WO2020125491A1 - 一种清洁机器人及控制方法 - Google Patents

一种清洁机器人及控制方法 Download PDF

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Publication number
WO2020125491A1
WO2020125491A1 PCT/CN2019/124275 CN2019124275W WO2020125491A1 WO 2020125491 A1 WO2020125491 A1 WO 2020125491A1 CN 2019124275 W CN2019124275 W CN 2019124275W WO 2020125491 A1 WO2020125491 A1 WO 2020125491A1
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WO
WIPO (PCT)
Prior art keywords
cleaning robot
liquid
mopping
module
mop
Prior art date
Application number
PCT/CN2019/124275
Other languages
English (en)
French (fr)
Inventor
徐建强
谢明健
钟红风
李佶
王玉杰
Original Assignee
苏州宝时得电动工具有限公司
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Publication of WO2020125491A1 publication Critical patent/WO2020125491A1/zh

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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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • 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
    • A47L11/28—Floor-scrubbing 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4058—Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention relates to a cleaning robot, and also relates to a cleaning robot and a control method.
  • the cleaning robot can wipe the ground to improve the cleanliness of the ground.
  • Existing cleaning robots can use a mop for mopping when performing cleaning work.
  • the mop is connected to the mopping floor or the machine body, and the ground is cleaned by a moist mop.
  • the method of natural water supply that is, let the water in the water tank flow naturally to the mop to soak the mop at a certain rate.
  • the cleaning robot encounters a situation such as no electricity or stuck, the uninterrupted water supply of the water tank will cause the mop to bubble or the ground to generate a large amount of water, which will damage the floor.
  • the problem to be solved by the present invention is to provide a cleaning robot capable of autonomously controlling the delivery of liquid to the wiper.
  • the technical solution adopted by the present invention to solve the existing technical problems is: a cleaning robot, which can walk and work in the work area.
  • the cleaning robot may include: a fuselage; a walking mechanism, which supports the fuselage and drives the cleaning robot to walk;
  • the power module provides the driving force for the cleaning robot to walk and work;
  • the mopping module can be used to install on the fuselage to perform the scheduled mopping work, and the wiper can be installed on the mopping module;
  • the control module is electrically connected and controlled
  • the power module realizes the automatic walking and automatic work of the cleaning robot;
  • the cleaning robot may further include: a liquid supply device electrically connected to the control module.
  • the control module can control the liquid supply device to transfer liquid to the mopping module based on the current mopping situation.
  • the control module controls the liquid supply device to stop delivering liquid to the mopping module, which may include: the cleaning robot is blocked by an obstacle during work Trapped, the cleaning robot returns to the base station to replace the mopping module, the cleaning robot is in the state of replacing the mopping module, and the cleaning robot is in the standby state.
  • the cleaning robot may further include: a lifting mechanism, the control module can control the lifting mechanism so that the mopping module is lifted from the height of the mopping floor where the mopping work is performed to other heights, and when the lifting mechanism is currently in a raised mopping situation, the control module Control the liquid supply device to stop delivering liquid to the mopping module.
  • a lifting mechanism the control module can control the lifting mechanism so that the mopping module is lifted from the height of the mopping floor where the mopping work is performed to other heights, and when the lifting mechanism is currently in a raised mopping situation, the control module Control the liquid supply device to stop delivering liquid to the mopping module.
  • the cleaning robot may further include: a mop detection device electrically connected to the control module, the mop detection device may be used to detect whether the wiper is installed on the cleaning robot, when the mop detection device detects that the current wiper is not installed on the cleaning robot
  • the control module controls the liquid supply device to stop delivering liquid to the mopping module.
  • the cleaning robot may further include: a humidity detection device, which controls the liquid supply device to transfer liquid to the mopping module through the current mopping situation detected by the humidity detection device.
  • a humidity detection device which controls the liquid supply device to transfer liquid to the mopping module through the current mopping situation detected by the humidity detection device.
  • the cleaning robot may further include a signal sending device, and the signal sending device sends the mopping situation detected by the humidity detection device to the user.
  • the humidity detection device may include a mop humidity sensor, and the control module controls the liquid supply device to deliver liquid to the mopping module based on the wiper humidity detected by the mop humidity sensor.
  • the mop humidity sensor is installed under the fuselage.
  • the humidity detection device may include: an environmental humidity detection device, which controls the liquid supply device to transfer liquid to the mopping module through the environmental humidity detected by the environmental humidity detection device.
  • the environmental humidity detection device may control the liquid supply device to transfer liquid to the mopping module based on the environmental humidity detected locally and/or remotely by the cleaning robot.
  • the humidity detection device may include a ground humidity sensor, and the control module controls the liquid supply device to transfer liquid to the mopping module based on the ground humidity detected by the ground humidity sensor.
  • the cleaning robot may further include: a ground sensor, and the control module controls the liquid supply device to transmit liquid to the mopping module based on the ground status currently detected by the ground sensor, and the ground status includes: ground material.
  • the cleaning robot may further include a navigation mechanism for forming a work area map of the cleaning robot, the control module calibrates the current mopping situation based on the work area map, and controls the liquid supply device to transfer liquid to the mopping module.
  • the navigation mechanism includes but is not limited to at least one of the following: ultrasonic sensor, optical sensor, UWB sensor, inertial navigation system.
  • control module may control the liquid supply device to transfer liquid to the mopping module based on an instruction from the user.
  • the liquid supply device may include: a liquid reservoir.
  • the liquid supply device may further include: a liquid transfer device electrically connected to the control module, the liquid transfer device is connected to the liquid reservoir, and the control module controls the liquid transfer device to transfer the liquid in the liquid reservoir to Mopping module.
  • a liquid transfer device electrically connected to the control module, the liquid transfer device is connected to the liquid reservoir, and the control module controls the liquid transfer device to transfer the liquid in the liquid reservoir to Mopping module.
  • the cleaning robot may further include: a liquid level monitoring device provided in the liquid storage, and the liquid level monitoring device is used for monitoring the liquid level in the liquid storage.
  • the cleaning robot may further include a signal sending device that sends a notification message to the user that the amount of liquid in the cleaning robot is insufficient when the liquid level monitoring device detects that the liquid level in the liquid reservoir is below a preset threshold.
  • a signal sending device that sends a notification message to the user that the amount of liquid in the cleaning robot is insufficient when the liquid level monitoring device detects that the liquid level in the liquid reservoir is below a preset threshold.
  • the cleaning robot may further include: an indicating device, which is used to indicate whether the liquid volume of the cleaning robot is sufficient.
  • the cleaning robot may further include at least two liquid reservoirs, at least two liquid conveying devices respectively connected to the at least two liquid reservoirs, and the control module is used to control the at least two liquid conveying devices based on the current mopping situation.
  • the liquid in the two liquid reservoirs is transferred to the mopping module, and the types of liquid stored in at least two liquid reservoirs are different.
  • the cleaning robot further includes a valve associated with at least two liquid delivery devices.
  • the valve is opened and closed under the control of the control module, thereby controlling the liquid supply device to deliver liquid to the mopping module based on the current mopping situation.
  • the cleaning robot may further include: a ground sensor, the control module controls the amount and type of liquid transmitted by each of the at least two liquid reservoirs based on the current ground state detected by the ground sensor, and the ground state includes: ground material And/or floor stain type.
  • the cleaning robot may further include: a navigation mechanism for forming a work area map of the cleaning robot, and the control module controls the amount of liquid and the liquid delivered by the liquid supply device to the floor mopping module based on the current mopping situation marked in the work area map Types of.
  • the cleaning robot may further include: an energy module, used to provide energy for the walking and working of the cleaning robot.
  • the cleaning robot may be a household and/or indoor service robot.
  • An embodiment of the present invention also provides a cleaning robot control method.
  • the method may include: controlling the cleaning robot to enter a working state; judging whether the liquid supply device needs to transfer liquid to the mopping module based on the current mopping situation; if so, controlling the liquid supply The device transfers liquid to the mopping module, and the cleaning robot includes a liquid supply device.
  • the working state may include: dry drag or wet drag.
  • the method may further include: the cleaning robot first performs dry drag on the work area, and then wet drags the work area.
  • the beneficial effects of the present invention are: the cleaning robot can complete the mopping work more efficiently, reduce the burden on users, improve the automation degree and user experience of the cleaning robot, and the cleaning robot can be intelligent and autonomous based on the current mopping situation
  • the liquid supply device is controlled to transfer liquid to the wiper, thereby prolonging the service life of floor materials such as floors in users' homes.
  • FIG. 1 is a schematic diagram of a robot cleaning system according to an embodiment of the invention.
  • FIG. 2 is a front view of a cleaning robot according to an embodiment of the invention.
  • FIG. 3 is a schematic diagram of functional modules of a cleaning robot in an embodiment of the invention.
  • FIG. 4 is a structural view of a cleaning robot according to an embodiment of the present invention where only a single liquid storage exists;
  • FIG. 5 is a structural diagram of a dual-liquid reservoir of a dual-liquid delivery device of a cleaning robot according to an embodiment of the present invention
  • FIG. 6 is a structural diagram of a dual-liquid reservoir of a single-liquid delivery device of a cleaning robot according to an embodiment of the present invention
  • FIG. 7 is a structural diagram of a cleaning robot liquid supply device according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of the robot cleaning system of the present invention.
  • the robot cleaning system 300 may include a base station 200 and a cleaning robot 100, and the cleaning robot 100 may be a device capable of autonomously replacing wipers.
  • the base station 200 where the cleaning robot 100 returns to charging can also be used for the cleaning robot 100 to replace the wiper, combining the charging function and the wiper replacement function to form the cleaning robot's base station , Which can save user space.
  • the cleaning robot 100 When the cleaning robot 100 needs to return to the base station 200, for example, when it is detected that the wiper needs to be replaced or when the cleaning robot 100 needs to be charged, the program to return to the base station 200 is started, and the cleaning robot 100 returns to the base station 200 to automatically replace the wiper and/or the cleaning robot 100 Automatic charging.
  • the wiper may be an article for wiping the work surface (ground) such as a mop or sponge wipe. It is worth noting that, in order to more clearly describe the present application, in the following, wipers are represented by mops.
  • the base station 200 includes a bottom plate 207, a support plate 206, and an upper plate 205, wherein the upper plate 205 is connected to the bottom plate 207 through the support plate 206.
  • the upper plate 205 is provided with a new mop slot 203, an old mop slot 204, and a mop replacement device (not shown in the figure).
  • the mop replacement device can use a lifting mechanism, a swing mechanism, etc., and the new mop slot 203 and the old mop slot 204 are
  • the projection on the bottom plate 207 corresponds to the second operating position 202 and the first operating position 201 of the cleaning robot 100 on the bottom plate 207. It can be understood that the positions of the old and new mop slots are not fixed.
  • the positions of the new and old mop slots 203 and 204 can also be swapped.
  • the cleaning robot 100 completes the unloading of the old mop at the first operation position 201, and is recovered by the mop replacement device of the base station 200, and the new mop is released by the mop replacement device of the base station 200, thereby completing the cleaning robot 100 at the second operation position 201 Loading of new mop.
  • the position of the cleaning robot for changing the mop can also be set separately from the position for return charging. At this time, when the cleaning robot needs to replace the mop, it can return to the position of replacing the mop and replace the mop; when cleaning When the robot needs to be charged, it can return to the charging position for charging, which is not limited in this application. At this time, the position for returning to replace the mop may be an unfixed position.
  • the returned position when the cleaning robot returns to the base station to replace the mop, the returned position may refer to the base station that combines the two functions of charging and mop replacement, or may refer to It is a base station that is only used to replace the mop; accordingly, when describing the return of the cleaning robot to charge, the return position can refer to the base station that combines the two functions of charging and mop replacement, or it can only be used to replace the mop Clean the base station where the robot is charging.
  • the cleaning robot may be a household and/or indoor service robot.
  • the cleaning robot 100 may be a mopping robot, including a fuselage 10, a walking mechanism 20, an energy module 30, a mopping module 40, a power module 80, and a control module 60, also includes a navigation mechanism 70.
  • the walking element of the walking mechanism includes a driving wheel 21 for driving the cleaning robot 100 to move. It is understandable that the walking element may also be a track structure.
  • the cleaning robot 100 may further include a driven wheel (not shown).
  • the energy module 30 can optionally be used to power the cleaning robot, and the cleaning robot can optionally charge the energy module 30.
  • the power module 80 may include a motor and a transmission structure connected to the motor. The transmission mechanism is connected to the walking mechanism.
  • the motor drives the transmission mechanism to work.
  • the transmission function of the transmission mechanism causes the walking mechanism to move.
  • the transmission mechanism may be a worm gear mechanism or a bevel gear mechanism. Wait.
  • the power module 80 may be provided with two sets of motors, one set of motors drives the walking mechanism to move, and the other set of motor drives the mopping module to vibrate the mopping floor at a certain frequency; the power module 80 may also only be provided with one set for driving the movement of the walking mechanism It can be understood that the number of motors in each group is not limited, for example, it may be one or two.
  • the mopping module 40 can be used to be installed on the fuselage to perform predetermined mopping work, and the mopping module 40 can be installed with a mop.
  • the mopping module 40 can include a mopping floor, and the mop can be detachably installed on the mopping floor.
  • the navigation mechanism 70 may include, but is not limited to, at least one of the following: ultrasonic sensors, radar sensors, optical sensors (laser or infrared sensors, etc.), UWB sensors, inertial navigation systems, etc., used to provide environmental control data and control the work of cleaning robots, And used to form a map of the working area of the cleaning robot.
  • the cleaning robot 100 may also be an integrated sweeping and cleaning device.
  • the cleaning robot may include a sweeping module in addition to the sweeping module.
  • the sweeping module may include a roller brush and a side brush for cleaning the ground. Dust and other debris, such as corners, corners, etc., are relatively concentrated on the roller brush treatment by the side brush, and the dust is collected into the dust box.
  • the control module is, for example, a controller, and may be an embedded digital signal processor (Digital Signal Processor, DSP), a microprocessor (Micro Processor Unit, MPU), a specific integrated circuit (Application Specific Integrated Circuit, ASIC), or a programmable logic device. (Programmable Logic Device, PLD) System on Chip (SOC), Central Processing Unit (CPU) or Field Programmable Gate Array (FPGA), etc.
  • DSP Digital Signal Processor
  • MPU Micro Processor Unit
  • ASIC Application Specific Integrated Circuit
  • PLD Programmable Logic Device
  • SOC System on Chip
  • CPU Central Processing Unit
  • FPGA Field Programmable Gate Array
  • the controller can control the work of the cleaning robot according to a preset program or received instructions. Specifically, the controller can control the walking mechanism to walk along the preset walking path in the working area of the cleaning robot. While the walking mechanism drives the cleaning robot to walk, the mopping module performs the mopping work (may include: dry or wet mopping) ), remove dust and other garbage in the work area. Further, when the cleaning robot walks in the preset path and completes the mopping work, the controller can control the cleaning robot to stop the mopping work, and control the walking of the walking mechanism, so that the walking mechanism drives the cleaning robot away from the work area.
  • the walking path and parking position of the cleaning robot can be set in the controller in advance, and the controller controls the walking mechanism to execute.
  • Fig. 4 shows a situation where the cleaning robot only has one liquid reservoir.
  • the cleaning robot may further include: a liquid supply device electrically connected to the control module, the control module can control the liquid supply device to transfer to the mopping module based on the current mopping situation Liquid, so that the cleaning robot can automatically and automatically control its liquid supply to the mop.
  • the transmitted liquid can be water, water with essential oils, alcohol, etc., which is not limited in this application.
  • the liquid supply device may include a liquid reservoir 51 and a liquid delivery device 50 electrically connected to the control module, wherein the liquid delivery device 50 is connected to the liquid reservoir 51.
  • control module may control the liquid supply device to transfer liquid to the mopping module through a program, that is, the liquid transfer device 50 may be automatically controlled to transfer the liquid in the liquid storage 51 to the mopping module based on the current mopping situation.
  • the cleaning robot may further include a valve associated with the liquid delivery device. The valve is opened and closed under the control of the control module, so that the liquid supply device can be controlled to deliver liquid to the mopping module based on the current mopping situation.
  • the liquid delivery device 50 may be a pump, which may include, but is not limited to, peristaltic pumps, gear pumps, plunger pumps, and diaphragm pumps that can perform liquid delivery functions.
  • the control module controls the pump elements
  • the rotation speed of the middle impeller controls the amount of liquid delivered by the liquid reservoir 51 to the mopping module.
  • the liquid conveying device 50 and the liquid reservoir 51 are connected by a hose 52, and the liquid in the liquid reservoir 51 can flow to the liquid conveying device 50 through the hose 52, so that the liquid conveying device 50 can transmit the liquid to the mopping module.
  • the liquid delivery device 50 can directly deliver the liquid to the mopping module 40 as shown in FIG.
  • the liquid conveying device 50 can directly spray the liquid to the ground during the work of the cleaning robot, so that the cleaning robot walks on the sprayed floor to achieve wet dragging, so as to spray the liquid to The ground dissolves stains, mopping the floor for cleaner purposes. It is worth noting that all the embodiments in this application can use the above two methods to achieve the purpose of transferring liquid to the mopping module.
  • FIG. 7 is a structural diagram of a liquid supply device of a cleaning robot according to an embodiment of the present invention
  • the liquid may first pass through the atomizing sheet 526 (this application uses three atomizing For example), the atomized liquid is transferred to the mopping module.
  • the atomizing sheet can also be connected directly after the liquid reservoir 51 and then transferred to the mopping module. In the above manner, the liquid in the liquid supply device can be evenly transferred to the mopping module, ensuring that the mop can be evenly covered with liquid.
  • the default working mode of the cleaning robot is: first perform the dry drag work and then perform the wet drag work, that is, when the user starts the cleaning robot to enter the working state, the cleaning robot may first dry drag the work area, Wet the work area again. This can prevent defects such as hair and other rubbish from sticking to the work area when the user only uses the cleaning robot to wet the work area without vacuuming the work area.
  • a corresponding number of dry mop and wet mop are placed on the base station, or only dry mop is placed on the base station, and the liquid is delivered to the mopping module through the liquid supply device to achieve the purpose of wet mop. After the cleaning robot completes the dry mop, it returns to the base station to replace the new mop and complete the wet mop.
  • the user can also change the default working mode in the human-computer interaction on the app or the cleaning machine body according to the actual stain situation of the user's home ground or the user's own needs, such as changing the default working mode Change to: only dry tow, only wet tow, wet tow first and then dry tow, etc.
  • the mopping module of the cleaning robot has at least three height states during the working process: mopping height, obstacle clearance height, and unloading mop height, so as to meet the requirements of cleaning robot mopping, obstacle clearance, and automatic mop replacement.
  • the three heights are arranged in order from high to low: unloading mop height, obstacle clearance height, and mopping height.
  • the obstacle clearance height can also be the same as the unloading mop height.
  • the obstacle clearance height is not only It is the height of the mopping module when the cleaning robot crosses the obstacle, and can also refer to the height state when the cleaning robot mop is in the lifted state.
  • the cleaning robot can also have a new height of the mop installed below the mopping height. At this time, the unloaded mop height can be used to uninstall the old mop, and the new mop height can be used to install the new mop. .
  • the control module controls the lifting mechanism to make the mop at the mopping height.
  • the control module controls the lifting mechanism to make the mop at the mopping height.
  • the lifting mechanism controls the mop at the obstacle-crossing height, at this time, the mop will automatically lift, and the obstacle-crossing height is higher than the working state height , But the height can not be higher than the height of the unloading mop, to prevent the mop and the floor from falling off;
  • the lifting mechanism controls The mop is lifted to the obstacle-crossing height and returned.
  • the cleaning robot can also form the position coordinates of its previous position through the navigation mechanism and mark the position coordinates on the work area map; when the mop is replaced, the lifting mechanism controls the mop to be lifted to unload the mop Height, through the fixed rod installed on the cleaning robot, the mop floor with the mop installed overcomes the magnetic force and falls off the cleaning robot to unload the old mop; after the old mop is unloaded, the cleaning robot will automatically install the new mop, the new mop is located In the new mop slot, after the machine enters the corresponding position, the mopping floor is lowered to the height where the new mop is installed, and the new mop can be installed on the cleaning component by magnetic force to complete the installation of the new mop; after the new mop is installed, the lifting mechanism controls the mop Raise to the obstacle-crossing height and return to the position marked on the work area map.
  • the lifting mechanism controls the mop to adjust to the mopping height.
  • the mopping continues to mop; the robot needs to be suspended during the mopping process
  • the lifting mechanism controls the mop to be raised to the height of obstacle crossing.
  • the above lifting mechanism is used to control the mop to be lifted when crossing obstacles, which solves the defect that the mop of the cleaning robot in the prior art only has a mopping height during the working process, and the cleaning range is limited because the height of the obstacle crossing is almost 0 .
  • the mop can control the lifting mechanism to raise the mop to the obstacle-crossing height when the mopping is paused, which solves the defect that the floor is soaked in the liquid and the floor is damaged due to the mop being at the mop height.
  • the cleaning robot can also return to the mopping position before the mop replacement for breakpoint continued dragging, which solves the defects of repeated mopping of the dragged area and missed dragging of the non-drag area in the prior art, improving cleaning The cleaning efficiency of the robot.
  • the mop can be replaced automatically, which improves the automation of the mop robot and the user experience.
  • control module may control the liquid supply device to stop transferring liquid to the mopping module, thereby protecting the cleaning robot, protecting the floor, and ensuring the mopping The purpose of the effect.
  • the cleaning robot may further include a mop detection device 90 electrically connected to the control module, the mop detection device 90 is used to detect whether the mop is installed on the cleaning robot before the cleaning robot starts to perform the mopping work If no, the control module controls the liquid delivery device to stop delivering liquid to the mop; if the mop is installed on the cleaning robot, the mopping work begins.
  • a magnetic connection may be adopted between the mop and the mopping floor. Therefore, in this embodiment, the mop detection device 90 may be a Hall sensor.
  • the control module can control the liquid supply device to stop transferring liquid to the mopping module.
  • the cleaning robot may further include: a lifting mechanism, the control module can control the lifting mechanism so that the mopping module is lifted from the mopping height for performing the mopping work to other heights, when the lifting mechanism is currently in the lifting drag In the case of ground, the control module controls the liquid supply device to stop delivering liquid to the mopping module, so that when the cleaning robot carrying a wet mop is in a non-working state, the floor damage and large area of water caused by natural water supply can be avoided, protecting the floor and Ensure the mopping effect.
  • a lifting mechanism the control module can control the lifting mechanism so that the mopping module is lifted from the mopping height for performing the mopping work to other heights, when the lifting mechanism is currently in the lifting drag
  • the control module controls the liquid supply device to stop delivering liquid to the mopping module, so that when the cleaning robot carrying a wet mop is in a non-working state, the floor damage and large area of water caused by natural water supply can be avoided, protecting the floor and Ensure the mopping effect.
  • the cleaning robot can control the liquid delivered by the liquid supply device to the mopping module according to the current mopping situation detected by at least one sensor set below, thereby ensuring the mopping effect.
  • the cleaning robot may further include: a humidity detection device, which controls the liquid supply device to transfer liquid to the mopping module through the current mopping situation detected by the humidity detection device.
  • the current mopping situation may include, but is not limited to, at least one of the following: mop humidity, ground humidity, ambient humidity, and the like. Specific application scenarios are described below.
  • the humidity detection device may include a mop humidity sensor, and the control module controls the liquid delivered by the liquid supply device based on the mop humidity detected by the mop humidity sensor.
  • the mop humidity sensor may be installed under the fuselage, for example: a capacitance sensor and/or a current sensor. The mop humidity detected by the mop humidity sensor monitors the current mopping situation and sends the mop humidity to the control module, which controls the amount of liquid delivered by the liquid delivery device based on the mop humidity detected by the mop humidity sensor.
  • the liquid delivery device when the mop humidity is greater than the preset threshold, the liquid delivery device is controlled to output liquid at a rate lower than the current discharge rate; conversely, when the mop humidity is less than the preset threshold, the liquid delivery device is controlled to be higher than the current discharge rate The rate of output liquid.
  • the preset threshold may be set by the user according to the current ground situation, and the preset threshold in different areas may be different.
  • the humidity detection device may include: an environmental humidity detection device, which may control the liquid delivered by the liquid supply device through the environmental humidity detected by the environmental humidity detection device.
  • the environmental humidity detection device may control the liquid delivered by the liquid supply device based on the environmental humidity detected locally and/or remotely.
  • the environmental humidity detection device may be an air humidity sensor or a humidity measuring instrument installed on the cleaning robot.
  • the air humidity sensor or the humidity measuring instrument may be installed at a position that meets a certain distance from the water source of the cleaning robot, thereby avoiding cleaning the liquid in the robot
  • the measurement result of the environmental humidity detection device is affected, which facilitates more accurate detection of the environmental humidity of the cleaning robot, so as to control the liquid delivered by the liquid supply device based on the detected environmental humidity.
  • the cleaning robot can also detect the environmental humidity in a remote way. At this time, the cleaning robot accesses the network by means of cellular or wifi, etc.
  • the cleaning robot receives the weather condition sent by the server and controls the amount of liquid delivered by the liquid delivery device based on the weather condition.
  • the liquid delivery device When the ambient humidity is greater than the preset threshold, the liquid delivery device is controlled to output liquid at a rate lower than the current discharge rate; conversely, when the ambient humidity is less than the preset threshold, the liquid delivery device is controlled to output at a rate higher than the current discharge rate liquid.
  • the preset threshold may be set by the user according to the current ground situation, and the preset threshold in different areas may be different.
  • the humidity detection device may include: a ground humidity sensor, such as a vision sensor and/or a radar sensor, and the control module may control the liquid delivered by the liquid supply device based on the ground humidity detected by the ground humidity sensor, and may The humidity value of the area in the mopping app is updated in real time according to the detected ground humidity.
  • the floor humidity sensor can control the liquid delivered by the liquid supply device based on the detected floor humidity or dryness.
  • the cleaning robot can mopp the floor according to a predetermined walking path. However, for some areas, when the cleaning robot detects that the ground in this area is dry, it can spray more liquid or increase the working time of the cleaning robot until the ground condition detected by the ground sensor meets the preset cleaning requirements.
  • the liquid transfer device can reduce the amount of liquid transferred or stop the amount of liquid transferred. For example, when the cleaning robot passes through the same area in a short time, the liquid transfer device can be controlled to reduce or stop the supply of liquid, which can avoid wasting liquid or avoiding the wheel slipping during the walking of the robot. In a specific application scenario, when the robot drags the ground in some areas, and then turns and walks repeatedly to some positions in these areas, if the liquid supply continues, it will cause too much liquid on the ground, causing the machine to slip or waste. Liquid, so when it is detected that the robot repeatedly walks in the same area in a short time, the liquid delivery device can be controlled to stop the liquid supply.
  • the cleaning robot may further include: a ground sensor, such as a vision sensor and/or a radar sensor, the ground state detected by the ground sensor, and sending the ground state to the control module to control
  • the module can control the liquid delivered by the liquid supply device.
  • the ground state may include: ground materials, etc.
  • the ground sensor can detect the material of the working surface, such as a floor or ceramic tile, etc., and the control module can control the amount of liquid transmitted by the liquid delivery device to the mopping module according to the ground state detected by the ground sensor.
  • the cleaning robot detects that the ground material is a wooden board, it can control the amount of water discharged from the liquid delivery device, appropriately reduce the amount of water supplied by the mop, and prevent excessive water from damaging the wooden floor.
  • the ground sensor includes a visual sensor, and the control module can determine the material of the work surface based on the ground image acquired by the visual sensor; in another embodiment, the ground sensor can include a radar sensor, and the control module can detect the radar sensor. The results determine the type of work surface.
  • the cleaning robot may further include a signal sending device that can detect the current mopping situation detected by the humidity detection device (which may include: mop humidity, ground humidity, ambient humidity, etc.) or a ground sensor
  • the ground status is sent to the user.
  • the user can also read the ground humidity in the current area from the mopping app according to the ground humidity sent to the user by the signal sending device.
  • the control module can control the liquid delivered by the liquid supply device based on the instruction sent by the user.
  • the above method is used to intelligently control the liquid supply device in the cleaning robot to transfer liquid to the mopping module, thereby improving the user experience of the cleaning robot.
  • the cleaning robot may include: a navigation mechanism.
  • the user can perform area calibration on the map of the working area of the cleaning robot formed by the navigation mechanism, and set the liquid condition that the cleaning robot needs to use in each area, so that the control module can control the liquid reservoir to transfer in each area based on the liquid condition
  • the corresponding liquid can also be combined with the ground humidity in the current area updated based on the ground humidity sensor in real time to determine whether the liquid supply in the current area meets the user's needs based on the real-time updated ground humidity. If not, continue the liquid supply. Then you can stop mopping the current area.
  • the navigation mechanism used may include but is not limited to at least one of the following: ultrasonic sensors, optical sensors (including: LDS, etc.), UWB sensors, and inertial navigation systems.
  • the cleaning robot may further include: a liquid level monitoring device provided in the liquid reservoir.
  • a notification message may be sent to the user that the amount of liquid in the cleaning robot is insufficient, and the notification message may include the cleaning robot
  • the remaining liquid adopts the time that the current discharge rate can still be used. The user can choose not to respond when receiving this notification message, can control the cleaning robot to suspend work, can also choose to lower the liquid output rate, or choose to add liquid to the cleaning robot.
  • the cleaning robot may further include an indicating device, such as a light-emitting indicating device (LED, etc.) or an audible indicating device, which may be used to indicate whether the cleaning robot has sufficient liquid.
  • an indicating device such as a light-emitting indicating device (LED, etc.) or an audible indicating device, which may be used to indicate whether the cleaning robot has sufficient liquid.
  • the state of the indicating device when the amount of liquid is not lower than the preset threshold is different from the state when it is lower than the preset threshold.
  • the user monitors the liquid level in the liquid reservoir by observing the different states of the indicating device. By reminding the user that the amount of liquid is insufficient, the defect of poor cleaning effect due to lack of liquid is prevented, and the mopping effect of the cleaning robot is improved.
  • the cleaning robot may further include at least two liquid reservoirs, and the at least two liquid reservoirs are symmetrically arranged on both sides of the fuselage. Put different types of liquid in the two liquid reservoirs respectively, and control the liquid conveying device corresponding to the liquid reservoir to work synchronously or asynchronously through the control module, so as to achieve the purpose of cleaning different types of stains.
  • the cleaning robot may also include three, four, or more than two numbers of liquid reservoirs. These different liquid reservoirs may be placed with the same or different types of liquids according to actual needs, which is not limited in this application.
  • the cleaning robot may include a ground sensor, for example, a visual sensor, which detects the ground state through the ground sensor and sends the ground state to the control module, so that the control module can separately control the amount and type of liquid transmitted by the two liquid reservoirs.
  • the ground condition may include: ground material and/or ground stain type.
  • the ground sensor can control the amount of liquid transferred from the two liquid reservoirs to the mop based on the detected ground material condition, whether the ground stain is oil or dust, where the amount of liquid transferred can be 0, that is, it can be controlled to use only One of the liquid reservoirs. Normally, the cleaning robot can mopp the floor according to a predetermined walking path.
  • the cleaning robot when the cleaning robot detects that the ground in this area is dry and has a lot of oil, it can spray more liquid or increase the working time of the cleaning robot until the ground condition detected by the ground sensor meets the preset cleaning requirements At this time, the cleaning robot stops cleaning the area.
  • the liquids transferred from the two liquid reservoirs to the mopping module can be controlled separately until the ground condition detected by the ground sensor meets the preset cleaning requirements, and the cleaning robot stops cleaning the area.
  • the cleaning robot may further include: a navigation mechanism.
  • the user can perform area calibration on the map of the cleaning robot working area formed by the navigation mechanism, and set the amount of liquid and the type of liquid that the cleaning robot needs to use in each area, so that the control module can control based on the amount of liquid and the type of liquid
  • the liquid transfer device transfers the corresponding amount of liquid and the type of liquid in each area.
  • the cleaning robot may further include a signal sending device, which may send the humidity of the mop detected by the humidity sensor or the ground status detected by the ground sensor to the user, and the user may read the current mopping situation on the display on the cleaning robot body You can also read the current mopping situation in the mopping app. For example, when the user feels that it is possible to increase or decrease the amount of liquid dragging the floor, he can also send a corresponding signal to the cleaning robot, so that the control module can control the amount of liquid and the type of liquid delivered by the liquid delivery device based on instructions from the user. The instruction can be sent through the mopping app or can be directly input by the user on the interactive interface of the cleaning robot.
  • the cleaning robot may further include: a liquid level monitoring device respectively provided in the two liquid reservoirs.
  • the liquid level monitoring device is used for monitoring whether the liquid level in the liquid reservoir is lower than a preset threshold, and may also include Indicating devices corresponding to the two liquid level monitoring devices respectively for indicating the liquid level.
  • both liquid reservoirs are present.
  • first and second in front of various devices in this application are to distinguish these two devices from different devices, and do not have other special meanings, such as: the first hose below Both the second hose and the second hose are hoses, but two different hoses.
  • only two liquid reservoirs are taken as an example for description, and more than two liquid reservoirs may also be used. The principle is the same, and will not be repeated in this application.
  • Figure 5 shows the dual-liquid storage device dual-liquid storage device.
  • the first liquid reservoir 511 is connected to the first liquid delivery device 501 through the first hose 521
  • the second liquid reservoir 512 is connected to the second liquid delivery device 502 through the second hose 522
  • the two liquid conveying devices 502 are electrically connected to the control module respectively.
  • the control module may select the first liquid conveying device 501 or the second liquid conveying device 502 to transmit liquid to the mop at the same time or separately based on the current mopping requirements, or may select the first liquid conveying
  • the device 501 or the second liquid transfer device 502 transfers the amount of liquid to the mop simultaneously or separately, thereby ensuring the mopping effect.
  • the first liquid storage 511 stores fresh water
  • the second liquid storage 512 stores cleaning liquid
  • the control module controls the first liquid delivery device 501 to work
  • the first liquid reservoir 511 transfers clean water to the first liquid transfer device 501 through the first hose 521, so that the first liquid transfer device 501 transfers clean water to the mop, and uses the clean water to remove dust and the like on the ground.
  • the control module controls the operation of the first liquid delivery device 501 and the second liquid delivery device 502, that is, the first liquid reservoir 511 passes through the first hose 521 While transferring clean water to the first liquid transfer device 501, the second liquid storage device 512 also transfers the cleaning liquid to the second liquid transfer device 502 through the second hose 522 so that the second liquid transfer device 502 transfers the cleaning liquid to the mop due to The concentration of the cleaning liquid is high, so the working time of the second liquid delivery device 502 can be controlled to be less than a certain preset threshold.
  • the second liquid storage 512 stores clean water whose concentration of cleaning liquid has been adjusted, and when the ground sensor detects that there is still oil on the ground, it can only control the operation of the second liquid delivery device 502 and use the adjusted cleaning liquid Concentrated clean water removes oil stains on the ground.
  • the humidity of the mop detected by the humidity detection device is greater than a preset threshold or, the first liquid reservoir 511 is controlled to output clean water at a rate lower than the current liquid discharge rate.
  • the cleaning robot repeatedly cleans the area.
  • the ground sensor detects more oil in a certain area, the cleaning robot can repeatedly clean the area.
  • Figure 6 shows the case of a single liquid delivery device with two liquid reservoirs.
  • the third liquid reservoir 513 is connected to the third liquid delivery device 503 through the third hose 523; the fourth liquid reservoir 514 is connected to the third liquid delivery device 503 through the fourth hose 524.
  • only the fourth hose 524 is equipped with a first valve 531, which is opened and closed under the control of the control module to control the flow of liquid in the fourth liquid reservoir 514 to the third liquid delivery device 503.
  • the control module selects whether to open the first valve 531 based on the current mopping requirements. For example, the third liquid reservoir 513 stores fresh water, and the fourth liquid reservoir 514 stores cleaning fluid.
  • the control module controls the third liquid delivery device 503 to work
  • the third liquid reservoir 513 transfers clean water to the third liquid transfer device 503 through the third hose 523.
  • the control module controls the first valve 531 to open, thereby controlling the cleaning liquid stored in the fourth liquid reservoir 514 to flow to the third liquid delivery device 503, that is, the third liquid reservoir 513 While the clean water is transferred to the third liquid transfer device 503 through the third hose 523, the cleaning liquid is also transferred from the fourth liquid reservoir 514 to the third liquid transfer device 503 through the fourth hose 524, so that the third liquid transfer device 503 The clean water containing the cleaning liquid is sent to the mop.
  • a first valve 531 is installed on the fourth hose 524, and similarly to the first valve 531, a second valve (not shown) is installed on the third hose 523.
  • the first valve 531 and the second valve are opened and closed under the control of the control module, and the liquid in the fourth liquid reservoir 514 and the third liquid reservoir 513 is controlled to flow to the third liquid delivery device 503, and the control module is based on the current mopping requirements Choose whether to open the first valve 531 and the second valve (not shown).
  • the third liquid storage 513 stores fresh water
  • the fourth liquid storage 514 stores fresh water whose adjusted cleaning liquid concentration has been adjusted.
  • the control module only controls the second valve (Not shown) Open, control the operation of the third liquid conveying device 503, and the third liquid reservoir 513 transmits clean water to the third liquid conveying device 503 through the third hose 523, and use the clean water to remove dust and the like on the ground.
  • the control module controls the first valve 531 to open, thereby controlling the clean water stored in the fourth liquid reservoir 514 that has been adjusted to the concentration of the cleaning fluid to flow to the third liquid delivery device 503, that is, by
  • the fourth liquid reservoir 514 transmits clean water whose concentration of the cleaning liquid is adjusted to the third liquid conveying device 503 through the fourth hose 524, and uses the liquid to mop the ground to remove oil stains and the like on the ground, so as to achieve the purpose of cleaning different types of stains.

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种清洁机器人(100)及控制方法，其中，清洁机器人可以包括：机身(10)；行走机构(20)，支撑机身并带动清洁机器人行走；动力模块(80)，为清洁机器人提供行走及工作的驱动力；拖地模块(40)，用于安装在机身上，执行预定拖地工作，拖地模块上能安装拖布；控制模块(60)，电性连接并且控制动力模块，以实现清洁机器人的自动行走及自动工作；还包括供液装置，控制模块能基于当前拖地情况控制供液装置向拖地模块传送液体。该清洁机器人能更高效的完成拖地工作，减轻用户负担，提升清洁机器人的自动化程度及用户体验，清洁机器人能基于当前拖地情况智能的自主控制供液装置向拖布传送液体，从而能够延长用户家庭中地板等地面材料的使用寿命。

Description

一种清洁机器人及控制方法
本申请要求了申请日为2018年12月21日，申请号为201811572166.5和申请日为2019年03月29日，申请号为201910250300.8的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及一种清洁机器人，还涉及一种清洁机器人及控制方法。
背景技术
随着用户需求的更多样化，清洁机器人种类繁多，清洁机器人能对地面进行擦拭处理，从而提高地面清洁度。
现有的清洁机器人进行清洁工作时可以采用拖布进行拖地作业，具体是将拖布连接在拖地板上或者是机器本体上，通过浸湿的拖布清洁地面。对拖布供水时，大都采用自然供水的方法，即，让水箱中的水按照一定的速率自然流至拖布上浸湿拖布。然而，当清洁机器人遇到没电或卡死等情况时，水箱的不间断供水会导致拖布泡坏或者地面产生大量积水，泡坏地板。
因此，用户需要自己看管机器人，以帮助机器人处理没电或卡死的情况。对于用户而言，这样人为参与的工作会降低机器人的自动化操作体验。
发明内容
为克服现有技术的缺陷，本发明所要解决的问题是提供一种能自主控制向擦拭件传送液体情况的清洁机器人。
本发明解决现有技术问题所采用的技术方案是：一种清洁机器人，清洁机器人可以在工作区域中行走并工作，清洁机器人可以包括：机身；行走机构，支撑机身并带动清洁机器人行走；动力模块，为清洁机器人提供行走及工作的驱动力；拖地模块，可以用于安装在机身上，执行预定拖地工作，拖地模块上能安装擦拭件；控制模块，电性连接并且控制动力模块，以实现清洁机器人的自动行走及自动工作；清洁机器人还可以包括：与控制模块电性连接的供液装置，控制模块能基于当前拖地情况控制供液装置向拖地模块传送液体。
优选的，当检测到清洁机器人当前处于，但不限于以下至少之一的拖地 情况时，控制模块控制供液装置停止向拖地模块传送液体，可以包括：清洁机器人在工作过程中被障碍物困住、清洁机器人回归基站更换拖地模块、清洁机器人处于更换拖地模块的状态、清洁机器人处于待机状态。
优选的，清洁机器人还可以包括：抬升机构，控制模块能控制抬升机构使得拖地模块从执行拖地工作的拖地高度抬升至其他高度，当抬升机构当前处于抬升的拖地情况时，控制模块控制供液装置停止向拖地模块传送液体。
优选的，清洁机器人还可以包括：与控制模块电性连接的拖布检测装置，拖布检测装置可以用于检测擦拭件是否安装于清洁机器人上，当拖布检测装置检测到当前擦拭件未安装在清洁机器人上的拖地情况时，控制模块控制供液装置停止向拖地模块传送液体。
优选的，清洁机器人还可以包括：湿度检测装置，通过湿度检测装置检测到的当前拖地情况控制供液装置向拖地模块传送液体。
优选的，清洁机器人还可以包括信号发送装置，信号发送装置将湿度检测装置检测到的拖地情况发送给用户。
优选的，湿度检测装置可以包括：拖布湿度传感器，控制模块基于拖布湿度传感器检测到的擦拭件湿度，控制供液装置向拖地模块传送液体。
优选的，拖布湿度传感器安装在机身的下方。
优选的，湿度检测装置可以包括：环境湿度检测装置，通过环境湿度检测装置检测到的环境湿度，控制供液装置向拖地模块传送液体。
优选的，环境湿度检测装置可以基于清洁机器人本地和/或远程方式检测到的环境湿度控制供液装置向拖地模块传送液体。
优选的，湿度检测装置可以包括：地面湿度传感器，控制模块基于地面湿度传感器检测到的地面湿度，控制供液装置向拖地模块传送液体。
优选的，清洁机器人还可以包括：地面传感器，控制模块基于地面传感器当前检测到的地面状态，控制供液装置向拖地模块传送液体，地面状态包括：地面材料。
优选的，清洁机器人还可以包括：导航机构，用于形成清洁机器人的工作区域地图，控制模块基于工作区域地图中标定当前的拖地情况，控制供液装置向拖地模块传送液体。
优选的，导航机构包括但不限于以下至少之一：超声波传感器、光学传感器、UWB传感器、惯性导航系统。
优选的，控制模块可以基于来自用户的指令控制供液装置向拖地模块传送液体。
优选的，供液装置可以包括：液体储存器。
优选的，供液装置还可以包括：与控制模块电性连接的液体传送装置，液体传送装置与液体储存器相连，控制模块基于当前拖地情况控制液体传送装置将液体储存器中的液体传送给拖地模块。
优选的，清洁机器人还可以包括：设置于液体储存器中的液面监测装置，所液面监测装置用于监测液体储存器中的液面。
优选的，清洁机器人还可以包括信号发送装置，信号发送装置在液面监测装置监测到液体储存器中的液面低于预设阈值时，向用户发送清洁机器人中液体量不足的通知消息。
优选的，清洁机器人还可以包括：指示装置，指示装置用于指示清洁机器人液体量是否充足。
优选的，清洁机器人还可以包括至少两个液体储存器、分别与至少两个液体储存器相连的至少两个液体传送装置，控制模块用于控制至少两个液体传送装置基于当前拖地情况将至少两个液体储存器中的液体传送给拖地模块，至少两个液体储存器中存储的液体类型不同。
优选的，清洁机器人还包括与至少两个液体传送装置相关联的阀门，阀门在控制模块的控制下开启和关闭，从而基于当前拖地情况控制供液装置向拖地模块传送液体。
优选的，清洁机器人还可以包括：地面传感器，控制模块基于地面传感器当前检测到的地面状态，控制至少两个液体储存器中各个液体储存器传送的液体量以及液体类型，地面状态包括：地面材料和/或地面污渍类型。
优选的，清洁机器人还可以包括：导航机构，用于形成清洁机器人的工作区域地图，控制模块基于工作区域地图中标定的当前拖地情况，控制供液装置向拖地模块传送的液体量以及液体类型。
优选的，清洁机器人还可以包括：能量模块，用于为清洁机器人的行走及工作提供能量。
优选的，清洁机器人可以是家用和/或室内服务机器人。
本发明实施例还提供了一种清洁机器人控制方法，该方法可以包括：控制清洁机器人进入工作状态；基于当前拖地情况判断供液装置是否需要向拖 地模块传送液体；若是，则控制供液装置向拖地模块传送液体，清洁机器人包括供液装置。
优选的，工作状态可以包括：干拖或湿拖，相应的，在控制清洁机器人进入工作状态之后，该方法还可以包括：清洁机器人先对工作区域进行干拖，再对工作区域湿拖。
与现有技术相比，本发明的有益效果是：清洁机器人能更高效的完成拖地工作，减轻用户负担，提升清洁机器人的自动化程度及用户体验，清洁机器人能基于当前拖地情况智能的自主控制供液装置向擦拭件传送液体，从而能够延长用户家庭中地板等地面材料的使用寿命。
附图说明
以上所述的本发明的目的、技术方案以及有益效果可以通过下面附图实现：
图1是本发明一实施例的机器人清洁系统的示意图；
图2是本发明一实施例的清洁机器人主视图；
图3是本发明一实施例中的清洁机器人的功能模块示意图；
图4是本发明一实施例的清洁机器人仅存在单个液体存储器的结构图；
图5是本发明一实施例的清洁机器人双液体传送装置双液体储存器的结构图；
图6是本发明一实施例的清洁机器人单液体传送装置双液体储存器的结构图；
图7是本发明一实施例的清洁机器人供液装置的结构图。
具体实施方式
有关本发明的详细说明和技术内容，配合附图说明如下，然而所附附图仅提供参考与说明，并非用来对本发明加以限制。
如图1所示为本发明的机器人清洁系统的示意图。该机器人清洁系统300可以包括基站200和清洁机器人100，清洁机器人100可以是能自主更换擦拭件的装置。与之相对应的，清洁机器人100回归充电的基站200除了可以给清洁机器人100充电之外，还可以用于清洁机器人100更换擦拭件，将充电功能和更换擦拭件功能结合形成该清洁机器人的基站，从而可以节约用户空间。在清洁机器人100需要回归基站200的时候，如检测到擦拭件需要更换时或者清洁机器人100需要充电时，启动回归基站200程序，清洁机 器人100回归基站200完成自动更换擦拭件和/或清洁机器人100的自动充电。在本申请的一个实施例中，所述擦拭件可以为拖布或海绵擦等用于擦拭工作表面(地面)的物品。值得注意的是，为了更清楚的描述本申请，在下文中均通过拖布来表示擦拭件。
基站200包括底板207，支撑板206和上板205，其中上板205通过支撑板206与底板207连接。上板205上设置有新拖布槽203、旧拖布槽204及拖布更换装置(图中未示出)，拖布更换装置可以采用升降机构，摆动机构等，且新拖布槽203和旧拖布槽204在底板207上的投影对应于清洁机器人100在底板207的第二操作位置202和第一操作位置201。可以理解的是，新旧拖布槽的位置不是固定的，如在其他实施例中，新旧拖布槽203、204的位置也是可以对换的。清洁机器人100在第一操作位置201完成旧拖布的卸载，并由基站200的拖布更换装置回收，且由基站200的拖布更换装置释放新的拖布，从而使清洁机器人100在第二操作位置201完成新拖布的装载。
在本申请的另一个实施例中，清洁机器人更换拖布的位置也可以和作为回归充电的位置分开单独设置，此时，当清洁机器人需要更换拖布时，可以回归更换拖布的位置更换拖布；当清洁机器人需要充电时，则可以回归充电位置充电，本申请对此不作限定，此时，回归更换拖布的位置可以为不固定的位置点。在本申请下文中，为了方便描述，除非特别说明，当描述清洁机器人回归基站更换拖布时，该回归的位置可以指的是将充电以及更换拖布两个功能结合在一起的基站，也可以指的是仅用于更换拖布的基站；相应的，当描述清洁机器人回归充电时，该回归的位置可以指的是将充电以及更换拖布两个功能结合在一起的基站，也可以指的是仅用于清洁机器人充电的基站。
在本实施例中，清洁机器人可以是家用和/或室内服务机器人。
如图2及图3所示，本申请的一个实施例中，清洁机器人100可以是拖地机器人，包括机身10、行走机构20、能量模块30、拖地模块40、动力模块80，控制模块60，还包括导航机构70。行走机构的行走元件包括主动轮21，用于带动清洁机器人100移动，可理解的是，行走元件也可以为履带结构。在本申请一实施例中，清洁机器人100还可以包括从动轮(图未示)。能量模块30可选择的被用于给清洁机器人供电，清洁机器人可选择的给能量模块30充电。动力模块80可以包括电机及与电机连接的传动结构，传动机构与行走机构连接，电机驱动传动机构工作，传动机构的传动作用使得行 走机构运动，其中，传动机构可以是蜗轮蜗杆机构、锥齿轮机构等。动力模块80可以设有两组电机，一组电机驱动行走机构运动，另一组电机驱动拖地模块以一定的频率震动拖地；动力模块80也可以只设有一组用于驱动行走机构运动的电机，可理解的是，每组电机的数量不做限制，例如可以为一个或两个。拖地模块40可以用于安装在机身上执行预定的拖地工作，并且拖地模块40上能安装拖布，拖地模块40可以包括拖地板，拖布可拆卸的安装在拖地板上。导航机构70，可以包括但不限于以下至少之一：超声波传感器、雷达传感器、光学传感器(激光或红外传感器等)、UWB传感器、惯性导航系统等，用于提供环境控制数据，控制清洁机器人工作，并用于形成清洁机器人的工作区域地图。
在本申请另一个实施例中，清洁机器人100也可以是扫拖一体的清洁装置，此时清洁机器人除了拖地模块还可以包括扫地模块，扫地模块可以包括滚刷、边刷，用于清洁地面、墙角等的尘屑等杂物，通过边刷将杂物相对集中于滚刷处理，并将尘屑收集至集尘盒。
控制模块例如为控制器，可以是嵌入式数字信号处理器(Digital Signal Processor，DSP)、微处理器(Micro Processor Unit，MPU)、特定集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑器件(Programmable Logic Device，PLD)芯上系统(System on Chip，SOC)、中央处理器(Central Processing Unit，CPU)或者现场可编程门阵列(Field Programmable Gate Array，FPGA)等。
控制器可根据预设程序或接受到的指令控制清洁机器人的工作。具体地，控制器可以控制行走机构在清洁机器人的工作区域内按照预设的行走路径行走，在行走机构带动清洁机器人行走的同时，拖地模块执行拖地工作(可以包括：干拖或湿拖)，清除工作区域内的尘屑等垃圾。进一步的，清洁机器人在预设路径内行走并完成拖地工作时，控制器可以控制清洁机器人停止拖地工作，并控制行走机构的行走，使得行走机构带动清洁机器人离开工作区域。清洁机器人的行走路径和停靠位置可以提前在控制器中设定，并由控制器控制行走机构执行。
图4所示为清洁机器人仅存在一个液体储存器的情况，清洁机器人还可以包括：与控制模块电性连接的供液装置，控制模块能基于当前拖地情况控制供液装置向拖地模块传送液体，从而清洁机器人能自主自动地控制其向拖 布的供液情况，所传送的液体可以为水、加入精油的水、酒精等，本申请对此不作限定。如图4所示，该供液装置可以包括：液体储存器51、与控制模块电性连接的液体传送装置50，其中，该液体传送装置50与液体储存器51相连。在一个实施例中，控制模块可以通过程序控制供液装置向拖地模块传送液体，即可以基于当前拖地情况自动控制液体传送装置50将液体储存器51中的液体传送给拖地模块。在另一个实施例中，清洁机器人还可以包括与液体传送装置相关联的阀门，阀门在控制模块的控制下开启和关闭，从而可以基于当前拖地情况控制供液装置向拖地模块传送液体。
在本申请的一个实施例中，液体传送装置50可以为泵，可以包括但不限于蠕动泵、齿轮泵、柱塞泵以及隔膜泵等能执行液体传送功能的泵元件，控制模块通过控制泵元件中叶轮的转速控制液体储存器51向拖地模块传送的液体量。液体传送装置50和液体储存器51之间通过软管52相连，液体储存器51中的液体能通过软管52流向液体传送装置50，从而液体传送装置50可以将液体传送给拖地模块。在本申请的一个实施例中，液体传送装置50可以通过如图4所示的方式直接将液体传送至拖地模块40上，来达到将液体传送给拖地模块的目的。在本申请的另一个实施例中，液体传送装置50可以在清洁机器人的工作过程中，直接将液体喷洒至地面，从而清洁机器人在洒液的地面上行走实现湿拖，来达到将液体喷洒至地面溶解污渍，拖地更干净的目的。值得说明的是，本申请中所有实施例均可以应用上述两种方式实现将液体传送给拖地模块的目的。
如图7所示的本发明一实施例的清洁机器人供液装置的结构图，液体从液体传送装置50的出口管525流出之后，可以先经过雾化片526(本申请以采用3个雾化片为例)雾化，再将雾化后的液体传送给拖地模块。在本申请的另一个实施例中，液体从液体传送装置50的出口管流出之后，可以先经过海绵渗透，再利用雾化片雾化，再传送给拖地模块。在其他实施例中，也可以直接在液体储存器51后接入雾化片，然后传送给拖地模块。采用上述方式，供液装置中的液体能均匀地传送至拖地模块，保证拖布上能够均匀覆盖液体。
在本申请的一个实施例中，清洁机器人的默认工作模式为：先执行干拖工作后执行湿拖工作，即，用户启动清洁机器人进入工作状态时，清洁机器人可以先对工作区域进行干拖，再对工作区域进行湿拖。这样能够防止在用 户未对工作区域进行吸尘的情况下，仅使用清洁机器人对工作区域进行湿拖时，容易将头发等垃圾粘到工作区域各处的缺陷。与清洁机器人的工作模式相对应，基站上放置有相应数目的干拖布以及湿拖布，或者，基站上仅放置干拖布，通过供液装置向拖地模块传送液体来实现湿拖的目的。当清洁机器人完成干拖之后，回归基站更换新的拖布，完成湿拖工作。
当然，在其他实施例中，用户也可以根据用户家中地面的实际污渍情况或者用户自己的需求在app或者清洁机器机身上的人机交互中对该默认工作模式进行更改，比如将默认工作模式更改为：仅干拖、仅湿拖、先湿拖后干拖等情况。
清洁机器人的拖地模块在工作的过程中至少有三种高度状态：拖地高度、越障高度、卸载拖布高度，从而可以实现清洁机器人拖地、越障、自动更换拖布等需求。将这三个高度按照从高到低的顺序排列分别为：卸载拖布高度、越障高度、拖地高度，越障高度也可以和卸载拖布高度相同，在本申请中，越障高度并不仅仅是清洁机器人越障时拖地模块的高度，还可以指的是清洁机器人拖布处于抬升状态时的高度状态。当然，清洁机器人除了上述三个高度状态，还可以存在低于拖地高度的安装新拖布高度状态，此时卸载拖布高度可以用于旧拖布的卸载，安装新拖布高度可以用于新拖布的安装。
具体来说，当清洁机器人处于拖地的工作状态时，控制模块控制抬升机构使拖布处于拖地高度，此时，拖布与地面之间有一定的压力，拖布可以与地面接触且有一定的过盈量，从而达到较好的清洁效果；当清洁机器人在拖地过程中遇到障碍物时，抬升机构控制拖布处于越障高度，此时，拖布会自动抬升，越障高度高于工作状态高度，但高度不可高于卸载拖布高度，防止拖布及拖地板的脱落；当清洁机器人在拖地过程中需要回归更换拖布或者在拖地过程中电量低于预设阈值需要回归充电时，抬升机构控制拖布提升至越障高度返回，同时，清洁机器人还可以通过导航机构形成其回归之前所在位置坐标，并将该位置坐标在工作区域地图中标记；当更换拖布时，抬升机构控制拖布提升至卸载拖布高度，通过清洁机器人上固定安装的顶杆使得安装有拖布的拖地板克服磁力从清洁机器人上脱落，从而卸载旧拖布；卸载完旧拖布之后，清洁机器人会进行新拖布的自动安装，新拖布位于新拖布槽中，机器进入相应位置后，拖地板下降到安装新拖布高度即可通过磁力将新的拖布安装到清洁部件上，完成新拖布的安装；在安装完新拖布之后，抬升机构 控制拖布提升至越障高度，并返回其在工作区域地图中标记的位置，在到达该标记的位置时，抬升机构控制拖布调整至拖地高度拖地继续拖地；当拖地过程中需要清洁机器人暂停拖地时，抬升机构控制拖布提升至越障高度。采用上述抬升机构控制拖布在越障时进行提升，解决了现有技术中清洁机器人的拖布在工作过程中仅存在拖地高度，由于越障高度几乎为0所导致的可清洁范围受限的缺陷。拖布可以在暂停拖地时控制抬升机构将拖布提升至越障高度，解决了现有技术中由于拖布处于拖地高度，地板泡在液体中导致地板损坏的缺陷。清洁机器人在更换完拖布之后还可以回归至更换拖布前的拖地位置进行断点续拖，解决了现有技术中对已拖区域重复拖地以及对未拖区域漏拖的缺陷，提高了清洁机器人的清洁效率。并且，拖布可以实现自动更换，提升了拖布机器人的自动化程度以及用户体验。
在本实施例中，当检测到清洁机器人处于下文中所述的拖地情况时，控制模块可以控制供液装置停止向拖地模块传送液体，从而达到保护清洁机器人、保护地板，并保证拖地效果的目的。
在本申请的一个实施例中，清洁机器人还可以包括与控制模块电性连接的拖布检测装置90，该拖布检测装置90用于在清洁机器人开始执行拖地工作之前，检测拖布是否安装于清洁机器人上，若为否，则控制模块控制液体传送装置停止向拖布传送液体；若拖布安装于清洁机器人上，则开始拖地工作。拖布与拖地板之间可以采用磁性连接的方式，因而，在该实施例中，拖布检测装置90可以是霍尔传感器。
在本申请的一个实施例中，当检测到清洁机器人当前处于以下至少之一的拖地情况时，如：控制器出现故障；清洁机器人在拖地工作过程中被障碍物困住；清洁机器人处于待机暂停拖地工作状态；清洁机器人回归基站更换拖地模块的过程中以及清洁机器人处于更换拖地模块的状态；清洁机器人处于干拖模式；清洁机器人回归基站充电的过程中以及清洁机器人处于充电的状态；由于被用户抱起或遇到障碍物被抬起时，拖地机器人的全部或部分行走元件离开地面等情况时，控制模块可以控制供液装置停止向拖地模块传送液体。
在本申请的一个实施例中，清洁机器人还可以包括：抬升机构，控制模块能控制抬升机构使得拖地模块从执行拖地工作的拖地高度抬升至其他高度，当抬升机构当前处于抬升的拖地情况时，控制模块控制供液装置停止向 拖地模块传送液体，从而可以避免携带有湿拖布的清洁机器人处于非工作状态时，由于自然供水所导致的地板损伤以及大面积水，保护地板并保证拖地效果。
在本实施例中，清洁机器人能根据所设置下文中的至少一个传感器检测到的当前拖地情况控制供液装置向拖地模块传送的液体，从而保证拖地效果。
在本申请的实施例中，该清洁机器人还可以包括：湿度检测装置，通过湿度检测装置检测到的当前拖地情况控制供液装置向拖地模块传送液体。所述当前拖地情况可以包括但不限于以下至少之一：拖布湿度、地面湿度、环境湿度等。具体的应用场景如下文所述。
在一个实施例中，湿度检测装置可以包括：拖布湿度传感器，控制模块基于拖布湿度传感器检测到的拖布湿度控制供液装置传送的液体。优选的，该拖布湿度传感器可以安装在机身下方，例如：电容传感器和/或电流传感器。通过拖布湿度传感器检测到的拖布湿度监控当前拖地情况，并将该拖布湿度发送给控制模块，控制模块基于拖布湿度传感器检测到的拖布湿度，控制液体传送装置传送的液体量。具体的，当拖布湿度大于预设阈值时，控制液体传送装置以低于当前出液速率的速率输出液体；反之，当拖布湿度小于预设阈值时，控制液体传送装置以高于当前出液速率的速率输出液体。该预设阈值可以是用户根据当前地面情况设置的，不同区域的预设阈值可以是不相同的。
在另一个实施例中，湿度检测装置可以包括：环境湿度检测装置，可以通过环境湿度检测装置检测到的环境湿度情况控制供液装置传送的液体。其中，该环境湿度检测装置可以基于本地和/或远程方式检测到的环境湿度控制供液装置传送的液体。该环境湿度检测装置可以为安装在清洁机器人上的空气湿度传感器或湿度测量仪，该空气湿度传感器或湿度测量仪可以安装在和清洁机器人水源满足一定距离的位置处，从而避免清洁机器人中的液体影响环境湿度检测装置的测量结果，便于更加准确的检测清洁机器人所处环境湿度，从而基于检测到得环境湿度控制供液装置传送的液体。清洁机器人也可以采用远程的方式检测环境湿度。此时清洁机器人采用蜂窝或者wifi等方式接入网络，清洁机器人接收服务器端发送的天气情况，基于该天气情况控制液体传送装置传送的液体量。当环境湿度大于预设阈值时，控制液体传送装置以低于当前出液速率的速率输出液体；反之，当环境湿度小于预设阈值时， 控制液体传送装置以高于当前出液速率的速率输出液体。该预设阈值可以是用户根据当前地面情况设置的，不同区域的预设阈值可以是不相同的。
在另一个实施例中，湿度检测装置可以包括：地面湿度传感器，例如：视觉传感器和/或雷达传感器，控制模块可以基于地面湿度传感器检测到的地面湿度，控制供液装置传送的液体，并可以根据检测到的地面湿度实时更新拖地app中该区域的湿度值。地面湿度传感器能基于检测到的地面湿度情况或干燥程度控制供液装置传送的液体。通常情况下，清洁机器人可以按照预先设定的行走路径进行拖地。然而，对于某些区域而言，当清洁机器人检测到该区域地面较干时，可以多喷液或者增加清洁机器人的工作时间，直至地面传感器检测到的地面状态满足预设的清洁要求时，清洁机器人停止对此区域的清洁工作；或者当检测到某些区域地面较湿润时，液体传输装置可以减少传输的液体量或者停止传输的液体量。例如：当清洁机器人短时间内经过相同区域时，可以控制液体传输装置减少或者停止供液，这样可以避免浪费液体或者避免机器人在行走的过程中轮子发生打滑的现象。在一个具体的应用场景中，当机器人在某些区域拖完地后，转向又重复行走至这些区域中的部分位置时，若继续供液则会导致地面上有过多液体造成机器打滑或者浪费液体，因而当检测到机器人在短时间内重复在相同区域行走时，可以控制液体传输装置停止供液。
在本申请的一个实施例中，该清洁机器人还可以包括：地面传感器，例如：视觉传感器和/或雷达传感器，通过地面传感器检测到的地面状态，并将该地面状态发送给控制模块，从而控制模块能控制供液装置传送的液体。具体的，地面状态可以包括：地面材料等。地面传感器可以检测工作表面的材料，例如为地板或者瓷砖等情况，控制模块可以根据地面传感器检测到的地面状态，控制液体传送装置向拖地模块传输的液体量。当清洁机器人检测到地面材质为木板时，可以控制液体传送装置的出水量，适当减少拖布的供水量，防止水量过多可能对木质地板的损坏。在一实施例中，地面传感器包括视觉传感器，控制模块可以根据视觉传感器获取的地面图像判断工作表面的材料；在另一实施例中，地面传感器可以包括雷达传感器，控制模块可以根据雷达传感器的检测结果判断工作表面的类型。
在一个实施例中，清洁机器人还可以包括信号发送装置，信号发送装置可以将湿度检测装置检测到的当前拖地情况(可以包括：拖布湿度、地面湿 度、环境湿度等)或者地面传感器检测到的地面状态发送给用户。例如：用户除了可以从清洁机器人机身上的显示器中读取当前区域中的地面湿度；也可以根据信号发送装置向用户发送的地面湿度，从拖地app中读取当前区域中的地面湿度。当用户觉得可以加大或减少液体量拖地时，也可以发送相应的信号至清洁机器人，从而控制模块能基于用户发送的指令控制供液装置传送的液体。采用以上方式智能的控制清洁机器人中的供液装置向拖地模块传送液体，从而提高了清洁机器人的用户体验。
进一步的，在本申请的一个实施例中，该清洁机器人可以包括：导航机构。用户可以在导航机构所形成的清洁机器人工作区域地图中进行区域标定，并设定清洁机器人在各个区域中需要采用的液体情况，从而控制模块能基于该液体情况控制液体储存器在各个区域中传送相应的液体，也可以结合基于地面湿度传感器实时更新的当前区域中的地面湿度，根据实时更新的地面湿度判断当前区域的供液情况是否满足用户的需求，若不满足则继续供液，若满足则可以停止对当前区域的拖地工作。在本实施例中，所使用的导航机构可以包括但不限于以下至少之一：超声波传感器、光学传感器(包括：LDS等)、UWB传感器、惯性导航系统。
在本申请一个实施例中，清洁机器人还可以包括：设置于液体储存器中的液面监测装置。在一个实施例中，当液面监测装置监测到液体储存器中的液面低于预设阈值时，可以向用户发送清洁机器人中液体量不足的通知消息，该通知消息中可以包含清洁机器人中剩余的液体采用当前出液速率还能使用的时间。用户在接收到此通知消息时，可以选择不回应，可以控制清洁机器人暂停工作，也可以选择调低出液速率，或者选择给清洁机器人添加液体。
在另一个实施例中，清洁机器人还可以包括：指示装置，例如：发光指示装置(LED等)或者发声指示装置，该指示装置可以用于指示清洁机器人液体量是否充足。指示装置在液体量不低于预设阈值时的状态和低于预设阈值时的状态不同，用户通过观察指示装置的不同状态监测液体储存器中的液面情况。通过提醒用户液体量不足，防止由于缺少液体导致清洁效果变差的缺陷，提高清洁机器人的拖地效果。
进一步地，清洁机器人还可以包括至少两个液体储存器，至少两个液体储存器对称地设置在机身两侧。在两个液体储存器中分别放入不同类型的液体，通过控制模块控制与液体储存器相对应的液体传送装置同步或不同步地 工作，从而达到清洁不同类型污渍的目的。当然，清洁机器人还可以包括三个、四个等两个以上数目的液体储存器，这些不同液体储存器中可以根据实际需要放置相同或者不同类型的液体，本申请对此不作限定。
该清洁机器人可以包括：地面传感器，例如：视觉传感器，通过地面传感器检测地面状态，并将该地面状态发送给控制模块，从而控制模块能分别控制两个液体储存器传送的液体量以及液体类型。该地面状态可以包括：地面材料和/或地面污渍类型。地面传感器能基于检测到的地面材料情况、地面污渍为油污还是灰尘的情况，分别控制两个液体储存器向拖布传送的液体量，其中，传送的液体量可以为0，即，可以控制仅使用其中一个液体储存器。通常情况下，清洁机器人可以按照预先设定的行走路径进行拖地。然而，对于某些区域而言，当清洁机器人检测到该区域地面较干、油污较多时，可以多喷液或者增加清洁机器人的工作时间，直至地面传感器检测到的地面状态满足预设的清洁要求时，清洁机器人停止对此区域的清洁工作。在本实施例中，可以分别控制两个液体储存器向拖地模块传送的液体，直至地面传感器检测到的地面状态满足预设清洁要求时，清洁机器人停止对此区域的清洁工作。
该清洁机器人还可以包括：导航机构。用户可以在导航机构所形成的清洁机器人工作区域地图中进行区域标定，并设定清洁机器人在各个区域中需要采用的出液量以及液体类型，从而控制模块能基于该出液量以及液体类型控制液体传送装置在各个区域传送相应的液体量以及液体类型。
清洁机器人还可以包括信号发送装置，信号发送装置可以将湿度传感器检测到的拖布湿度或地面传感器检测到的地面状态发送给用户，用户可以在清洁机器人机身上的显示器中读取当前拖地情况，也可以在拖地app中读取当前拖地情况。例如：当用户觉得可以加大或减少液体量拖地时，也可以发送相应的信号至清洁机器人，从而控制模块能基于来自用户的指令控制液体传送装置传送的液体量以及液体类型。该指令可以是通过拖地app发送也可以是用户直接在清洁机器人的交互界面上输入。采用以上方式智能的控制清洁机器人的拖地湿度以及拖地液体类型，提高了清洁机器人的用户体验。进一步的，清洁机器人还可以包括：分别设置于两个液体储存器中的液面监测装置，该液面监测装置用于监测液体储存器中的液面是否低于预设阈值，同时也可以包括分别与两个液面监测装置相对应的用于指示液面情况的指示装 置。
下面分别通过具有两个液体储存器的具体实施例来进行说明。
如图5和图6所示均为存在两个液体储存器的情况。值得说明的是，本申请中各类装置前的“第一”、“第二”均是为了区分这两个装置为不同装置，并不具有其他特殊含义，例如：下文中的第一软管和第二软管均为软管，但为两个不同的软管。同时，本申请中仅以存在两个液体储存器为例进行说明，也可以为两个以上的液体储存器，原理相同，本申请不再赘述。
如图5所示为双液体传送装置双液体储存器的情况。第一液体储存器511通过第一软管521与第一液体传送装置501相连，第二液体储存器512通过第二软管522与第二液体传送装置502相连，第一液体传送装置501以及第二液体传送装置502分别与控制模块电性连接，控制模块可以基于当前拖地需求选择第一液体传送装置501或第二液体传送装置502同时或者分别向拖布传送液体，也可以选择第一液体传送装置501或第二液体传送装置502同时或分别向拖布传送的液体量，从而保证拖地效果。例如，第一液体储存器511中存储有清水，第二液体储存器512中存储有清洁液，当地面传感器检测到地面仅存在灰尘时，则控制模块控制第一液体传送装置501工作，并由第一液体储存器511通过第一软管521向第一液体传送装置501传送清水，从而第一液体传送装置501向拖布传送清水，利用清水清除地面上的灰尘等。当地面传感器检测到地面还存在油污时，则控制模块在控制第一液体传送装置501工作时，同时也控制第二液体传送装置502工作，即由第一液体储存器511通过第一软管521向第一液体传送装置501传送清水的同时，也由第二液体储存器512通过第二软管522向第二液体传送装置502传送清洁液从而第二液体传送装置502向拖布传送清洁液，由于清洁液浓度较高，因此可以控制第二液体传送装置502的工作时间小于某个预设阈值。当第二液体储存器512中存储的是已经调好清洁液浓度的清水时，当地面传感器检测到地面还存在油污时，可以仅控制第二液体传送装置502工作，并利用该调好清洁液浓度的清水清除地面上的油污等。当湿度检测装置检测到的拖布湿度大于预设阈值或者时，控制第一液体储存器511以低于当前出液速率的速率输出清水。当用户在机器人所形成的地图上划定需要多次用清洁液清洁的区域时，清洁机器人针对该区域重复清洁。当地面传感器检测到某区域油污较多时，清洁机器人可以针对该区域重复清洁。
如图6所示为单液体传送装置双液体储存器的情况。第三液体储存器513通过第三软管523与第三液体传送装置503相连；第四液体储存器514通过第四软管524与第三液体传送装置503相连。在一种情况下，仅第四软管524上安装有第一阀门531，第一阀门531在控制模块的控制下开启和关闭，控制第四液体储存器514中的液体流向第三液体传送装置503，控制模块基于当前拖地需求选择是否打开第一阀门531。例如，第三液体储存器513中存储有清水，第四液体储存器514中存储有清洁液，当地面传感器检测到地面仅存在灰尘时，则控制模块控制第三液体传送装置503工作，并由第三液体储存器513通过第三软管523向第三液体传送装置503传送清水。当地面传感器检测到地面还存在油污时，则控制模块控制第一阀门531打开，从而控制第四液体储存器514中存储的清洁液流向第三液体传送装置503，即由第三液体储存器513通过第三软管523向第三液体传送装置503传送清水的同时，也由第四液体储存器514通过第四软管524向第三液体传送装置503传送清洁液，从而第三液体传送装置503向拖布传送含有清洁液的清水，由于清洁液浓度较高，因此可以控制第一阀门的工作时间小于某个预设阈值，从而达到清洁不同类型污渍的目的。在另一种情况下，第四软管524上安装有第一阀门531，同时和第一阀门531类似的，第三软管523上安装有第二阀门(图未示)。第一阀门531以及第二阀门在控制模块的控制下开启和关闭，控制第四液体储存器514以及第三液体储存器513中的液体流向第三液体传送装置503，控制模块基于当前拖地需求选择是否打开第一阀门531、以及第二阀门(图未示)。例如，第三液体储存器513中存储有清水，第四液体储存器514中存储有已经调好清洁液浓度的清水，当地面传感器检测到地面仅存在灰尘时，则控制模块仅控制第二阀门(图未示)打开，控制第三液体传送装置503工作，并由第三液体储存器513通过第三软管523向第三液体传送装置503传送清水，利用清水清除地面上的灰尘等。当地面传感器检测到地面还存在油污时，则控制模块控制第一阀门531打开，从而控制第四液体储存器514中存储的已经调好清洁液浓度的清水流向第三液体传送装置503，即由第四液体储存器514通过第四软管524向第三液体传送装置503传送调好清洁液浓度的清水，并利用该液体拖地清除地面上的油污等，从而达到清洁不同类型污渍的目的。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详 细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (28)

  1. 一种清洁机器人，所述清洁机器人在工作区域中行走并工作，所述清洁机器人包括：
    机身；
    行走机构，支撑所述机身并带动所述清洁机器人行走；
    动力模块，为所述清洁机器人提供行走及工作的驱动力；
    拖地模块，用于安装在所述机身上，执行预定拖地工作，所述拖地模块上能安装擦拭件；
    控制模块，电性连接并且控制所述动力模块，以实现所述清洁机器人的自动行走及自动工作；其特征在于，
    所述清洁机器人还包括：与所述控制模块电性连接的供液装置，所述控制模块能基于当前拖地情况控制所述供液装置向所述拖地模块传送液体。
  2. 如权利要求1所述的清洁机器人，其特征在于，当检测到所述清洁机器人当前处于以下至少之一的拖地情况时，所述控制模块控制所述供液装置停止向所述拖地模块传送液体，包括：所述清洁机器人在工作过程中被障碍物困住、所述清洁机器人回归基站更换拖地模块、所述清洁机器人处于更换拖地模块的状态、所述清洁机器人处于待机状态。
  3. 如权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括：抬升机构，所述控制模块能控制所述抬升机构使得所述拖地模块从执行拖地工作的拖地高度抬升至其他高度，当所述抬升机构当前处于抬升的拖地情况时，所述控制模块控制所述供液装置停止向拖地模块传送液体。
  4. 如权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括与所述控制模块电性连接的拖布检测装置，所述拖布检测装置用于检测所述擦拭件是否安装于所述清洁机器人上，当所述拖布检测装置检测到当前所述擦拭件未安装在所述清洁机器人上的拖地情况时，所述控制模块控制所述供液装置停止向拖地模块传送液体。
  5. 如权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括：湿度检测装置，通过所述湿度检测装置检测到的当前拖地情况控制所述供液装置向拖地模块传送液体。
  6. 如权利要求5所述的清洁机器人，其特征在于，所述清洁机器人还包括信号发送装置，所述信号发送装置将所述湿度检测装置检测到的拖地情况发 送给用户。
  7. 如权利要求5所述的清洁机器人，其特征在于，所述湿度检测装置包括：拖布湿度传感器，所述控制模块基于所述拖布湿度传感器检测到的擦拭件湿度，控制所述供液装置向拖地模块传送液体。
  8. 如权利要求7所述的清洁机器人，其特征在于，所述拖布湿度传感器安装在所述机身的下方。
  9. 如权利要求5所述的清洁机器人，其特征在于，所述湿度检测装置包括：环境湿度检测装置，通过环境湿度检测装置检测到的环境湿度，控制所述供液装置向拖地模块传送液体。
  10. 如权利要求9所述的清洁机器人，其特征在于，所述环境湿度检测装置基于所述清洁机器人本地和/或远程方式检测到的环境湿度控制所述供液装置向拖地模块传送液体。
  11. 如权利要求5所述的清洁机器人，其特征在于，所述湿度检测装置包括：地面湿度传感器，所述控制模块基于所述地面湿度传感器检测到的地面湿度，控制所述供液装置向拖地模块传送液体。
  12. 如权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括：地面传感器，所述控制模块基于所述地面传感器当前检测到的地面状态，控制所述供液装置向拖地模块传送液体，所述地面状态包括：地面材料。
  13. 如权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括：导航机构，用于形成所述清洁机器人的工作区域地图，所述控制模块基于所述工作区域地图中标定当前的拖地情况，控制所述供液装置向拖地模块传送液体。
  14. 如权利要求13所述的清洁机器人，其特征在于，所述导航机构包括以下至少之一：超声波传感器、光学传感器、UWB传感器、惯性导航系统。
  15. 如权利要求1所述的清洁机器人，其特征在于，所述控制模块基于来自用户的指合控制所述供液装置向拖地模块传送液体。
  16. 如权利要求1所述的清洁机器人，其特征在于，所述供液装置包括：液体储存器。
  17. 如权利要求16所述的清洁机器人，其特征在于，所述供液装置还包括：与所述控制模块电性连接的液体传送装置，所述液体传送装置与所述液体储存器相连，所述控制模块基于当前拖地情况控制所述液体传送装置将所述液 体储存器中的液体传送给拖地模块。
  18. 如权利要求16所述的清洁机器人，其特征在于，所述清洁机器人还包括：设置于所述液体储存器中的液面监测装置，所液面监测装置用于监测所述液体储存器中的液面。
  19. 如权利要求18所述的清洁机器人，其特征在于，所述清洁机器人还包括信号发送装置，所述信号发送装置在所述液面监测装置监测到所述液体储存器中的液面低于预设阈值时，向用户发送清洁机器人中液体量不足的通知消息。
  20. 如权利要求18所述的清洁机器人，其特征在于，所述清洁机器人还包括：指示装置，所述指示装置用于指示清洁机器人液体量是否充足。
  21. 如权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括至少两个液体储存器、分别与所述至少两个液体储存器相连的至少两个液体传送装置，所述控制模块用于控制所述至少两个液体传送装置基于当前拖地情况将所述至少两个液体储存器中的液体传送给拖地模块，所述至少两个液体储存器中存储的液体类型不同。
  22. 如权利要求21所述的清洁机器人，其特征在于，所述清洁机器人还包括与所述至少两个液体传送装置相关联的阀门，所述阀门在所述控制模块的控制下开启和关闭，从而基于当前拖地情况控制所述供液装置向拖地模块传送液体。
  23. 如权利要求21所述的清洁机器人，其特征在于，所述清洁机器人还包括：地面传感器，所述控制模块基于所述地面传感器当前检测到的地面状态，控制所述至少两个液体储存器中各个液体储存器传送的液体量以及液体类型，所述地面状态包括：地面材料和/或地面污渍类型。
  24. 如权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括：导航机构，用于形成所述清洁机器人的工作区域地图，所述控制模块基于所述工作区域地图中标定的当前拖地情况，控制所述供液装置向拖地模块传送的液体量以及液体类型。
  25. 如权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括：能量模块，用于为所述清洁机器人的行走及工作提供能量。
  26. 如权利要求1所述的清洁机器人，其特征在于，所述清洁机器人是家用和/或室内服务机器人。
  27. 一种清洁机器人控制方法，其特征在于，所述方法包括：
    控制清洁机器人进入工作状态；
    基于当前拖地情况判断供液装置是否需要向拖地模块传送液体；
    若是，则控制所述供液装置向所述拖地模块传送液体，所述清洁机器人包括供液装置。
  28. 如权利要求27所述的方法，其特征在于，所述工作状态包括：干拖或湿拖，
    相应的，
    在控制所述清洁机器人进入工作状态之后，所述方法还包括：
    所述清洁机器人先对工作区域进行干拖，再对工作区域湿拖。
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