WO2019007377A1 - Balai à franges de type robot - Google Patents

Balai à franges de type robot Download PDF

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Publication number
WO2019007377A1
WO2019007377A1 PCT/CN2018/094549 CN2018094549W WO2019007377A1 WO 2019007377 A1 WO2019007377 A1 WO 2019007377A1 CN 2018094549 W CN2018094549 W CN 2018094549W WO 2019007377 A1 WO2019007377 A1 WO 2019007377A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
cleaning robot
robot
movable body
base station
Prior art date
Application number
PCT/CN2018/094549
Other languages
English (en)
Chinese (zh)
Inventor
张士松
钟红风
何明明
徐静涛
庞晓丽
吴军
郑悦
刘良兵
毋宏兵
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201710537119.6A external-priority patent/CN109199255A/zh
Priority claimed from CN201710657947.3A external-priority patent/CN109381121B/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Publication of WO2019007377A1 publication Critical patent/WO2019007377A1/fr

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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

Definitions

  • the present invention relates to a robot, and more particularly to a sweeping robot.
  • sweeping robots as an intelligent robot, can automatically complete the floor cleaning work in the room.
  • the sweeping robot completes the function of ground cleaning by first sucking the ground debris into its own dust box.
  • the traditional sweeping robot needs to increase the size of the whole robot (because the suction force requires the use of a large fan and motor, and the large dust collecting box itself increases the size of the entire robot.
  • the vertical dimension of the robot for example, increase the height of the robot
  • increase the lateral size of the robot increasing the length, width or diameter of the robot (when it is a circular robot)
  • increasing the disadvantage of the vertical dimension Therefore, when entering a low space such as a bed bottom, the traversability of the robot is deteriorated, and it is difficult to adapt to a low space.
  • the disadvantage of increasing the lateral size is that it is difficult to adapt to a space having a small lateral size.
  • the sweeping robot usually uses a cleaning member such as a rag to realize the function of mopping the floor by spraying water.
  • a cleaning member such as a rag
  • the cleaning components of such sweeping robots require manual cleaning, which is cumbersome to operate and cannot achieve a fully automatic cleaning process.
  • a sweeping robot capable of both large volume and strong spatial adaptability, capable of adapting to a small space in a vertical direction (low space) and adapting to a small horizontal space.
  • a cleaning base station for the cleaning robot which can automatically clean the cleaning components of the cleaning robot.
  • the present invention provides a cleaning robot, comprising: a lower body and a movable body, the movable body including a dust box; the movable body and the lower body are movably connected, so that the sweeping The robot has a folded position and a deployed position; when the movable body moves relative to the lower body in the folded position and the deployed position, the cleaning robot can perform a cleaning work, and in a vertical direction, the The size of the sweeping robot changes.
  • the movable body is rotatably coupled to the lower body.
  • the cleaning robot is equipped with a detector, a controller, and a rotary driving device, and the controller is electrically connected to the detector and the rotary driving device, respectively, for controlling according to information detected by the detector.
  • the rotary drive device drives the movable body to rotate.
  • the detector is a distance sensor
  • the distance sensor detects spatial information of the cleaning robot in real time, and transmits the spatial information to the controller, and the controller controls the real-time according to the spatial information.
  • the rotary drive drives the movable body to rotate.
  • the distance sensor is disposed on the movable body.
  • the movable body further includes a rotating body pivotally connected to the lower body, and the dust box is detachably mounted to the rotating body.
  • the lower body is provided with a motor that drives the rotation of the rotating body, and an output shaft of the motor is coaxial with a rotation axis of the rotating body.
  • the dust box includes an upper case and a lower case connected to each other, the lower case being detachably coupled to the rotating body, and in the folded position, the upper case is located under the Above the cabinet.
  • the cleaning robot further includes a dust suction device that is driven by a brushless motor mounted in the rotating body and communicates with the upper casing through a retractable hose.
  • the upper casing is provided with a cyclone separator, and the cyclone separator includes a suction port portion, a filtering portion and an air outlet portion which are sequentially connected, and the air outlet portion is provided to open to the outside of the upper casing The outlet.
  • the cyclone separator includes a suction port portion, a filtering portion and an air outlet portion which are sequentially connected, and the air outlet portion is provided to open to the outside of the upper casing The outlet.
  • the size of the cleaning robot in the vertical direction is between 170 and 200 mm; and in the unfolded position, the size of the cleaning robot in the vertical direction is between 70 and 100 mm.
  • a cleaning base station for the cleaning robot is proposed.
  • the cleaning robot further includes a cleaning component disposed at a bottom of the lower body to clean the ground;
  • the controller includes a first control module configured to: determine whether the cleaning component meets a cleaning condition; and the cleaning component When the cleaning condition is satisfied, the cleaning robot is controlled to go to the cleaning position of the cleaning base station.
  • the first control module is further configured to: when the cleaning robot is in the cleaning position, control the cleaning component to rotate at a first speed, wherein the cleaning All of the components enter or partially enter the cleaning tank of the cleaning base station.
  • the first control module is further configured to: when the time when the cleaning robot is in the cleaning position reaches a first time threshold, control the cleaning robot to leave the cleaning Base station.
  • determining whether the cleaning component meets the cleaning condition comprises at least one of the following manners:
  • the walking area of the cleaning robot reaches the area threshold, it is determined that the cleaning member satisfies the cleaning condition.
  • the cleaning robot further includes: a charging component capable of contacting the charging base of the cleaning base station to charge the cleaning robot.
  • a cleaning base station for a cleaning robot comprising: a base station body; a cleaning tank located on the base station body, having a water inlet and a water outlet, the water inlet allowing a cleaning liquid to be injected into the cleaning tank, the water outlet allowing The cleaning liquid is discharged from the cleaning tank; the second control module is configured to control the water inlet and the water outlet to operate separately, to inject cleaning liquid into the cleaning tank or to discharge the cleaning liquid from the cleaning tank.
  • the second control module is further configured to: when the cleaning robot reaches the cleaning position of the cleaning base station, control the water inlet of the cleaning tank to open to enable the cleaning liquid Injection; in the case where the cleaning of the cleaning member of the cleaning robot is completed, the water outlet of the cleaning tank is controlled to be opened to discharge the cleaning liquid.
  • the cleaning base station further includes: a sensing module, located on the base station body, configured to determine whether the cleaning robot is close to the cleaning base station.
  • the cleaning base station further includes: a cover plate that closes the cleaning tank in a stowed state, and exposes the cleaning tank in an open state
  • the control module is further configured to : controlling the cover to be changed from a stowed state to an open state in a case where the cleaning robot satisfies a cleaning condition and is close to the cleaning base station; and in a case where the cleaning robot leaves the cleaning base station, controlling the The cover is switched from the open state to the stowed state.
  • the cover plate forms a ramp in an open state for the cleaning robot to enter a cleaning position of the cleaning base station.
  • the cleaning base station further includes: a water inlet tank communicating with the cleaning tank through the water inlet, wherein the water inlet tank can accommodate the cleaning liquid to be added into the cleaning tank;
  • the water tank communicates with the washing tank through the water outlet, and the water tank can accommodate the washing liquid discharged from the washing tank.
  • the second control module is further configured to control the water inlet of the cleaning tank to be closed when the cleaning liquid fills the cleaning tank.
  • the cleaning base station further includes a charging base capable of contacting a charging component of the cleaning robot to charge the cleaning robot.
  • the movable body in the folded position, at least a portion of the movable body is located above the lower body to reduce the lateral dimension of the cleaning robot; in the deployed position, the movable body is not higher than the upper surface of the lower body, so the sweeping can be performed
  • the robot adjusts to the folding position to clean the area with small lateral space, and adjusts the sweeping robot to the unfolding position to clean the low area with small vertical space, so the sweeping robot can adapt to the area with small vertical space (low space).
  • the sweeping robot increases the height dimension in the folded position, but does not have to maintain this height dimension at all times (can be adjusted as needed) compared to the traditional heightening or lateral dimension of the conventional sweeping robot.
  • the height of the whole machine is increased to the unfolded position.
  • the sweeping robot increases the lateral dimension in the unfolded position, but does not have to maintain such a lateral dimension at all times (it can be adjusted to the folding position as needed to reduce the lateral dimension of the whole machine), so the sweeping robot passes differently
  • the position conversion takes good care of the larger body Space and strong adaptability.
  • Figure 1 is a perspective view of the sweeping robot, in which the sweeping robot is in a folded position
  • Figure 2 is a perspective view of the sweeping robot of Figure 1 in a deployed position
  • Figure 3 is an internal cross-sectional view of the cleaning robot shown in Figure 1;
  • Figure 4 is an enlarged view of A in Figure 3;
  • Figure 5 is a side view of the sweeping robot of Figure 1;
  • Figure 6 is an assembled view of the lower body and the movable body of the sweeping robot of Figure 1;
  • Figure 7 is a perspective view of the dust box of the cleaning robot of Figure 1.
  • FIG. 8 is a schematic diagram of an exemplary application environment of a cleaning robot according to an embodiment.
  • FIG. 9 is a block diagram of a cleaning robot according to an embodiment.
  • FIG. 10 is a flow chart showing the configuration of a first control module 13 of a cleaning robot according to an embodiment.
  • Figure 11 is a schematic illustration of a sweeping robot in accordance with an embodiment.
  • FIG. 12 is a schematic diagram of a cleaning robot and a cleaning base station according to an embodiment.
  • FIG. 13 is a flow chart showing the configuration of a first control module 13 of a cleaning robot according to an embodiment.
  • Figure 14 is a flow chart showing the configuration of a first control module 13 of a cleaning robot according to an embodiment.
  • Figure 15 is a block diagram of a cleaning base station for a cleaning robot in accordance with an embodiment.
  • FIG. 16 is a flowchart of a configuration of a second control module 83 for cleaning a base station according to an embodiment.
  • FIG. 17 is a schematic diagram of a cleaning base station according to an embodiment.
  • FIG. 18 is a schematic diagram of a cover for cleaning a base station according to an embodiment.
  • 19 is a schematic diagram of a cover for cleaning a base station according to an embodiment.
  • the present invention provides a sweeping robot comprising: a lower body 100 and a movable body 200, and the movable body 200 includes a dust collecting box.
  • the movable body 200 is movably connected to the lower body 100 such that the sweeping robot has a folded position (FIG. 1) and a deployed position (FIG. 2); the sweeping robot can execute when the movable body moves relative to the lower body in the folded position and the deployed position.
  • the cleaning operation; and, as the movable body moves relative to the lower body, the size of the cleaning robot in the vertical direction also changes.
  • the movable body 200 and the lower body 100 are rotatably connected. At the folded position, at least a portion of the movable body 200 is positioned above the lower body 100 to reduce the lateral dimension of the sweeping robot; when the position is deployed, the movable body 200 may be no higher than the upper surface of the lower body 100.
  • the movable body and the lower body can also be connected by slipping or the like, as long as the connection form of the two can bring about the dimensional change of the cleaning robot in the lateral direction and the vertical direction (height).
  • the sweeping robot can be adjusted to the folded position to clean the area with a small lateral space, and the sweeping robot can be adjusted to the unfolded position to clean the low-lying area with a small vertical space, so the sweeping robot can adapt to a small space in the vertical direction. (low space), which can adapt to a small horizontal space, and the height of the height of the folding robot is increased in the folding position, but it is not necessary to maintain the height at all.
  • the sweeping robot increases the lateral dimension in the unfolded position but does not have to maintain this lateral dimension at all times (can be adjusted to the folded position as needed to reduce the horizontal dimension of the whole machine) So the sweeping robot is well converted through different positions. Both large volume and strong space adaptability are taken into consideration.
  • the sweeping robot is also equipped with a detector, a controller and a rotary drive.
  • the controller is electrically connected to the detector and the rotation driving device respectively, and is configured to control the rotation of the movable body to drive the rotating body according to the detection information of the detector.
  • the detector is a distance sensor 3.
  • the distance sensor 3 is disposed on the movable body 200.
  • the spatial information of the cleaning robot can be detected in real time, and the spatial information can be transmitted to the controller; then the controller can control the rotation driving device to drive the movable body 200 to rotate according to the spatial information in real time.
  • the distance sensor 3 can detect the environment size faced by the cleaning robot in real time. For example, when the distance sensor 3 detects a low space, the detection signal can be transmitted to the controller, and the controller controls the rotary driving device to drive the movable body 200 to expand.
  • the position is rotated, and when the movable body 200 is brought into a position capable of entering a low space, the rotation driving device is stopped to keep the movable body 200 at this position, so as to lower the overall height of the cleaning robot, so that the cleaning robot can be about to Work in the low space that enters.
  • the distance sensor 3 causes the controller to control the rotary driving device to drive the movable body 200 to rotate to the folded position by transmitting a corresponding signal, thereby causing the cleaning robot to gradually become higher.
  • the distance sensor 3 can transmit signals to the controller by transmitting different environmental signals to cause the controller to control the rotary drive to rotate and hold the movable body 200 at any position between the folded position and the deployed position (including the folded position and Expand position). It can be seen that the sweeping robot can automatically and intelligently adapt to complex environmental requirements.
  • the size of the cleaning robot in the vertical direction when the position is folded, is between 170 and 200 mm; and in the unfolded position, the size of the cleaning robot in the vertical direction is between 70 and 100 mm.
  • the whole body composed of the lower body 100 and the movable body 200 is circular or circular in cross section perpendicular to the vertical direction, and this design makes the sweeping robot encounter obstacles. When it is in place, it is easy to rotate in place and has strong ability to get out of trouble.
  • the movable body 200 includes a rotating body 201 pivotally connected to the lower body 100, and the dust box is detachably mounted to the rotating body 201 (for example, the rotating body 201 can be provided with a card slot 207 for dust collecting The box can be slidably snapped into the card slot 207).
  • the lower body 100 may be provided with a recess for accommodating the rotating body 201.
  • the two mutually opposite side walls of the recess are respectively a first side wall 101 and a second side wall 102, and the first side wall 101 is provided with an hinge shaft 103.
  • the rotating body 201 is provided with a hinge hole engaged with the hinge shaft 103, and the second side wall 102 is mounted with a motor 1 as a rotary driving device.
  • the output shaft of the motor 1 is drivingly connected with the rotating body 201, and the output shaft of the motor 1 is
  • the pivot shaft 103 of the rotating body 201 is coaxially disposed. The rotation of the motor 1 can control the rotation of the rotating body 201, thereby driving the dust box to rotate.
  • a side of the second side wall 102 facing the first side wall 101 may be provided with a circular groove 104, and the rotating body 201 is provided with an annular boss portion 202 rotatably engaged in the circular groove 104, the axis of the circular groove 104 It is disposed coaxially with the hinge shaft 103.
  • the output shaft is fixedly mounted with the dialing toothed disc 2, and the rotating body 201 is provided with the toothed disc receiving groove 203, the outer teeth of the dialing toothed disc 2 and the side wall teeth of the toothed disc receiving recess 203
  • the output shaft of the motor 1 is drivingly coupled to the rotating body 201 via the dialing gear 2 .
  • the dust box includes an upper case 204 and a lower case 205 that are connected to each other, and the lower case 205 is detachably mounted in the rotating body 201.
  • the upper case 204 In the folded position, the upper case 204 is located above the lower body 100, and the upper case 204 can be hinged with a cover 206 for opening the upper case 204 to clean the garbage, and the cover 206 can be locked to the upper case 204 by the lock 208.
  • the distance sensor 3 can be mounted on the outer wall surface of the upper case 204.
  • the cleaning robot includes a dust suction device (for example, a vacuum cleaner), and the dust suction device is preferably vacuumed by a brushless motor 10 provided in the rotating body 201, and the dust suction device is fixedly mounted by various known mechanical connections.
  • a dust suction device for example, a vacuum cleaner
  • the dust suction device communicates with the upper casing 204 through a retractable hose 5, and the retractable hose 5 is adjacent to the outer wall surface of the lower casing 205. This design makes the spatial arrangement of the cleaning robot compact and simple.
  • a cyclone separator 4 may be disposed in the upper casing, and the cyclone separator 4 includes a suction hole portion 41, a filter portion 42, and an air outlet portion that are sequentially connected, and the air outlet portion is provided to open to the outside of the upper casing
  • the air outlet 43 may be connected to the corresponding opening on the upper casing.
  • the cyclone separator is included, and the cyclone and the suction hole portion 41 can filter some bulky dust or garbage into the inside of the suction hole portion 41, and then the dust enters the suction hole portion 41 with the airflow and is in the filtering portion 42.
  • the filter is retained in the inside of the suction hole portion 41, and finally only the airflow is discharged through the air outlet 43.
  • the bottom of the lower body 100 may be provided with a structure such as a traveling wheel, a cleaning member, or the like for cleaning the ground or the like.
  • a cleaning base station of the cleaning robot is also provided.
  • the cleaning robot 10 can be, for example, an automatic mopping machine, and the cleaning robot 10 can automatically walk in a working area 30 (eg, an indoor area) within the boundary 50, The floor (such as the floor) in the work area 30 is cleaned.
  • a working area 30 eg, an indoor area
  • the floor such as the floor
  • FIG. 9 is a block diagram of a cleaning robot according to an embodiment.
  • the sweeping robot can be used to clean the ground.
  • the cleaning robot further includes a cleaning component 12 disposed at the bottom of the lower body 100 to clean the ground; the controller further includes a first control module 13.
  • FIG. 10 is a flow chart showing the configuration of a first control module 13 of a cleaning robot according to an embodiment. As shown in FIG. 10, the first control module 13 is configured to:
  • Step S101 determining whether the cleaning component meets a cleaning condition
  • Step S102 in a case where the cleaning component satisfies the cleaning condition, the cleaning robot is controlled to go to the cleaning position of the cleaning base station.
  • the cleaning robot can go to the cleaning position of the cleaning base station when the cleaning component satisfies the cleaning condition, so as to wet and clean the cleaning component, so that the cleaning robot can realize a fully automatic ground cleaning process.
  • Figure 11 is a schematic view of a sweeping robot.
  • the cleaning robot may include a cleaning component 12.
  • the cleaning member 12 can be, for example, a fleece roller brush or roller disposed at the bottom of the lower body 100, and can be rotated by a driving member 14 (for example, a motor) to clean the floor.
  • a driving member 14 for example, a motor
  • the first control module 13 may be any processing component capable of performing data processing, such as a single chip microcomputer, a CPU, an MPU, an FPGA, and the like disposed in the device body, and the first control module 13 may be implemented by a dedicated hardware circuit. It can also be implemented by a general processing component in combination with executable logic instructions to perform the processing of the first control module 13.
  • the cleaning robot may further include a storage module (not shown) to store data generated by the first control module 13.
  • the first control module 13 can determine whether the cleaning component 12 meets the cleaning conditions. For example, determining whether the cleaning member 12 satisfies the cleaning condition may include determining that the cleaning member 12 satisfies the cleaning condition in a case where the walking time of the cleaning robot reaches the second time threshold.
  • determining whether the cleaning member 12 satisfies the cleaning condition may include determining that the cleaning member 12 satisfies the cleaning condition in a case where the walking time of the cleaning robot reaches the second time threshold.
  • the second time threshold may be a preset time threshold of the system, or may be set by the user or set according to environmental conditions.
  • the second time threshold may be set to be longer when the environment in which the cleaning robot is located is relatively wet; when the environment is drier, the second time threshold is set to be shorter.
  • the disclosure does not limit the specific value of the second time threshold.
  • determining whether the cleaning component 12 meets the cleaning condition may further include: determining that the cleaning component meets the cleaning condition when the walking region of the cleaning robot reaches the region threshold.
  • the threshold of the area may be an area threshold preset by the system, or may be set by the user or set according to the environment. For example, different zone thresholds may be set depending on the type of ground (eg, floor, floor tiles) that the cleaning robot cleans. The disclosure does not limit the specific value of the area threshold.
  • the cleaning robot when the first control module 13 determines that the cleaning component 12 meets the cleaning condition, the cleaning robot can be controlled to go to the cleaning position of the cleaning base station.
  • the first control module 13 may plan a walking path of the cleaning robot according to the current position of the cleaning robot and the position of the cleaning base station, and control the cleaning robot to go to the cleaning position of the cleaning base station according to the walking path.
  • Figure 12 is a schematic diagram of a cleaning robot and a cleaning base station.
  • the cleaning base station 80 may have a cleaning tank 82 at the cleaning position, and the cleaning tank 82 may contain a cleaning liquid (for example, clean water).
  • the cleaning member 12 (flannel roller brush) may all enter or partially enter the cleaning tank 82 of the cleaning base station 80, so that the cleaning member 12 contacts the cleaning liquid in the cleaning tank 82, thereby cleaning the cleaning member. 12 for cleaning.
  • FIG. 13 is a flow chart showing the configuration of the first control module 13 of the cleaning robot.
  • the first control module 13 is further configured to:
  • Step S103 in a case where the cleaning robot is in the cleaning position, the cleaning component is controlled to rotate at a first speed, wherein the cleaning components all enter or partially enter the cleaning tank of the cleaning base station.
  • the cleaning member 12 may all enter or partially enter the cleaning tank 82 of the cleaning base station 80 to cause the cleaning member 12 to contact the cleaning liquid in the cleaning tank 82.
  • the first control module 13 can control the rotation of the cleaning member 12 so that the cleaning liquid can be washed to the entire roller of the cleaning member 12, thereby improving the cleaning effect of the cleaning member 12.
  • Component 12 has a suitable humidity.
  • the first speed may be a preset cleaning rotation speed of the cleaning member 12, which is not limited in the present disclosure.
  • Figure 14 is a flow chart showing the configuration of the first control module 13 of the cleaning robot.
  • the first control module 13 is further configured to:
  • Step S104 If the time when the cleaning robot is in the cleaning position reaches a first time threshold, the cleaning robot is controlled to leave the cleaning base station.
  • the first control module 13 can control the cleaning robot to leave the cleaning base station and return to the working area to continue the cleaning operation of the ground.
  • the first time threshold may be a preset time threshold of the system, which is not limited in this disclosure.
  • the first control module 13 can also control the cleaning robot to clean a certain number of times. For example, when the floor cleaned by the cleaning robot is dirty, the cleaning part 12 to be cleaned may also be dirty, and may require multiple cleanings. In this case, the user can set the number of times the cleaning robot is cleaned, for example, three times.
  • the first control module 13 can control the cleaning component to stop for a certain period of time after rotating for a certain period of time (for example, the first time threshold) (waiting to clean the cleaning tank of the cleaning base to replace the cleaning liquid), and then continue to rotate. The time until the specified number of cleanings is completed.
  • the specific setting manner of the cleaning times of the cleaning robot is not limited in the present disclosure.
  • the cleaning robot 10 may further include:
  • the charging member 15 and the charging member 15 can contact the charging stand 88 of the cleaning base station 80 to charge the cleaning robot.
  • the charging component 15 can include a charging electrode located in front of the cleaning robot 10.
  • a charging stand 88 provided in the cleaning base station 80 can be used to charge the cleaning robot when the cleaning robot is in the cleaning position.
  • the first control module 13 may determine whether the cleaning robot needs to be charged, for example, whether the battery power of the cleaning robot is lower than a certain threshold, or whether the cleaning robot completes the cleaning area under the path planning. If the first control module 13 determines that the cleaning robot needs to be charged (for example, the battery power is lower than a certain threshold), then the cleaning robot is controlled to go to the cleaning position of the cleaning station. When the cleaning robot is in the cleaning position, the charging electrode of the charging member 15 can contact the charging stand 88 to charge the cleaning robot.
  • the charging electrode of the charging member 15 may not contact the charging stand 88, and only the cleaning member 12 of the cleaning robot is cleaned.
  • the cleaning operation and the charging operation can be performed simultaneously.
  • the first time threshold of the cleaning robot in the cleaning position may be a time that both the cleaning operation and the charging operation can be completed (for example, the time required for charging > the time required for cleaning, the first time threshold may be charging) Time required).
  • the cleaning robot can be controlled to leave the cleaning base station. In this way, cleaning and charging can be performed simultaneously when charging is required, which improves the efficiency of use of the device.
  • the cleaning tank 82 of the cleaning base station 80 can discharge the sewage; before the charging operation is completed, and the cleaning robot starts again, the cleaning is performed.
  • the cleaning tank 82 of the base station 80 can be filled with clean water to wet the cleaning member.
  • FIG. 15 is a block diagram of a cleaning base station for a cleaning robot in accordance with an embodiment.
  • the cleaning base station 80 includes: a base station body 81; a cleaning tank 82 located on the base station body, having a water inlet 821 and a water outlet 822, wherein the water inlet 821 allows the cleaning liquid to be injected into the cleaning tank.
  • the water outlet 822 allows the cleaning liquid to drain out of the cleaning tank;
  • the second control module 83 is configured to: control the water inlet and the water outlet to operate separately, inject cleaning liquid into the cleaning tank or from the cleaning The tank drains the cleaning solution.
  • the cleaning base station for the cleaning robot can control the water inlet and the water outlet to operate separately, inject cleaning liquid into the cleaning tank or discharge the cleaning liquid from the cleaning tank, so as to realize automatic cleaning of the cleaning parts of the cleaning robot, thereby ensuring that the cleaning robot can realize Fully automatic floor cleaning process.
  • Figure 16 is a flow chart showing the configuration of a second control module 83 for cleaning a base station. As shown in FIG. 16, the second control module 83 is further configured to:
  • Step S801 in a case where the cleaning robot reaches the cleaning position of the cleaning base station, controlling the water inlet of the cleaning tank to be opened to inject the cleaning liquid;
  • Step S802 in a case where the cleaning of the cleaning component of the cleaning robot is completed, the water outlet of the cleaning tank is controlled to be opened to discharge the cleaning liquid.
  • FIG. 17 is a schematic diagram of a cleaning base station.
  • the cleaning tank 82 may be located on the base unit body 81, and the washing tank 82 contains a washing liquid (for example, clean water).
  • the cleaning tank 82 may have a water inlet 821 and a water outlet 822, respectively. When the valve or pump on the water inlet 821 is opened, the cleaning liquid can be injected into the cleaning tank 82; when the valve or pump on the water outlet 822 is opened, the cleaning liquid can be discharged to the cleaning tank 82.
  • the second control module 83 may be any processing unit capable of performing data processing, such as a single chip microcomputer, a CPU, an MPU, an FPGA, etc., which is disposed in the base station body, and the second control module 83 may be implemented by a dedicated hardware circuit. It can also be implemented by a general processing component in combination with executable logic instructions to perform the processing of the second control module 83.
  • the cleaning base station may further include a storage module (not shown) to store data generated by the second control module 83.
  • the second control module 83 can control the valve opening of the water inlet 821 to inject fresh water into the cleaning tank 82 so that the cleaning member 12 of the cleaning robot 10 can be cleaned.
  • the second control module 83 can control the valve of the water outlet 822 to open to discharge the used sewage.
  • the second control module 83 is further configured to control the water inlet of the cleaning tank to be closed when the cleaning liquid is filled in the cleaning tank.
  • the second control module 83 can control the valve closing of the water inlet to prevent water from overflowing the cleaning tank.
  • the second control module 83 is further configured to: when the cleaning robot meets the cleaning condition and approaches the cleaning base station, and the water inlet or the water outlet is opened And controlling the water inlet and the water outlet of the cleaning tank to be closed. For example, in the process of cleaning the base station for water or drainage (the water inlet or the water outlet is open), if the cleaning robot satisfies the cleaning condition and approaches the cleaning base station, the second control module 83 can also control the water inlet and the water outlet. shut down. In this way, water or drainage during the cleaning process of the cleaning robot can be avoided, which affects the cleaning effect of the cleaning robot.
  • the cleaning base station 80 further includes: a cover plate 84 that closes the cleaning tank in a stowed state, and exposes the cleaning tank in an open state, wherein
  • the second control module 83 is further configured to: when the cleaning robot meets the cleaning condition and is close to the cleaning base station, control the cover to be changed from the stowed state to the open state; and the sweeping robot is left In the case of cleaning the base station, the cover is controlled to be switched from an open state to a stowed state.
  • FIG. 17 shows the open state of the cover plate 84
  • FIG. 18 shows the stowed state of the cover plate 84
  • FIG. 19 shows the state in which the cover plate 84 is switched between the stowed state and the open state.
  • the cover plate 84 closes the cleaning tank 82 in the stowed state to prevent water splashing in the cleaning tank 82; the cover plate 84 exposes the cleaning tank 82 in an open state, so that the cleaning member 12 of the cleaning robot can enter the cleaning tank. Cleaning in 82.
  • the second control module 83 can control the cover plate 84 to be switched from the stowed state to the open state, thereby enabling the sweeping robot to enter the cleaning position;
  • the second control module 83 can control the cover plate 84 to be switched from the open state to the stowed state, thereby preventing water splashing in the cleaning tank 82.
  • the cover plate 84 forms a ramp in an open state for the sweeping robot to enter the cleaning position of the cleaning base station. As shown in Fig. 17, the cover plate 84 can form a ramp when it is in an open state, and the sweeping robot can walk along the ramp to enter the cleaning position (as shown in Fig. 12). It should be understood by those skilled in the art that the cover plate 84 and the walking ramp of the cleaning robot can also be separately disposed such that the cover plate 84 only closes or exposes the cleaning tank 82, which is not limited in the present disclosure.
  • the cleaning base station 80 may further include: a water inlet tank 85 through which the water inlet port communicates with the cleaning tank, wherein the water inlet tank can accommodate the cleaning to be added The cleaning liquid in the tank; the water outlet tank 86 communicates with the washing tank through the water outlet, and the water discharging tank can accommodate the washing liquid discharged from the washing tank.
  • the water inlet tank 85 can communicate with the cleaning tank 82 through the water inlet 821.
  • the inlet tank 85 can accommodate the cleaning liquid to be added to the cleaning tank;
  • the outlet tank 86 can communicate with the cleaning tank through the water outlet 822, and the water outlet tank
  • the cleaning liquid discharged from the cleaning tank can be accommodated in 86.
  • the position of the inlet tank 85 can be set higher than the cleaning tank 82 so that the fresh water can be automatically injected into the cleaning tank 82 when the valve of the water inlet 821 is opened; and the position of the outlet tank 86 can be It is set lower than the cleaning tank 82 so that the sewage can automatically flow out of the washing tank 82 when the water outlet 822 valve is opened.
  • the positions of the inlet tank 85 and the outlet tank 86 may not be limited thereto, and the sewage may be discharged from the washing tank 82 into the outlet tank 86, for example, by means of pumping; and the fresh water can flow out of the inlet tank 85. , enter the cleaning tank 82. It is also possible not to provide the water inlet tank 85 and the water outlet tank 86, but to connect the water inlet 821 directly to the water inlet member (for example, a faucet or the like), and the water outlet 822 directly to the drainage member (for example, a floor drain or the like), which is not limited in the present disclosure. .
  • the cleaning base station 80 may further include a sensing module (not shown) located on the base station body for determining whether the cleaning robot is close to the cleaning base station.
  • the sensing module may include an ultrasonic sensor, an infrared sensor, or the like, so that the ultrasonic sensor or the infrared sensor may determine whether the cleaning robot is close. If the cleaning robot is sensed to approach the cleaning base station and meet the cleaning condition, the second control module 83 may The cover 84 for controlling the cleaning base station is opened, and the water inlet of the water inlet and the drainage of the water outlet are stopped.
  • the disclosure does not limit the specific implementation of the sensing module.
  • the cleaning base station 80 may further include:
  • the charging stand 88, the charging stand 88 is capable of contacting the charging member of the cleaning robot to charge the cleaning robot.
  • the charging stand 88 can be provided in the cleaning base station 80 so that the cleaning robot can be charged while the cleaning member 12 is being cleaned.
  • the charging stand 88 of the base station can contact the charging electrode of the cleaning robot charging member 15 to charge the cleaning robot.
  • the charging stand 88 can clean the cleaning member 12 of the cleaning robot without contacting the charging electrode of the charging member 15. In this way, cleaning and charging can be performed simultaneously when charging is required, which improves the efficiency of use of the device.
  • the invention can be a system, method and/or computer program product.
  • the computer program product can comprise a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement various aspects of the present invention.
  • the computer readable storage medium can be a tangible device that can hold and store the instructions used by the instruction execution device.
  • the computer readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Non-exhaustive list of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) Or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, for example, with instructions stored thereon A raised structure in the hole card or groove, and any suitable combination of the above.
  • a computer readable storage medium as used herein is not to be interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (eg, a light pulse through a fiber optic cable), or through a wire The electrical signal transmitted.
  • the computer readable program instructions described herein can be downloaded from a computer readable storage medium to various computing/processing devices or downloaded to an external computer or external storage device over a network, such as the Internet, a local area network, a wide area network, and/or a wireless network.
  • the network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and/or edge servers.
  • a network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in each computing/processing device .
  • Computer program instructions for performing the operations of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine related instructions, microcode, firmware instructions, state setting data, or in one or more programming languages.
  • the computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer, partly on the remote computer, or entirely on the remote computer or server. carried out.
  • the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or wide area network (WAN), or can be connected to an external computer (eg, using an Internet service provider to access the Internet) connection).
  • the customized electronic circuit such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by utilizing state information of computer readable program instructions.
  • Computer readable program instructions are executed to implement various aspects of the present invention.
  • the computer readable program instructions can be provided to a general purpose computer, a special purpose computer, or a processor of other programmable data processing apparatus to produce a machine such that when executed by a processor of a computer or other programmable data processing apparatus Means for implementing the functions/acts specified in one or more of the blocks of the flowcharts and/or block diagrams.
  • the computer readable program instructions can also be stored in a computer readable storage medium that causes the computer, programmable data processing device, and/or other device to operate in a particular manner, such that the computer readable medium storing the instructions includes An article of manufacture that includes instructions for implementing various aspects of the functions/acts recited in one or more of the flowcharts.
  • the computer readable program instructions can also be loaded onto a computer, other programmable data processing device, or other device to perform a series of operational steps on a computer, other programmable data processing device or other device to produce a computer-implemented process.
  • instructions executed on a computer, other programmable data processing apparatus, or other device implement the functions/acts recited in one or more of the flowcharts and/or block diagrams.
  • each block in the flowchart or block diagram can represent a module, a program segment, or a portion of an instruction that includes one or more components for implementing the specified logical functions.
  • Executable instructions can also occur in a different order than those illustrated in the drawings. For example, two consecutive blocks may be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented in a dedicated hardware-based system that performs the specified function or function. Or it can be implemented by a combination of dedicated hardware and computer instructions.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

L'invention concerne un balai à franges de type robot, qui comprend: un corps inférieur et un corps mobile relié rotatif au corps inférieur. Le corps mobile peut tourner entre une position pliée et une position dépliée par rapport au corps inférieur. Dans la position pliée, au moins une partie du corps mobile est située au-dessus du corps inférieur pour réduire la taille latérale du balai à franges de type robot. Le balai à franges de type robot peut présenter à la fois un volume relativement important et une adaptabilité spatiale élevée de manière à s'adapter à une zone étroite le long d'une direction verticale (un espace bas), ou à une zone étroite le long d'une direction latérale.
PCT/CN2018/094549 2017-07-04 2018-07-04 Balai à franges de type robot WO2019007377A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201710537119.6 2017-07-04
CN201710537119.6A CN109199255A (zh) 2017-07-04 2017-07-04 自动行走设备及用于自动行走设备的清洗基站
CN201710657947.3A CN109381121B (zh) 2017-08-03 2017-08-03 扫地机器人
CN201710657947.3 2017-08-03

Publications (1)

Publication Number Publication Date
WO2019007377A1 true WO2019007377A1 (fr) 2019-01-10

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Application Number Title Priority Date Filing Date
PCT/CN2018/094549 WO2019007377A1 (fr) 2017-07-04 2018-07-04 Balai à franges de type robot

Country Status (1)

Country Link
WO (1) WO2019007377A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103417164A (zh) * 2013-04-28 2013-12-04 吴晓栋 一种包含擦拭功能的自动清洁装置
CN105286728A (zh) * 2015-09-18 2016-02-03 重庆科创职业学院 基于单片机的扫地机器人系统
CN106264340A (zh) * 2016-08-11 2017-01-04 广西大学 用于扫地机器人自动清倒垃圾的结构
US9665095B1 (en) * 2015-03-19 2017-05-30 Amazon Technologies, Inc. Systems and methods for removing debris from warehouse floors

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103417164A (zh) * 2013-04-28 2013-12-04 吴晓栋 一种包含擦拭功能的自动清洁装置
US9665095B1 (en) * 2015-03-19 2017-05-30 Amazon Technologies, Inc. Systems and methods for removing debris from warehouse floors
CN105286728A (zh) * 2015-09-18 2016-02-03 重庆科创职业学院 基于单片机的扫地机器人系统
CN106264340A (zh) * 2016-08-11 2017-01-04 广西大学 用于扫地机器人自动清倒垃圾的结构

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