 200: The control unit controls the first vacuum source and/or the second vacuum source to operate according to the feedback identification information.
所述识别单元通过传感单元200获得识别信息,所述识别信息为灰尘信息,所述灰尘信息包括灰尘量信息,所述步骤200具体包括:所述控制单元内预设有灰尘量阈值,所述控制单元将反馈的灰尘量信息与灰尘量阈值进行比较; The identification unit obtains the identification information by the sensing unit 200, the identification information is the dust information, and the dust information includes the dust amount information, and the step 200 specifically includes: pre-setting a dust amount threshold in the control unit, The control unit compares the feedback dust amount information with the dust amount threshold;
当灰尘量<灰尘量阈值时,控制单元判断为灰尘较少的工作环境,控制所述真空吸尘装置进入自动工作模式,第一真空源或第二真空源单独工作;When the amount of dust is less than the dust amount threshold, the control unit determines that the dust is less working environment, and controls the vacuum cleaner to enter an automatic working mode, and the first vacuum source or the second vacuum source operates separately;
在所述自动工作模式下,所述第二真空源单独工作优先;In the automatic working mode, the second vacuum source operates preferentially;
当灰尘量≥灰尘量阈值时,控制单元判断为灰尘较多工作环境,控制所述真空吸尘装置进入双风机大功率精扫模式,第一真空源和第二真空源同时工作。When the dust amount ≥ the dust amount threshold, the control unit determines that the dust is more working environment, and controls the vacuum cleaner to enter the dual-fan high-power fine sweep mode, and the first vacuum source and the second vacuum source work simultaneously.
控制方法实施例二Control method embodiment two
本发明提供一种真空吸尘装置的控制方法,包括如下步骤:The invention provides a control method of a vacuum cleaner device, comprising the following steps:
步骤100:真空吸尘装置的识别单元获得识别信息并反馈所述识别信息给控制单元;Step 100: The identification unit of the vacuum cleaner obtains identification information and feeds back the identification information to the control unit;
步骤200:所述控制单元根据反馈的识别信息控制第一真空源和/或第二真空源工作。Step 200: The control unit controls the first vacuum source and/or the second vacuum source to operate according to the feedback identification information.
所述识别单元通过传感单元200获得识别信息,所述识别信息为工作环境信息,所述步骤200具体包括:The identification unit obtains the identification information by the sensing unit 200, and the identification information is the working environment information, and the step 200 specifically includes:
当工作环境被识别为地毯时,控制单元控制所述真空吸尘装置进入双风机大功率精扫模式,第一真空源和第二真空源同时工作;When the working environment is recognized as a carpet, the control unit controls the vacuum cleaner to enter the dual-fan high-power cleaning mode, and the first vacuum source and the second vacuum source work simultaneously;
否则,控制单元控制所述真空吸尘装置进入自动工作模式,第一真空源或第二真空源单独工作。在所述自动工作模式下,所述第二真空源单独工作优先。Otherwise, the control unit controls the vacuum cleaner to enter an automatic mode of operation, the first vacuum source or the second vacuum source operating separately. In the automatic mode of operation, the second vacuum source operates preferentially.
所述控制单元内预设有灰尘量阈值,所述真空吸尘装置处于所述步骤200中的自动工作模式时,所述控制方法进一步包括:The control unit further includes: a dust amount threshold is preset in the control unit, and the vacuum cleaning device is in the automatic working mode in the step 200, the control method further includes:
所述真空吸尘装置通过识别单元检测灰尘量;The vacuum cleaner detects the amount of dust by the identification unit;
当灰尘量<灰尘量阈值时,控制单元判断为灰尘较少的工作环境,控制所述真空吸尘装置保持原有自动工作模式,第一真空源或第二真空源单独工作;When the amount of dust is less than the dust amount threshold, the control unit determines that the dust is less working environment, and controls the vacuum cleaner to maintain the original automatic working mode, and the first vacuum source or the second vacuum source operates separately;
当灰尘量≥灰尘量阈值时,控制单元判断为灰尘较多工作环境,控制所述真空吸尘装置从原有自动工作模式进入双风机大功率精扫模式,第一真空源和第二真空源同时工作。When the dust amount ≥ the dust amount threshold, the control unit determines that the dust is more working environment, and controls the vacuum cleaner to enter the dual-fan high-power fine sweep mode from the original automatic working mode, the first vacuum source and the second vacuum source. Work at the same time.
控制方法实施例三Control method embodiment three
本发明提供一种真空吸尘装置的控制方法,包括如下步骤:The invention provides a control method of a vacuum cleaner device, comprising the following steps:
步骤100:真空吸尘装置的识别单元获得识别信息并反馈所述识别信息给控制单元;Step 100: The identification unit of the vacuum cleaner obtains identification information and feeds back the identification information to the control unit;
步骤200:所述控制单元根据反馈的识别信息控制第一真空源和/或第二真空源工作。 Step 200: The control unit controls the first vacuum source and/or the second vacuum source to operate according to the feedback identification information.
所述识别单元通过输入端获得识别信息,所述识别信息为通过输入端输入的指令;所述输入端包括:人机界面、遥控器或app控制端。The identification unit obtains identification information through an input end, and the identification information is an instruction input through an input end; the input end includes: a human machine interface, a remote controller or an app control end.
所述步骤200具体包括:The step 200 specifically includes:
所述控制单元根据输入端输入的指令控制真空吸尘装置进入自动工作模式或双风机大功率精扫模式;The control unit controls the vacuum cleaner to enter an automatic working mode or a dual-fan high-power cleaning mode according to an instruction input by the input terminal;
选择进入自动工作模式时,控制单元控制第一真空源或第二真空源单独工作;在所述自动工作模式下,所述第二真空源单独工作优先。When the automatic operation mode is selected, the control unit controls the first vacuum source or the second vacuum source to operate separately; in the automatic operation mode, the second vacuum source operates preferentially.
选择进入双风机大功率精扫模式时,控制单元控制所述第一真空源和第二真空源同时工作。The control unit controls the first vacuum source and the second vacuum source to operate simultaneously when selecting to enter the dual fan high power cleaning mode.
控制方法实施例四Control method embodiment four
本发明提供一种真空吸尘装置的控制方法,包括如下步骤:The invention provides a control method of a vacuum cleaner device, comprising the following steps:
所述第一真空源、第二真空源提供吸力,将灰尘经第一进尘口吸入第一尘盒;所述滚刷将灰尘经第二进尘口收集到第二尘盒中。The first vacuum source and the second vacuum source provide suction, and the dust is sucked into the first dust box through the first dust inlet; the roller collects the dust into the second dust box through the second dust inlet.
除此之外,本发明还提供一种自移动机器人,包括机器人机体,所述机器人机体上设有行走机构,所述机器人机体上还设有如上所述的真空吸尘装置。In addition, the present invention also provides a self-mobile robot including a robot body, wherein the robot body is provided with a running mechanism, and the robot body is further provided with a vacuum cleaner as described above.
综上所述,本发明通过设置两个进尘口,同时给每个进尘口都配置了单独的真空源和对应的尘盒,在同一真空吸尘装置中形成了两个独立的吸尘系统。在此基础上,又增加了具有识别灰尘及其工作环境的传感单元和输入端与两套吸尘系统相互配合工作。当传感单元识别环境为常规环境时,进入自动工作模式,滚刷和第二真空源协同完成初级清扫;在环境灰尘较多或者工作环境为地毯等不易清扫的工作表面时,进入双风机大功率精扫模式,在初级清扫的基础上再辅助以第一真空源独立工作的次级清扫,这样既可以避免作业过程中扬尘的产生,又可以保证两个进尘口对遗漏灰尘的彻底清洁,达到低残留的效果。与此同时,为了方便使用者控制,还可以根据实际需求,通过人机界面、遥控器、app等方式,人为选择不同的清洁模式来完成清扫作业。与现有技术相比,本发明能够适应多种工作环境的需要,解决了现有技术清洁过程扬尘大、清洁不完全和除尘效率低等问题,结构紧凑、可控性强且除尘效率高。 In summary, the present invention provides two separate vacuuming devices in the same vacuum cleaner by providing two dust inlets and simultaneously providing a separate vacuum source and corresponding dust box for each dust inlet. system. On this basis, the sensing unit and the input end with the identification of dust and its working environment are added to work with the two sets of vacuuming systems. When the sensing unit recognizes that the environment is a normal environment, the automatic working mode is entered, and the roller brush and the second vacuum source cooperate to complete the primary cleaning; when the environment is dusty or the working environment is a working surface that is difficult to clean such as a carpet, the double fan is entered. The power cleaning mode assists the secondary cleaning of the first vacuum source independently on the basis of the primary cleaning, so as to avoid the dust generated during the operation and ensure the clean cleaning of the missing dust by the two dust inlets. , to achieve a low residual effect. At the same time, in order to facilitate the user's control, it is also possible to manually select different cleaning modes to complete the cleaning operation according to actual needs through a human-machine interface, a remote controller, an app, and the like. Compared with the prior art, the invention can adapt to the needs of various working environments, solves the problems of large dust, incomplete cleaning and low dust removal efficiency in the prior art cleaning process, and has the advantages of compact structure, strong controllability and high dust removal efficiency.

Claims (15)

  1. 一种真空吸尘装置,包括本体(100),所述本体上设有进尘口、尘盒、真空源及清洁组件(300),其特征在于,所述进尘口包括第一进尘口(110)和第二进尘口(120),所述尘盒包括分别对应所述第一进尘口、第二进尘口的第一尘盒(112)和第二尘盒(122),所述真空源包括与所述第一尘盒相连的第一真空源(111)和与所述第二尘盒相连的第二真空源(121),所述清洁组件包括滚刷,所述滚刷设于所述第二进尘口内;A vacuum cleaner comprising a body (100), the body being provided with a dust inlet, a dust box, a vacuum source and a cleaning assembly (300), wherein the dust inlet comprises a first dust inlet And (110) and the second dust inlet (120), the dust box includes a first dust box (112) and a second dust box (122) corresponding to the first dust inlet and the second dust inlet, respectively. The vacuum source includes a first vacuum source (111) connected to the first dust box and a second vacuum source (121) connected to the second dust box, the cleaning assembly including a roller brush, the roller Brushing in the second dust inlet;
    所述第一真空源提供吸力使灰尘经第一进尘口吸入第一尘盒,所述第二真空源提供吸力使灰尘经第二进尘口吸入第二尘盒。The first vacuum source provides suction to draw dust into the first dust box through the first dust inlet, and the second vacuum source provides suction to draw dust into the second dust box through the second dust inlet.
  2. 如权利要求1所述的真空吸尘装置,其特征在于,所述本体(100)上还设有识别单元及与所述识别单元、所述真空源分别相连的控制单元;The vacuum cleaner according to claim 1, wherein the body (100) further comprises an identification unit and a control unit respectively connected to the identification unit and the vacuum source;
    所述控制单元根据所述识别单元发送的识别信息控制第一真空源(111)和/或第二真空源(121)工作。The control unit controls the first vacuum source (111) and/or the second vacuum source (121) to operate according to the identification information sent by the identification unit.
  3. 如权利要求2所述的真空吸尘装置,其特征在于,所述识别单元通过传感单元(200)获得识别信息;The vacuum cleaner according to claim 2, wherein the identification unit obtains identification information through the sensing unit (200);
    所述识别信息为灰尘信息或工作环境信息。The identification information is dust information or work environment information.
  4. 如权利要求2所述的真空吸尘装置,其特征在于,所述识别单元通过输入端获得识别信息;A vacuum cleaner according to claim 2, wherein said identification unit obtains identification information through an input terminal;
    所述输入端具体包括:人机界面、遥控器或app控制端;The input terminal specifically includes: a human machine interface, a remote controller or an app control terminal;
    所述识别信息为通过上述输入端输入的指令。The identification information is an instruction input through the above input terminal.
  5. 如权利要求3所述的真空吸尘装置,其特征在于,在真空吸尘装置的前进方向(A)上,所述传感单元(200)设置在所述第一进尘口(110)的前方。A vacuum cleaner according to claim 3, wherein said sensing unit (200) is disposed at said first dust inlet (110) in a forward direction (A) of the vacuum cleaner In front.
  6. 如权利要求1所述的真空吸尘装置,其特征在于,所述第二进尘口(120)的开口面积≥所述第一进尘口(110)的开口面积。A vacuum cleaner according to claim 1, wherein an opening area of said second dust inlet (120) ≥ an opening area of said first dust inlet (110).
  7. 如权利要求6所述的真空吸尘装置,其特征在于,所述第一进尘口(110)设有刮条组件,所述刮条组件包括在所述真空吸尘装置前进方向(A)上前、后设置的第一刮条(113)和第二刮条(114),所述第一刮条与工作表面(B)留有间隙,所述第二刮条与工作表面(B)贴合。 A vacuum cleaner according to claim 6, wherein said first dust inlet (110) is provided with a scraper assembly, said scraper assembly being included in a forward direction of said vacuum cleaner (A) a first scraper strip (113) and a second scraper strip (114) disposed front and rear, the first scraper strip leaving a gap with the working surface (B), the second scraper strip and the working surface (B) fit.
  8. 一种自移动机器人,包括机器人机体,所述机器人机体上设有行走机构,其特征在于,所述机器人机体上还设有如权利要求1-7任一项所述的真空吸尘装置。A self-moving robot includes a robot body, and the robot body is provided with a running mechanism, wherein the robot body is further provided with the vacuum cleaner according to any one of claims 1-7.
  9. 一种真空吸尘装置的控制方法,所述真空吸尘装置包括本体(100),所述本体上设有进尘口、尘盒、真空源及清洁组件(300),所述进尘口包括第一进尘口(110)和第二进尘口(120),所述尘盒包括分别对应所述第一进尘口及所述第二进尘口的第一尘盒(112)和第二尘盒(122),所述真空源包括与所述第一尘盒相连的第一真空源(111)和与所述第二尘盒相连的第二真空源(121),所述清洁组件包括滚刷,所述滚刷设于所述第二进尘口内;所述第一真空源提供吸力使灰尘经第一进尘口吸入第一尘盒,所述第二真空源提供吸力使灰尘经第二进尘口吸入第二尘盒;A method for controlling a vacuum cleaner, the vacuum cleaner comprising a body (100) having a dust inlet, a dust box, a vacuum source and a cleaning assembly (300), the dust inlet comprising a first dust inlet (110) and a second dust inlet (120), the dust box including a first dust box (112) and a first corresponding to the first dust inlet and the second dust inlet a dust box (122), the vacuum source comprising a first vacuum source (111) connected to the first dust box and a second vacuum source (121) connected to the second dust box, the cleaning assembly Including a roller brush, the roller brush is disposed in the second dust inlet; the first vacuum source provides suction to suck dust into the first dust box through the first dust inlet, and the second vacuum source provides suction to make dust Inhaling the second dust box through the second dust inlet;
    所述本体上还设有识别单元及与所述识别单元、所述真空源分别相连的控制单元;An identification unit and a control unit respectively connected to the identification unit and the vacuum source are further disposed on the body;
    其特征在于,该方法包括如下步骤:The method is characterized in that the method comprises the following steps:
    步骤100:真空吸尘装置的识别单元获得识别信息并反馈所述识别信息给控制单元;Step 100: The identification unit of the vacuum cleaner obtains identification information and feeds back the identification information to the control unit;
    步骤200:所述控制单元根据反馈的识别信息控制第一真空源和/或第二真空源工作。Step 200: The control unit controls the first vacuum source and/or the second vacuum source to operate according to the feedback identification information.
  10. 如权利要求9所述的真空吸尘装置的控制方法,其特征在于,所述识别单元通过传感单元(200)获得识别信息,所述识别信息为灰尘信息,所述灰尘信息包括灰尘量信息,所述步骤200具体包括:所述控制单元内预设有灰尘量阈值,所述控制单元将反馈的灰尘量信息与灰尘量阈值进行比较;The control method of the vacuum cleaner according to claim 9, wherein the identification unit obtains identification information by the sensing unit (200), the identification information is dust information, and the dust information includes dust amount information. The step 200 specifically includes: pre-setting a dust amount threshold in the control unit, and the control unit compares the fed dust amount information with a dust amount threshold;
    当灰尘量<灰尘量阈值时,控制单元判断为灰尘较少的工作环境,控制所述真空吸尘装置进入自动工作模式,第一真空源(111)或第二真空源(121)单独工作;When the amount of dust is less than the dust amount threshold, the control unit determines that the dust is in a working environment, and controls the vacuum cleaner to enter an automatic working mode, and the first vacuum source (111) or the second vacuum source (121) operates separately;
    当灰尘量≥灰尘量阈值时,控制单元判断为灰尘较多工作环境,控制所述真空吸尘装置进入双风机大功率精扫模式,第一真空源(111)和第二真空源(121)同时工作。When the dust amount ≥ the dust amount threshold, the control unit determines that the dust is more working environment, and controls the vacuum cleaner to enter the dual-fan high-power fine sweep mode, the first vacuum source (111) and the second vacuum source (121) Work at the same time.
  11. 如权利要求9所述的真空吸尘装置的控制方法,其特征在于,所述识别单元通过传感单元(200)获得识别信息,所述识别信息为工作环境信息,所述步骤200具体包括:The control method of the vacuum cleaner according to claim 9, wherein the identification unit obtains the identification information by the sensing unit (200), and the identification information is the working environment information, and the step 200 specifically includes:
    当工作环境被识别为地毯时,控制单元控制所述真空吸尘装置进入双风机大功率精扫模式,第一真空源(111)和第二真空源(121)同时工作; When the working environment is recognized as a carpet, the control unit controls the vacuum cleaner to enter the dual-fan high-power fine sweep mode, and the first vacuum source (111) and the second vacuum source (121) simultaneously work;
    否则,控制单元控制所述真空吸尘装置进入自动工作模式,第一真空源(111)或第二真空源(121)单独工作。Otherwise, the control unit controls the vacuum cleaner to enter an automatic mode of operation, with the first vacuum source (111) or the second vacuum source (121) operating separately.
  12. 如权利要求11所述的真空吸尘装置的控制方法,其特征在于,所述控制单元内预设有灰尘量阈值,所述真空吸尘装置处于所述步骤200中的自动工作模式时,所述控制方法进一步包括:The method of controlling a vacuum cleaner according to claim 11, wherein a dust amount threshold is pre-set in the control unit, and the vacuum cleaner is in an automatic working mode in the step 200. The control method further includes:
    所述真空吸尘装置通过识别单元检测灰尘量;The vacuum cleaner detects the amount of dust by the identification unit;
    当灰尘量<灰尘量阈值时,控制单元判断为灰尘较少的工作环境,控制所述真空吸尘装置保持原有自动工作模式,第一真空源(111)或第二真空源(121)单独工作;When the dust amount is less than the dust amount threshold, the control unit determines that the dust is less working environment, and controls the vacuum cleaner to maintain the original automatic working mode, and the first vacuum source (111) or the second vacuum source (121) is separate. jobs;
    当灰尘量≥灰尘量阈值时,控制单元判断为灰尘较多工作环境,控制所述真空吸尘装置从原有自动工作模式进入双风机大功率精扫模式,第一真空源(111)和第二真空源(121)同时工作。When the amount of dust ≥ the dust amount threshold, the control unit determines that the dust is more working environment, and controls the vacuum cleaner to enter the dual-fan high-power fine sweep mode from the original automatic working mode, the first vacuum source (111) and the first The two vacuum sources (121) work simultaneously.
  13. 如权利要求9所述的真空吸尘装置的控制方法,其特征在于,所述识别单元通过输入端获得识别信息,所述识别信息为通过输入端输入的指令;The control method of the vacuum cleaner according to claim 9, wherein the identification unit obtains identification information through an input end, and the identification information is an instruction input through an input terminal;
    所述输入端包括:人机界面、遥控器或app控制端。The input terminal includes: a human machine interface, a remote controller or an app control terminal.
  14. 如权利要求13所述的真空吸尘装置的控制方法,其特征在于,所述步骤200具体包括:The method of controlling a vacuum cleaner according to claim 13, wherein the step 200 specifically includes:
    所述控制单元根据反馈的识别信息控制真空吸尘装置进入自动工作模式或双风机大功率精扫模式;The control unit controls the vacuum cleaner to enter an automatic working mode or a dual-fan high-power cleaning mode according to the feedback information of the feedback;
    选择进入自动工作模式时,控制单元控制第一真空源(111)或第二真空源(121)单独工作;When the automatic operation mode is selected, the control unit controls the first vacuum source (111) or the second vacuum source (121) to work alone;
    选择进入双风机大功率精扫模式时,控制单元控制所述第一真空源(111)和第二真空源(121)同时工作。The control unit controls the first vacuum source (111) and the second vacuum source (121) to operate simultaneously when entering the dual fan high power refining mode.
  15. 如权利要求10-12或14任一项所述的真空吸尘装置的控制方法,其特征在于,在所述自动工作模式下,所述第二真空源(121)单独工作优先。 A method of controlling a vacuum cleaner according to any one of claims 10 to 12, wherein in said automatic operation mode, said second vacuum source (121) operates exclusively.
PCT/CN2017/099845 2016-08-31 2017-08-31 Vacuum dust suction device and control method therefor, and self-moving robot WO2018041195A1 (en)

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