WO2020125492A1 - 一种清洁机器人、清洁方法及自动充电系统 - Google Patents

一种清洁机器人、清洁方法及自动充电系统 Download PDF

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Publication number
WO2020125492A1
WO2020125492A1 PCT/CN2019/124279 CN2019124279W WO2020125492A1 WO 2020125492 A1 WO2020125492 A1 WO 2020125492A1 CN 2019124279 W CN2019124279 W CN 2019124279W WO 2020125492 A1 WO2020125492 A1 WO 2020125492A1
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WIPO (PCT)
Prior art keywords
cleaning robot
module
mopping
mop
work
Prior art date
Application number
PCT/CN2019/124279
Other languages
English (en)
French (fr)
Inventor
张士松
毋宏兵
谢明健
徐建强
钟红风
李佶
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.)
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Publication date
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
Priority to JP2021536287A priority Critical patent/JP7324847B2/ja
Priority to US17/416,693 priority patent/US20220071467A1/en
Priority to EP19900841.8A priority patent/EP3900591A4/en
Priority to KR1020217019176A priority patent/KR102519217B1/ko
Publication of WO2020125492A1 publication Critical patent/WO2020125492A1/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
    • A47L11/40—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
    • A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • 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
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A47L5/24—Hand-supported suction cleaners
    • 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
    • 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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating 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
    • A47L11/40—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
    • A47L11/4002—Installations of electric equipment
    • 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
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • 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
    • A47L11/4036—Parts or details of the surface treating 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
    • A47L11/40—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
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • 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
    • A47L11/4069—Driving or transmission means for the cleaning 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
    • A47L11/40—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
    • 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
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2884—Details of arrangements of batteries or their installation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
    • 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
    • A47L2201/022—Recharging of batteries
    • 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
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • 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, a cleaning method and an automatic charging system.
  • the cleaning robot is a type of cleaning robot.
  • the cleaning robot can wipe the ground, thereby improving the cleanliness of the ground.
  • Existing cleaning robots generally use mops for mopping operations. When cleaning a user's room, they generally use the same mop to clean multiple areas of the room, such as kitchens, living rooms, toilets, and bedrooms. The stains in different areas will contaminate each other, and the cleaning effect is poor.
  • the user needs to take care of the robot himself, and after the robot drags the floor for a certain period of time, remove the mop for cleaning or replace it with a new mop.
  • remove the mop for cleaning or replace it with a new mop For users, such human participation will reduce the robot's automated operation experience.
  • the problem to be solved by the present invention is to provide a cleaning robot capable of performing cleaning work by regions.
  • the technical solution adopted by the present invention to solve the existing technical problems is: a cleaning robot that walks and works in a work area.
  • the cleaning robot may include: a fuselage; a walking mechanism that supports the fuselage and drives the cleaning robot on the work surface Walking; the power module provides the driving force for the cleaning robot to walk and work; the mopping module is used to install on the fuselage, perform the scheduled mopping work on the working surface, and the wiper can be installed on the mopping module; the control module, electric Connect and control the power module to realize the automatic walking and automatic work of the cleaning robot; the cleaning robot can also include a detection module for detecting the type of area.
  • the detection module detects the next The area type of the area is used to determine whether the area type is the same as the current area.
  • the control module controls the cleaning robot to transmit information to the user that the wiper is to be replaced, or to replace the wiper.
  • the information of the wiper to be replaced is information of the remote and/or local cleaning robot.
  • the mopping module includes: mopping the floor, the mopping floor is used for detachably installing the wiper.
  • control module controls the cleaning robot to return to the base station to replace the mopping module.
  • the cleaning robot may further include: a lifting mechanism that adjusts the height position of the mopping module relative to the work surface under the control of the control module.
  • the lifting mechanism drives the mopping module to lift from the first position to the second position relative to the work surface.
  • a protruding device is provided on the top of the fuselage, and the protruding device and the mopping module generate relative motion to contact the mopping module, so that the mopping module and the machine Body separation.
  • the mopping module is detachably installed on the fuselage.
  • the area type division method may be user-defined and/or preset.
  • the detection module includes but is not limited to at least one of the following: a visual sensor, a radar sensor or an optical sensor, and the area type is determined according to the result detected by the detection module.
  • the cleaning robot may further include a navigation mechanism for forming a work area map of the cleaning robot, and the detection module detects the area type of the next area based on the work area map.
  • the navigation mechanism marks the current position in the work area map when the cleaning robot returns to the base station to replace the wiper, so that the cleaning robot returns to the marked position after replacing the wiper.
  • the mopping module may further include a mop sensor.
  • the mop sensor detects the degree of cleaning of the wiper.
  • the control module controls the cleaning robot to replace the wiper.
  • the mop sensor can be installed under the fuselage.
  • the control module controls the cleaning robot to directly enter the next area to work.
  • the cleaning robot may further include a signal sending module that sends a signal to replace the wiper to the base station when the cleaning robot returns to the base station to replace the wiper, or the signal sending module When the cleaning robot returns to the base station for charging, it sends a return charging signal to the base station.
  • a signal sending module that sends a signal to replace the wiper to the base station when the cleaning robot returns to the base station to replace the wiper, or the signal sending module When the cleaning robot returns to the base station for charging, it sends a return charging signal to the base station.
  • the cleaning robot may further include: an energy module, which may be used to provide energy for the walking and working of the cleaning robot.
  • the cleaning robot is a household and/or indoor service robot.
  • Embodiments of the present invention also provide a cleaning robot cleaning method.
  • the cleaning robot includes: a fuselage; a walking mechanism that supports the fuselage and drives the cleaning robot to walk; a power module that provides a driving force for the cleaning robot to walk and work; a mopping module , Used to install on the fuselage, perform the scheduled mopping work, the mopping module can be installed with wipers; the control module, electrically connected and control the power module, to realize the automatic walking and automatic work of the cleaning robot; after completing the current area When mopping the floor, the area type of the next area is detected to determine whether the area type is the same as the current area type; when the type is determined to be different, the user is informed that the wiper is to be replaced, or the wiper is replaced.
  • an embodiment of the present invention also provides an automatic charging system, which may include a cleaning robot, a hand-held cleaner, and at least one energy module. Used to power cleaning robots or hand-held cleaners.
  • the energy module may store external electrical energy in the energy module by the cleaning robot.
  • the energy module may be a battery pack.
  • the cleaning robot may include a body, and the body is provided with a battery interface capable of containing the energy module, and the energy module is detachably assembled in the battery interface.
  • the cleaning robot is provided with a first plug interface
  • the handheld cleaner is provided with a second plug interface
  • the energy module is provided with a third plug interface
  • the first plug interface is coupled with the third plug interface
  • the second function is to use the cleaning robot to charge the energy module when the When the energy module is pulled out of the cleaning robot and the second plug interface is coupled with the third plug interface, the energy module is used to power the handheld cleaner.
  • the first plug interface is fixed to the cleaning robot through a seal.
  • the cleaning robot may further include a control module.
  • the control module controls the cleaning robot to return to the base station for charging.
  • the cleaning robot may further include a signal sending module.
  • the signal sending module sends the following information to the client: the information of the charged amount in the energy module and/or the time when the cleaning robot can work with the charged amount information.
  • the cleaning robot may further include a cover independent of the fuselage, the cover is disposed on the fuselage and wraps the energy module.
  • the cover is openably connected to the fuselage, and the cover is connected to the fuselage snap.
  • the cover is fixedly connected to the body, the cover and the body are surrounded to form a cavity, and the energy module is accommodated in the cavity.
  • the beneficial effect of the present invention is: it can avoid the defect that the stains are mutually polluted between the areas caused by using the same wiper in different areas, thereby ensuring that the stains between different types of areas will not Mutual pollution, improve the cleaning degree of the cleaning robot.
  • FIG. 1 is a schematic diagram of a cleaning robot system according to an embodiment of the invention
  • FIG. 2 is a front view of a cleaning robot with an energy module installed in 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. 5 is a schematic diagram of an application scenario in an embodiment of the present invention.
  • FIG. 6 is a front view of a cleaning robot without an energy module installed in an embodiment of the invention.
  • FIG. 7 is a perspective view of a hand-held cleaner and an energy module in an embodiment of the invention.
  • FIG. 1 is a schematic diagram of the cleaning robot system of the present invention.
  • the cleaning robot system 300 may include a base station 500 and a cleaning robot 100.
  • the cleaning robot 100 may be a device capable of autonomously replacing wipers.
  • the base station 500 where the cleaning robot 100 returns to charging can also be used to replace the wiper of the cleaning robot 100, combining the charging function and the function of replacing the wiper to form the base station of the cleaning robot , Which can save user space.
  • the wiper may include a mop or sponge wipe.
  • the mop is used as a wiper for example.
  • the base station 500 includes a bottom plate 507, a support plate 506, and an upper plate 505, where the upper plate 505 is connected to the bottom plate 507 through the support plate 506.
  • the upper plate 505 is provided with a new mop slot 503, an old mop slot 504, and a mop replacement device (not shown).
  • the mop replacement device may use a lifting mechanism, a swing mechanism, etc., and the new mop slot 503 and the old mop slot 504 are in
  • the projection on the bottom plate 507 corresponds to the second operating position 502 and the first operating position 501 of the cleaning robot 100 on the bottom plate 507. 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 503 and 504 can also be swapped.
  • the cleaning robot 100 completes the unloading of the old mop at the first operating position 501 and is recovered by the mop changing device of the base station 500, and the new mop is released by the mop changing device of the base station 500, so that the cleaning robot 100 is completed at the second operating position 501 Loading of new mop.
  • the cleaning robot 100 of this embodiment includes a body 10, a walking mechanism 20, an energy module 30, a mopping module 40, a power module 50, a control module 60, and a navigation mechanism 70.
  • the walking element of the walking mechanism may include a driving wheel 21 for driving the robot 100 to move. It is understandable that the walking element may also be a track structure.
  • the cleaning robot further includes 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 50 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 50 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 50 may also be provided with only 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 installed on the fuselage to perform a predetermined mopping work on a working surface (for example, the ground), and the mopping module 40 can be installed with a mop.
  • the cleaning robot may be a household and/or indoor service robot.
  • Navigation mechanism may include but not limited to at least one of the following: vision sensor, ultrasonic sensor, radar sensor, optical sensor (laser LDS or infrared sensor, etc.), UWB sensor, inertial navigation system, satellite positioning system (GPS, Beidou, etc.), etc. , Used to provide environmental control data, control the work of the cleaning robot, and used to form a map of the cleaning robot's work area.
  • the working area of the cleaning robot can be a single-storey house or a villa-style multi-storey house.
  • the formed work area map can be a map for a single-storey house or multiple maps for a multi-storey house , Each map corresponds to a layer.
  • the cleaning robot works directly based on this map; when the working area is a multi-storey house, the user can select the corresponding map for the floor where the cleaning robot is located, so that the cleaning robot can be based on this work, or it can be The cleaning robot recognizes the floor by visual sensors and other methods, so as to independently select the map work corresponding to it.
  • the navigation mechanism 70 can be used to mark the current position of the cleaning robot in the work area map.
  • the navigation mechanism 70 can mark the position of the cleaning robot in real time, so that the cleaning robot can quickly return to the marked position to continue working, for example: when the cleaning robot returns When charging, mark the leaving position before charging, so that when the charge is returned, it can quickly reach the leaving position to continue charging.
  • the cleaning robot 100 may also be an integrated sweeping and cleaning device.
  • the cleaning robot may include a sweeping module 401 in addition to the mopping module.
  • the sweeping module may include a roller brush and a side brush for cleaning. Dust and other debris on the ground, corners, etc., are relatively concentrated on the roller brush 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 fingers. 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 mopping work (dry or wet mopping) and clears Dust and other garbage in the work area. When the cleaning robot walks in the preset path and finishes the mopping work, the controller can control the cleaning robot to stop the mopping work and control the walking mechanism to walk, 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.
  • the cleaning robot may be a device capable of autonomously changing the mop.
  • the base station where the cleaning robot returns to charge can not only charge the cleaning robot, but also serve as a base for the cleaning robot to replace the mop.
  • the charging function and the mop replacement function are combined to form the base station of the cleaning robot, which can save users space.
  • the position of the cleaning robot to replace the mop can also be set separately from the position of the return charging. At this time, when the cleaning robot needs to replace the mop, it can return to the position of the replacement mop; when the cleaning robot needs to charge, it can return The charging position is charged, 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 replace the mop, the returned position may refer to the base station that combines the functions of charging and mop replacement, or may refer to The base station used to replace the mop; correspondingly, when the cleaning robot returns to charging, the returned position can refer to the base station that combines the functions of charging and mop replacement, or it can refer to the charging of the cleaning robot. Base station.
  • the cleaning robot may include a signal transmission module 80.
  • the signal transmission module may send a signal to the base station when the cleaning robot returns to the base station to replace the mop;
  • the cleaning robot returns to the base station for charging, it sends a return charging signal to the base station.
  • the base station also has a signal receiving module for receiving cleaning robot signals.
  • the base station can know the purpose of the return of the cleaning robot in advance, and make corresponding preparations in advance to avoid that if the cleaning robot cannot send the relevant signal to the base station, when the mopping machine returns to charge, the base station detects The cleaning robot reaches the corresponding position of the base station, and mistakenly believes that it needs to replace the mop and the new mop drops and other defects.
  • the signal sending module can send a mop replacement signal to the mop replacement point when the cleaning robot returns to the mop replacement point to replace the mop.
  • the mopping module 40 may further include: a mopping floor 43, the mop 41 is detachably installed on the mop floor 43, and the mop floor 43 and the mop 41 may be self-integrated, or It can be connected by means of velcro or double-sided tape, which is not limited in this application.
  • the cleaning robot may further include a lifting mechanism 42 connected to the mop 41.
  • the lifting mechanism may adjust the height position of the mopping module relative to the work surface under the control of the control module.
  • the lifting mechanism 42 can be used to control the lifting or falling of the mopping module during the entire cleaning process.
  • the lifting mechanism 42 can also be used to control the lifting or falling of the mopping floor 43 carrying the mop.
  • the mopping module is detachably mounted on the fuselage.
  • the cleaning robot body is provided with a convex device (shown as a top post 44 in this application).
  • a convex device shown as a top post 44 in this application.
  • the lifting device posts 44
  • the fuselage and the mopping module 40 can be connected by magnets, mechanical snaps, or forming negative pressure.
  • the control module controls the lifting mechanism 42 to be raised to a predetermined height
  • the top post 44 contacts the mopping module 40, so that the mopping module 40 is separated from the fuselage.
  • the mopping module of the cleaning robot has at least three height positions with respect to the work surface during the work: the first position when the cleaning robot performs the mopping work, the second position during the walking or obstacle crossing of the cleaning robot, and the unloading of the cleaning robot
  • the cleaning robot may also have a fourth position below the first position for installing a new mop.
  • the mop lifting mechanism controls the mop in the first position. At this time, there is a certain pressure between the mop and the ground, the mop can contact the ground and have a certain amount of interference, so as to achieve a comparative Good cleaning effect; when the cleaning robot encounters obstacles during the mopping process, the lifting mechanism controls the mop in the second position. At this time, the mop will automatically lift.
  • the second position is higher than the working height, but the height cannot be high
  • the height of the mop is unloaded to prevent the mop and the floor from falling off; when the cleaning robot needs to replace the mop during the mopping process or the power is lower than the preset threshold during the mopping process and needs to return to charge, the lifting mechanism controls the mop to be raised to the second
  • the cleaning robot can also use the navigation mechanism to form the coordinates of its position before returning, and mark the position coordinates on the work area map; when the mop is replaced, the lifting mechanism controls the mop to lift to the third position to unload the mop, through cleaning
  • the fixedly installed top post on the robot makes the mop floor installed with a mop off the cleaning robot to overcome the magnetic force and unload the old mop to the first operating position, which can be used to complete the disassembly of the old mop; the old mop is unloaded After that, the cleaning robot will automatically install the new mop.
  • the cleaning robot can complete the installation of the new mop in the second operating position. After the machine enters the corresponding position, the mopping floor can be lowered to the height of the new mop to install the new mop. Install it on the cleaning component and complete the installation of the new mop; after installing the new mop or fully charged, the lifting mechanism controls the mop to be raised to the second position and sets off to return to the position marked on the work area map. When in position, the lifting mechanism controls the mop to adjust to the first position to continue mopping; when the cleaning robot needs to pause mopping during mopping, the lifting mechanism controls the mop to lift to the second position.
  • the above-mentioned lifting mechanism is used to control the mop to be lifted when it crosses an obstacle, which solves the problem that the mopping module of the cleaning robot in the prior art is caused by the second position state when the ground is only mopped during the work, and the height of the obstacle is almost 0 Can clean defects with limited range.
  • the mopping module can control the lifting mechanism to raise the mop to the second position when the mopping is suspended, which solves the state of the prior art because the mopping module only exists in the second position when mopping, so the floor is soaked in the liquid and the floor is damaged Defects.
  • the cleaning robot can return to the mopping position before replacing the mop and continue to drag after the mop replacement or charging is completed, which solves the defects in the prior art of repeatedly mopping the area that has been dragged and leaking the area that has not been dragged.
  • the cleaning efficiency of the cleaning robot is improved.
  • the mop can be automatically replaced, which improves the degree of automation of the cleaning robot and the user experience.
  • the cleaning robot usually replaces the mop based on the following conditions, which may include: the use time of the mop, the mopping area of the mop, the stain on the mop or the damage of the mop, and the replacement of the working area, thereby Increase the utilization rate of the mop without causing secondary pollution.
  • the cleaning robot may include a timing module.
  • the timing module records the working time of the mop and compares the working time with a preset time threshold. If it is greater than or equal to the time threshold, the cleaning robot Return to replace the mop, at the same time generate the coordinates of the mopping position before the regression, and will be marked in the work area map. After the cleaning robot installs the new mop, it will return to the position marked in the work area map to continue working.
  • the cleaning robot may include a working area recording module, which records the working area of the mop through the working area recording module, and compares the working area with a preset area threshold, if it is greater than or equal to the area threshold At that time, the cleaning robot returns to replace the mop, and at the same time generates the coordinates of the mopping position before the return, and will be marked in the work area map. After the cleaning robot installs the new mop, it returns to the position marked in the work area map to continue working.
  • a working area recording module which records the working area of the mop through the working area recording module, and compares the working area with a preset area threshold, if it is greater than or equal to the area threshold At that time, the cleaning robot returns to replace the mop, and at the same time generates the coordinates of the mopping position before the return, and will be marked in the work area map. After the cleaning robot installs the new mop, it returns to the position marked in the work area map to continue working.
  • the cleaning robot may include a mop sensor.
  • the mop sensor detects the cleaning degree of the mop.
  • the control module controls the cleaning robot to return to replace the mop and generate The coordinates of the mopping position before the regression and will be marked in the work area map.
  • the cleaning robot installs the new mop, it will return to the position marked in the work area map to continue working; when the cleaning degree of the mop detected is greater than or equal to the pre
  • the control module controls the cleaning robot to continue to work on the floor.
  • the mop sensor may be installed under the cleaning robot body, and may specifically include but not limited to at least one of the following: a capacitive sensor, a current sensor, a radar sensor, and a light sensor.
  • the cleaning robot may include a detection module 110 for detecting the type of work area.
  • the detection module may detect the area type of the next area to determine the next Whether the area type is the same as the current area.
  • the control module may control the cleaning robot to transmit information to the user that the mop is to be replaced, or to replace the mop. It is worth noting that, in this embodiment, the mopping module completes the mopping work in the current area is not limited to 100% area mopping in the current area, and may include the mop module basically completing the mopping work in the current area, etc. .
  • the detection module can be used to detect the area type of the next area.
  • the controller controls the robot to send a notification that the mop is to be replaced to the client Message or control the robot to automatically replace the mop.
  • the working area of the cleaning robot includes at least one area type, and the area can be divided in a user-defined or preset manner.
  • the user can directly divide each area in the map displayed on the client and save the division result.
  • the user can divide the formed work area map according to actual needs. For example, according to the actual function of the area, the area can be divided into kitchen, toilet, bedroom and other areas. In the process of entering the mopping work after the division, you can use different mops for different areas, or different cleaning methods, such as: dry mop, wet mop, and whether to use cleaning fluid to mop.
  • the cleaning robot can also directly divide each area on the map during the construction of the map according to the default division method preset by the manufacturer, and calibrate the area division result on the map And save.
  • the cleaning robot can detect each area through a visual sensor radar or optical sensor (including: LDS or TOF sensor, etc.). When a bedding item is detected, the area is divided by comparing with a large amount of data in the robot feature library It is a bedroom; when items such as range hoods are detected, the area is divided into kitchens.
  • the robot can use different mops or different cleaning methods (whether to use cleaning fluid) for different areas according to the division results of the areas marked on the map.
  • the robot uses different mops for different types of areas, which can avoid the defect of contamination between the areas caused by using the same mop in different areas, thus ensuring the stains between different types of areas It will not pollute each other and improve the cleanliness of the cleaning robot.
  • the above-mentioned area division may not be performed, and the area type of the next area may be directly detected during the mopping work, according to the detection result of the area type during the mopping process. Choose whether to replace the mop.
  • the detection module when the area type is marked on the map, the detection module may be implemented by a program algorithm, and the area type is detected by the program algorithm. Specifically, before the cleaning robot sweeps the current area and enters the next area, the area types of the current work area and the next work area in the work area map are compared. When it is detected that the two are different types, the robot is controlled to pass the information of the mop to be replaced to the user, or to replace the mop; when the two are detected to be the same type, the mop sensor for detecting the cleanliness of the mop described in the above embodiment may be used Further testing of the mop will not be repeated here.
  • the detection module may be a visual sensor or an optical sensor.
  • the area type is marked on the map or the area type is not calibrated, it can be judged based on the area image detected by the visual sensor or the optical sensor Area type. Specifically, before the cleaning robot cleans the current area and enters the next area, observe whether the type of the next area to be cleaned is the same as the current area through a visual sensor. When it is detected that the two areas are of different types, the robot is controlled to pass the mop to the user for replacement Information, or replace the mop.
  • the detection module may be a radar sensor.
  • the area type can be determined according to the electromagnetic wave changes detected by the radar sensor. Specifically, before the cleaning robot cleans the current area and enters the next area, the radar sensor is used to observe whether the next area to be cleaned is the same as the current area. When it is detected that the two areas are of different types, the robot is controlled to pass the mop to the user for replacement Information, or replace the mop.
  • the cleaning robot may include a signal transmission module 90, through which the information about the mop to be replaced is transmitted to the user, wherein the information may be information transmitted remotely or locally from the cleaning robot.
  • the remote information may be a notification message for sending a mop to be replaced to the client.
  • the user may replace the mop in person, or may instruct the cleaning robot to replace the mop on its own.
  • the local information can be the information of the human-machine interaction interface of the cleaning robot, or the information transmitted by the cleaning robot through the light or sound of the instruction unit. The user can change the mop himself when he sees the lights on the cleaning robot or hears the sound.
  • buttons can be pressed remotely or directly, such as physical buttons on the cleaning robot or virtual buttons on the human-machine interaction interface, instructing the cleaning robot to replace the mop autonomously.
  • the control module controls the cleaning robot to replace the mop. That is, when the area type is determined to be different, the control module controls the cleaning robot to replace the mop.
  • the position of the mop replacement may be a base station that combines charging and mop replacement functions. It may also be a temporarily set base station capable of replacing the mop.
  • the cleaning degree of the mop can be detected by the mop sensor.
  • the control module controls the cleaning robot to mark the current position and replace the mop After the replacement of the mop, the position of the return mark is dragged.
  • the control module controls the cleaning robot to perform the mopping work in the next area.
  • the cleaning robot when the area type is determined to be different, the cleaning robot may be controlled to return to the base station to automatically replace the mop while the cleaning robot keeps the mopping module in the up state.
  • the cleaning robot when the cleaning robot returns to replace the mop or returns to the base station to charge, the cleaning robot can mark the position before returning in the map, and when the mop is replaced or fully charged returns, it can directly return to the marked position The mopping work is continued according to a pre-planned path, so that the cleaning efficiency of the cleaning robot can be improved.
  • FIG. 5 is a schematic diagram of the scenario provided by the present application.
  • the base station 500 can either charge or replace the mop.
  • User Wang uses the cleaning robot 100 to clean his room. After the cleaning robot 100 forms a map of Xiaowang’s house, Xiaowang divides the room into seven parts: bedroom, study, balcony, living room, dining room, bathroom, and kitchen according to the purpose of each room. The bedroom and study belong to the same area type
  • the cleaning robot 100 starts wet mopping from the base station 500, and then goes to the bedroom to mop the floor according to the pre-set walking path. After reaching the bedroom, the mopping starts with a bow-shaped path.
  • the cleaning robot 100 After finishing the bedroom mopping work, the cleaning robot 100 detects the type of the next mopping area, namely the study, and finds that it is the same as the bedroom type previously cleaned, and then detects the cleanliness of the mop through the mop sensor, and finds that the cleanliness level is above the preset threshold , Then walked to the study and continued to work on the ground. When it is found that the cleanliness is lower than the preset threshold during the cleaning in the study, mark the current mopping position, and return to the base station 500 to replace the mop while keeping the mopping module in the second position. Send a signal to return to change the mop. After replacing the mop, return to the marked position in the study room and continue to drag at the breakpoint.
  • An automatic charging system such as a cleaning robot charging system, has a built-in battery pack inside the cleaning robot.
  • the battery pack is fixed inside the cleaning robot and cannot be manually removed.
  • the battery pack can only be installed and removed by tools such as screws.
  • the cleaning robot can automatically perform work tasks without manual supervision. When the power is insufficient, it automatically returns to the base station to power the charging module of the cleaning robot.
  • hand-held cleaners such as hand-held cleaners and hand-held washing machines
  • hand-held cleaners and hand-held washing machines when the hand-held cleaner is out of power, the user can only stop working, take the hand-held cleaner home or charge it in other charging locations, and continue working when it is fully charged.
  • the timeliness and continuity of work cannot be guaranteed. Therefore, it is necessary to design a new automatic charging system to solve the above problems.
  • the present application also provides an automatic charging system, which is composed of a cleaning robot (for example, cleaning robot 100 in this application), and a hand-held cleaner 200 (for example: hand-held vacuum cleaner, hand-held washing machine) ) And at least one energy module 30, which can optionally be used to power the cleaning robot 100 or the hand-held cleaner 200 or also to charge the cleaning robot 100 or the hand-held cleaner 200, that is, the user can use
  • the energy module 30 supplies power to the cleaning robot 100 or the hand-held cleaner 200.
  • the cleaning robot 100 or the hand-held cleaner 200 may also be used to charge the energy module 30.
  • the energy module 30 can be directly charged through a charging stand adapted thereto.
  • the energy module 30 may only supply power to the cleaning robot.
  • the same energy module 30 is shared by the cleaning robot and the hand-held cleaner, so that only one battery can be used to solve all cleaning problems, and the purpose of saving materials and energy can be achieved.
  • the cleaning robot 100 includes a fuselage, wherein the fuselage is provided with a battery interface capable of receiving an energy module, and the energy module 30 is detachably assembled in the battery interface. Removable means that when the energy module 30 is removed, the energy module 30 can be directly removed without removing fasteners such as screws and nuts.
  • the fuselage includes a fuselage 10, a walking mechanism 20, a mopping module 40, a control module 60, and the like, wherein the walking mechanism 20, the mopping module 40, a control module 60, and the like are all mounted on the fuselage 10.
  • the walking mechanism drives the cleaning robot 100 to walk in the work area, and the mopping module 40 performs the mopping work.
  • the control module is electrically connected to the walking mechanism, the mopping module 40, the energy module 30, etc., controls the walking mechanism to drive the cleaning robot 100 to move, and controls the mopping module 40 to perform the mopping work.
  • the external energy can be stored in the energy module 30 by the cleaning robot, that is, the user can use the cleaning robot to charge the energy module 30.
  • the energy module 30 can also be charged by a common charger. That is, in the present application, the energy module 30 can be charged in two ways, one way: the control module in the cleaning robot controls the robot to return to the base station to charge the energy module 30, and the other way: through an external connection The charger directly charges the energy module 30.
  • the cleaning robot may further include a signal sending module, during the charging process of the cleaning robot, sending the charged information of the energy module and/or the time information that the cleaning robot can work with the charged amount to the client,
  • the client can also display the time information that the various hand-held cleaners can work with the charged amount.
  • the energy module 30 may be a battery pack, and each battery pack may include at least one battery pack, and several battery packs adjust the battery voltage to the required working voltage through series-parallel conversion.
  • the cleaning robot is further provided with a first plug interface 31, the hand-held cleaner is provided with a second plug interface, and the energy module 30 is provided with a third plug interface.
  • 31 is coupled to the third plug interface, the energy module 30 may supply power to the cleaning robot 100, or the cleaning robot 100 may be used to charge the energy module 30.
  • the energy module 30 may supply power to the handheld cleaner.
  • the first socket 31 on the cleaning robot 100 may be fixed by a sealing member, for example, colloid, sealing rafter, etc., so as to ensure the waterproof function of the cleaning robot.
  • the self-mobile device 100 further includes a cover 32 provided on the body and wrapped around the energy module 30.
  • the cover 32 is mainly used for waterproof, moisture-proof, and solar storm-proof.
  • the cover 32 may only be used for one or several functions such as waterproof, moisture-proof, and solar storm-proof.
  • the cover 32 may also be waterproof only, to prevent the rain from wetting the energy module 30 And the battery pack 30, the first socket 31 and the second socket on the battery interface cause circuit damage.
  • the cover 32 in the present invention is independent of the body.
  • the cover 32 is disposed on the body and is wrapped around the energy module 30.
  • the cover 32 is openably connected to the fuselage, and the cover 32 and the fuselage are provided with a snap device that directly snaps with each other. Direct mutual buckling means that the buckling device between the cover and the body does not require fasteners such as screws to unlock each other.
  • the cover 32 is fixedly connected to the body, the cover 32 and the body form a cavity, and the energy module 30 is received in the cavity.
  • the energy module 30 and the cover 32 can be installed at different positions of the fuselage according to the actual situation, and are preferably installed under the fuselage, so as to reduce the impact of rain and other environment. It may also be arranged at the rear of the mopping module 40 and the two driving wheels 21 are in a central position to stabilize the mopping center of gravity of the cleaning robot 100.

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Abstract

本发明涉及一种清洁机器人、清洁方法及自动充电系统，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，提供行走及工作的驱动力；拖地模块，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；用于检测区域类型的检测模块，在拖地模块完成当前区域的拖地工作时，检测模块检测下一区域的区域类型以判断该区域类型是否和当前区域相同，当区域类型判断为不同时，控制模块控制清洁机器人向用户传递擦拭件待更换的信息或更换擦拭件。本发明的有益效果是：不同类型区域的污渍不会相互污染，提高清洁机器人的清洁程度，提高用户体验。

Description

一种清洁机器人、清洁方法及自动充电系统
本申请要求了申请日为2018年12月21日，申请号为201811572154.2和申请日为2019年03月29日，申请号为201910250295.0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、清洁方法及自动充电系统。
背景技术
随着用户需求的更多样化，清洁机器人种类繁多，清洁机器人是清洁机器人的一种，清洁机器人能对地面进行擦拭处理，从而提高地面清洁度。
现有的清洁机器人一般采用拖布进行拖地作业，当对用户房间进行清洁时，一般会使用同一块拖布对房间的多个区域进行清洁处理，例如：厨房、客厅、卫生间以及卧室等，此时，不同区域的污渍将会互相污染，清洁效果较差。
因此，用户需要自己看管机器人，并在机器人拖地一定时间后，将拖布取下清洗或者换上一个新的拖布。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分区域进行清洁工作的清洁机器人。
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在工作表面行走；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，用于安装在机身上，对工作表面执行预定拖地工作，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用于检测区域类型的检测模块，在拖地模块完成当前区域的拖地工作时，检测模块检测下一区域的区域类型以判断区域类型是否和当前区域相同，当区域类型判断为不同时，控制模块控制清洁机器人向用户传递擦拭件待更换的信息， 或更换擦拭件。
优选的，擦拭件待更换的信息为远程和/或清洁机器人本地的信息。
优选的，拖地模块包括：拖地板，所述拖地板用于可拆卸的安装所述擦拭件。
优选的，当区域类型判断为不同时，控制模块控制清洁机器人回归基站更换拖地模块。
优选的，清洁机器人还可以包括：抬升机构，所述抬升机构在所述控制模块的控制下，调整所述拖地模块相对于所述工作表面的高度位置。
优选的，在所述清洁机器人回归基站更换所述拖地模块时，所述抬升机构带动所述拖地模块从相对于工作表面的第一位置抬升至第二位置。
优选的，所述机身顶部朝下设置有凸起装置，所述凸起装置与所述拖地模块产生相对运动而与所述拖地模块接触，从而使所述拖地模块与所述机身分离。
优选的，所述拖地模块可拆卸的安装在所述机身上。
优选的，区域类型划分方式可以为用户自定义和/或预先设定。
优选的，所述检测模块包括但不限于以下至少之一：视觉传感器、雷达传感器或光学传感器，根据所述检测模块检测到的结果判断区域类型。
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，检测模块基于工作区域地图检测下一区域的区域类型。
优选的，该导航机构在清洁机器人回归基站更换擦拭件时，在工作区域地图中标记当前位置，从而清洁机器人在更换完擦拭件后回归标记的位置工作。
优选的，拖地模块还可以包括拖布传感器，当区域类型判断为相同时，拖布传感器检测擦拭件的清洁程度，当清洁程度低于预设阈值时，控制模块控制清洁机器人更换擦拭件。
优选的，拖布传感器可以安装在机身下方。
优选的，当擦拭件的清洁程度大于或者等于预设阈值时，控制模块控制清洁机器人直接进入下一区域工作。
优选的，清洁机器人还可以包括信号发送模块，所述信号发送模块在所述清洁机器人回归基站更换擦拭件时，向所述基站发送更换擦拭件的信号，或者，所述信号发送模块在所述清洁机器人回归基站充电时，向所述基站发 送回归充电的信号。
优选的，清洁机器人还可以包括：能量模块，可以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清洁方法，清洁机器人包括：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，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；在完成当前区域的拖地工作时，检测下一区域的区域类型以判断区域类型是否和当前区域的类型相同；当类型判断为不同时，向用户传递擦拭件待更换的信息，或更换擦拭件。
相应地，为保证手持清洁器的时效性和延续性，本发明实施例还提供了一种自动充电系统，该系统可以包括清洁机器人、手持清洁器及至少一个能量模块，能量模块可选择的被用于给清洁机器人或手持清洁器供电。
优选的，能量模块可以通过清洁机器人将外部电能储存于能量模块中。
优选的，能量模块可以为电池包。
优选的，清洁机器人可以包括机身，所述机身上设置有能收容所述能量模块的电池接口，所述能量模块可拆卸的组装于所述电池接口中。
优选的，清洁机器人设置有第一插接口，所述手持清洁器设置有第二插接口，所述能量模块设置有第三插接口，当所述第一插接口与所述第三插接口耦合时执行第一功能和/或第二功能，所述第一功能为利用所述能量模块为所述清洁机器人供电，所述第二功能为利用所述清洁机器人为所述能量模块充电，当所述能量模块从所述清洁机器人中拔出并将所述第二插接口与所述第三插接口耦合时，利用所述能量模块为所述手持清洁器供电。
优选的，第一插接口通过密封件固定于所述清洁机器人。
优选的，清洁机器人还可以包括控制模块，当所述清洁机器人中的所述能量模块电量低于预设阈值时，所述控制模块控制所述清洁机器人回归基站充电。
优选的，清洁机器人还可以包括信号发送模块，信号发送模块在清洁机器人充电的过程中，向客户端发送以下信息：能量模块中已充电量信息和/或清洁机器人利用已充电量能工作的时间信息。
优选的，清洁机器人还可以包括独立于机身的机盖，机盖设置于机身上并包覆能量模块。
优选的，机盖可打开的连接于机身，机盖与机身卡扣相连。
优选的，机盖固定连接于机身，机盖与机身围设形成一腔体，能量模块收容于腔体。
与现有技术相比，本发明的有益效果是：可以避免由于在不同区域中使用相同擦拭件时所导致的区域之间污渍相互污染的缺陷，从而保证了不同类型区域之间的污渍不会相互污染，提高清洁机器人的清洁程度。
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清洁机器人系统的示意图；
图2是本发明一实施例中的安装有能量模块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是本发明一实施例中的拖地模块的侧视图；
图5是本发明一实施例中的应用场景示意图；
图6是本发明一实施例中的未安装有能量模块的清洁机器人主视图；
图7是本发明一实施例中的手持清洁器和能量模块的立体图。
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所示为本发明的清洁机器人系统的示意图。该清洁机器人系统300可以包括基站500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500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500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500程序，清洁机器人100回归基站500完成自动更换擦拭件和/或清洁机器人100的自动充电。在一个实施例中，所述擦拭件可以包括：拖布或海绵擦等。在下文中，以拖布作为擦拭件为例进行描述。
基站500包括底板507，支撑板506和上板505，其中上板505通过支撑板506与底板507连接。上板505上设置有新拖布槽503、旧拖布槽504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503和旧拖布槽504在底板507上的投影对应于清洁机器人100在底板507的第二操作位置502和第一操作位置501。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503、504的位置也是可以对换的。清洁机器人100在第一操作位置501完成旧拖布的卸载，并由基站500的拖布更换装置回收，且由基站500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501完成新拖布的装载。
如图2及图3所示，本实施例的清洁机器人100，包括机身10、行走机构20、能量模块30、拖地模块40、动力模块50，控制模块60，还包括导航机构70。行走机构的行走元件可以包括主动轮21，用于带动机器人100移动，可理解的是，行走元件也可以为履带结构。在一实施例中，清洁机器人还包括从动轮(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50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50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50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对工作表面(例如：地面)执行预定的拖地工作，并且拖地模块40上能安装拖布。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。
导航机构，可以包括但不限于以下至少之一：视觉传感器、超声波传感器、雷达传感器、光学传感器(激光LDS或红外传感器等)、UWB传感器、惯性导航系统、卫星定位系统(GPS、北斗等)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。清洁机器人的工作区域可以为单层住宅，也可以是别墅式多层住宅，相应的，所形成的工作区域地图可以是针对单层住宅的一张地图，也可以是针对多层的多张地图，每张地图对应一层。当工作区域为单层住宅时，清洁机器人直接基于该一张地图工作；当工作区域为多层住宅时，用户可以针对清洁机器人所在楼 层选择相应的地图，从而清洁机器人基于该工作，也可以是清洁机器人通过视觉传感器等方式识别所处楼层，从而自主选择与之相对应的地图工作。导航机构70可以用于在工作区域地图中标记清洁机器人当前所处的位置，通过导航机构70实时标记清洁机器人的位置，便于清洁机器人能够快速回归所标记的位置继续工作，例如：当清洁机器人回归充电时，在充电前对离开位置进行标记，从而充完电回归时能够快速到达离开位置继续充电。
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401，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。
控制器可以根据预设程序或接受到的指合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(干拖或湿拖)，清除工作区域内的尘屑等垃圾。清洁机器人在预设路径内行走完成并完成拖地工作时，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。
在本申请中，清洁机器人可以是能自主更换拖布的装置。与之相对应的，清洁机器人回归充电的基站除了可以给清洁机器人充电之外，还可以作为清洁机器人更换拖布的基地，将充电功能和更换拖布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。当然，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，也可以指的是用于清洁机器人充电的基站。
清洁机器人可以包括信号发送模块80，当充电功能和更换拖布功能结合形成该清洁机器人的基站时，该信号发送模块可以在清洁机器人回归基站更换拖布时，向基站发送更换拖布的信号；也可以在清洁机器人回归基站充电时，向基站发送回归充电的信号。相应的，基站上也存在用于接收清洁机器人信号的信号接收模块。这样，当清洁机器人回归时，基站能提前获知清洁机器人回归的目的，并提前做好相应的准备工作，避免若清洁机器人无法向基站发送相关信号，当拖地机回归充电时，基站在检测到清洁机器人到达基站相应位置，误以为其需要更换拖布而导致的新拖布掉落等缺陷。当充电功能和更换拖布功能分开单独设置时，该信号发送模块可以在清洁机器人回归拖布更换点更换拖布时，向拖布更换点发送更换拖布的信号。相应的，拖布更换点上也存在用于接收清洁机器人信号的信号接收模块。
如图4所示，在一个实施例中，拖地模块40还可以包括：拖地板43，拖布41可拆卸的安装在拖地板43上，拖地板43与拖布41之间可以自成一体，也可以是通过魔术贴或者双面胶等方式相连，本申请对此不作限定。
如图4所示，在一个实施例中，清洁机器人还可以包括与拖布41相连的抬升机构42，抬升机构可以在控制模块的控制下，调整拖地模块相对于工作表面的高度位置。抬升机构42可以用于控制拖地模块在整个清洁过程中的抬升或下落等动作。相应的，抬升机构42也可以用于控制携带有拖布的拖地板43抬升或下落。
在一个实施例中，拖地模块可拆卸的安装在所述机身上。在一个实施例中，如图4所示，清洁机器人机身上设置有凸起装置(本申请中示意为顶柱44)，在拖地模块抬升至拆卸所述拖地模块的位置时，凸起装置(顶柱44)与拖地模块接触，提供拖地模块以向下的作用力，从而使拖地模块与所述机身分离。机身与拖地模块40之间可以通过磁铁、机械卡扣或者形成负压等方式相连。在控制模块控制抬升机构42抬升至预定高度时，顶柱44与拖地模块40接触，从而使得拖地模块40与机身分离。
清洁机器人的拖地模块在工作的过程中相对于工作表面至少有三种高度 位置：清洁机器人执行拖地工作时的第一位置、清洁机器人行走或越障等过程中的第二位置、清洁机器人卸载拖布时的第三位置，其中，第三位置高于或等于第二位置，第一位置低于第二位置，通过抬升机构调节拖地模块的位置，可以实现清洁机器人拖地、越障、自动更换拖布等需求。当然，清洁机器人除了上述三个高度状态，还可以存在低于第一位置的用于安装新拖布的第四位置。
下面以一个应用场景为例对上述位置关系进行说明。当清洁机器人处于拖地的工作状态时，拖布抬升机构控制拖布处于第一位置，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第二位置，此时，拖布会自动抬升，第二位置高于工作状态的高度，但高度不可高于卸载拖布的高度，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第二位置，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第三位置卸载拖布，通过清洁机器人上固定安装的顶柱使得安装有拖布的拖地板克服磁力从清洁机器人上脱落，将旧拖布卸载至第一操作位置，该第一操作位置可以用于完成旧拖布的拆卸；卸载完旧拖布之后，清洁机器人会进行新拖布的自动安装，清洁机器人可以在第二操作位置完成新拖布的安装，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吸附作用将新的拖布安装到清洁部件上，完成新拖布的安装；在安装完新拖布或者充满电量之后，抬升机构控制拖布提升至第二位置，并出发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第一位置继续拖地；当拖地过程中需要清洁机器人暂停拖地时，抬升机构控制拖布抬升至第二位置。采用上述抬升机构控制拖布在越障时进行抬升，解决了现有技术中清洁机器人的拖地模块由于在工作过程中仅存在拖地时的第二位置状态，越障高度几乎为0所导致的可清洁范围受限的缺陷。拖地模块可以在暂停拖地时控制抬升机构将拖布抬升至第二位置，解决了现有技术中由于拖地模块仅存在拖地时的第二位置状态，从而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或者完成充电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，提升了清洁机器人的自动化程度以及用户体验。
在本实施例中，清洁机器人通常会基于以下几种情况进行拖布更换，具体可以包括：拖布的使用时间、拖布的拖地面积、拖布上的污渍情况或拖布破损情况以及工作区域的更换，从而在不造成拖布二次污染的情况下，提高其利用率。
在本申请的一个实施例中，清洁机器人可以包括计时模块，通过计时模块记录拖布的工作时间，并将该工作时间和预设的时间阈值进行比较，若大于等于该时间阈值时，则清洁机器人回归更换拖布，同时生成回归前的拖地位置坐标，并将在工作区域地图中标记，在清洁机器人安装完新拖布之后返回其在工作区域地图中标记的位置继续工作。
在本申请的另一个实施例中，清洁机器人可以包括工作面积记录模块，通过工作面积记录模块记录拖布的工作面积，并将该工作面积和预设的面积阈值进行比较，若大于等于该面积阈值时，则清洁机器人回归更换拖布，同时生成回归前的拖地位置坐标，并将在工作区域地图中标记，在清洁机器人安装完新拖布之后返回其在工作区域地图中标记的位置继续工作。
在本申请的另一个实施例中，清洁机器人可以包括拖布传感器，通过拖布传感器检测拖布的清洁程度，当检测到得清洁程度低于预设阈值时，控制模块控制清洁机器人回归更换拖布，同时生成回归前的拖地位置坐标，并将在工作区域地图中标记，在清洁机器人安装完新拖布之后返回其在工作区域地图中标记的位置继续工作；当检测到得拖布的清洁程度大于或者等于预设阈值时，控制模块控制清洁机器人继续拖地工作。拖布传感器可以安装于清洁机器人机身的下方，具体可以包括但不限于以下至少之一：电容传感器、电流传感器、雷达传感器和光传感器。
在本申请的实施例中，清洁机器人可以包括用于检测工作区域类型的检测模块110，在拖地模块完成当前区域的拖地工作时，检测模块可以检测下一区域的区域类型以判断下一区域类型是否和当前区域相同。当区域类型判断为不同时，控制模块可以控制清洁机器人向用户传递拖布待更换的信息，或更换拖布。值得注意的是，在本实施例中，拖地模块完成当前区域的拖地工作不限于完成当前区域中100％面积的拖地工作，可以包括拖地模块基本 完成当前区域的拖地工作等情况。在一个应用场景中，清洁机器人拖完当前区域的95％的面积时，可以利用检测模块检测下一区域的区域类型，当类型为不同时，控制器控制机器人向客户端发送拖布待更换的通知消息或控制机器人自动更换拖布。
在本实施例中，清洁机器人的工作区域中至少包含一种区域类型，可以通过用户自定义或者预先设定的方式进行区域划分。在一个实施例中，清洁机器人在建立工作区域地图之后，用户可以直接在显示于客户端的地图中的各个区域进行划分并保存划分结果。用户可以根据实际需求，对形成的工作区域地图进行区域划分，例如：可以根据区域实际功能，将区域划分为厨房、卫生间、卧室等区域。在划分完之后进入拖地工作的过程中，可以针对不同区域使用不同拖布，或者不同的清洁方式，例如：干拖、湿拖以及是否使用清洁液拖地。
在另一个实施例中，清洁机器人也可以直接根据生产厂家预先设定好的默认划分方式，在建图的过程中自动对地图上的各个区域进行划分，并将该区域划分结果在地图中标定并保存。例如：清洁机器人可以通过视觉传感器雷达或光学传感器(包括：LDS或TOF传感器等)检测各个区域，在检测到床品类物品时，通过与机器人特征库中的大量数据进行对比，将该区域划分为卧室；在检测到油烟机等物品时，将该区域划分为厨房。在划分完之后进入拖地工作的过程中，机器人可以根据地图中所标定的区域划分结果，针对不同区域使用不同拖布，或者不同的清洁方式(是否使用清洁液)。机器人在拖地过程中，针对不同类型的区域使用不同的拖布，可以避免由于在不同区域中使用相同拖布时所导致的区域之间污渍相互污染的缺陷，从而保证了不同类型区域之间的污渍不会相互污染，提高清洁机器人的清洁程度。
在另一个实施例中，当清洁机器人形成地图后，也可以不进行上述区域划分，直接在进行拖地工作的过程中检测下一区域的区域类型，根据拖地过程中区域类型的检测结果来选择是否更换拖布。
在本申请的一个实施例中，在地图中标定了区域类型的情况下，检测模块可以可以由程序算法实现，通过程序算法实现对区域类型的检测。具体的，在清洁机器人打扫完当前区域进入下一区域之前，对比工作区域地图中当前工作区域与下一工作区域的区域类型。当检测到两者为不同类型时，控制机器人向用户传递拖布待更换的信息，或更换拖布；当检测到两者为相同类型 时，可以使用上面实施例中所述检测拖布清洁程度的拖布传感器对拖布进行进一步检测，此处不再赘述。
在本申请一个实施例中，该检测模块可以为视觉传感器或光学传感器，在地图中标定了区域类型或者未标定区域类型的情况下，均可以采用根据视觉传感器或光学传感器检测到的区域图像判断区域类型。具体的，在清洁机器人打扫完当前区域进入下一区域之前，通过视觉传感器观察下一待打扫区域和当前区域类型是否相同，当检测到两者为不同类型时，控制机器人向用户传递拖布待更换的信息，或更换拖布。
在本申请的另一个实施例中，该检测模块可以为雷达传感器，在地图中标定了区域类型或者未标定区域类型的情况下，均可以根据雷达传感器检测到的电磁波变化判断区域类型。具体的，在清洁机器人打扫完当前区域进入下一区域之前，通过雷达传感器观察下一待打扫区域和当前区域类型是否相同，当检测到两者为不同类型时，控制机器人向用户传递拖布待更换的信息，或更换拖布。
在一个实施例中，清洁机器人可以包括信号传递模块90，通过该信号传递模块向用户传递拖布待更换的信息，其中，该信息可以是远程传送的信息，也可以是来自清洁机器人本地的信息。具体的，远程信息可以为向客户端发送拖布待更换的通知消息，用户在接收到该通知消息后可以亲自更换拖布，也可以指示清洁机器人自主更换拖布。本地信息可以是清洁机器人人机交互界面信息，也可以为清洁机器人上通过指示单元发光或发声所传递的信息，用户在看到清洁机器人上发出的灯光或听到声音时可以亲自更换拖布，也可以远程或者直接按压相关按键，例如清洁机器人上的物理按键或人机交互界面上的虚拟按键，指示清洁机器人自主更换拖布。在另一个实施例中，控制模块控制清洁机器人更换拖布，即可以是当区域类型判断为不同时，控制模块控制清洁机器人更换拖布，该更换拖布的位置可以是结合充电和拖布更换功能的基站，也可以是临时设定的能更换拖布的基站。
进一步的，当检测模块检测到的区域类型为相同时，可以通过拖布传感器检测拖布的清洁程度，当检测到的清洁程度低于预设阈值时，控制模块控制清洁机器人标记当前位置、并更换拖布，在更换完拖布后回归标记的位置进行断点续拖；当检测到拖布的清洁程度大于或者等于预设阈值时，控制模块控制清洁机器人在下一区域执行拖地工作。
在本申请的一个实施例中，当区域类型判断为不同时，可以在清洁机器人保持拖地模块处于抬升的状态下，控制清洁机器人回归基站自动更换拖布。
在本申请一个实施例中，当清洁机器人回归更换拖布或者回归基站充电时，清洁机器人可以在地图中标记回归之前的位置，当更换完拖布或者充满电回归时，可以直接返回该标记的位置处按照预先规划的路径继续进行拖地工作，从而可以提高清洁机器人的清洁效率。
下面通过具体的应用场景说明本申请的实施例方法。
图5所示是本申请提供的场景示意图。在本应用场景中，基站500既可以充电也可以更换拖布。用户小王利用清洁机器人100清扫自家房间。在清洁机器人100形成小王家地图后，小王根据每个房间的用途，将房间划分为为卧室、书房、阳台、客厅、餐厅、卫生间以及厨房这七个部分，其中卧室和书房属于同一区域类型，清洁机器人100从基站500出发进行湿拖，按照预先设定好的行走路径，先去卧室拖地，在到达卧室后以弓字形路径开始拖地工作。完成卧室的拖地工作后，清洁机器人100检测下一拖地区域即书房的类型，发现和之前打扫的卧室类型相同，则再通过拖布传感器检测拖布的清洁程度，发现清洁程度高于预设阈值，则行走至书房继续拖地工作。当在书房中打扫的过程中，发现清洁程度低于预设阈值时，标记当前拖地位置，并在保持拖地模块处于第二位置的状态下回归基站500更换拖布，在回归时向基站500发送回归换拖布的信号，更换完拖布后回归书房中标记的位置继续进行断点续拖，在将书房拖完之后，按照预先设定好的行走路径准备进入客厅拖地，首先检测客厅和书房的区域类型是否相同，发现不同时，则回归基站500更换拖布，更换完拖布后进入客厅继续拖地。最终，按照上述方式完成所有房间的清扫。
自动充电系统，例如清洁机器人充电系统，清洁机器人内设有内置电池包，电池包固定于清洁机器人内部无法手动拆卸，必须通过工具拆卸螺丝等才可实现电池包的安装与拆卸。清洁机器人能够在没有人工监管的情况下自动执行工作任务，当电能不足时，自动返回基站为清洁机器人的能源模块供电充电。
而其他的手持清洁器，例如手持吸尘器、手持清洗机等，当手持清洁器没电时，用户只能停止工作，将手持清洁器拿回家或其他充电场所充电，等 充满电才能继续工作，无法保证工作的时效性和延续性。因此，有必要设计一种新的自动充电系统，以解决上述问题。
如图6及图7中所示，本申请还提供了一种自动充电系统，该系统由清洁机器人(本申请中例如清洁机器人100等)、手持清洁器200(例如：手持吸尘器、手持清洗机)及至少一个能量模块30组成，能量模块30可选择的被用于给清洁机器人100或手持清洁器200供电或也选择的用于通过清洁机器人100或手持清洁器200充电，即，用户可以利用能量模块30给清洁机器人100或手持清洁器200供电，也可以利用清洁机器人100或手持清洁器200给能量模块30充电。或者，能量模块30可以通过与之相适配的充电座直接充电。该能量模块30可以为多个，这样当第一能量模块安装于清洁机器人并进行拖地工作时，可以将第二能量模块安装于手持清洁器进行扫地工作。在另一个实施例中，能量模块30也可以单一的仅给清洁机器人供电。对清洁机器人以及手持清洁器均共用同样的能量模块30，从而可以实现仅使用一种电池解决全部的清洁问题，达到节省材料以及能源的目的。
清洁机器人100包括机身，其中该机身上设置有能收容能量模块的电池接口，能量模块30可拆卸的组装于电池接口中。可拆卸指的是拆卸能量模块30时，无需拆卸螺钉、螺母等紧固件即可直接将能量模块30拆卸下来。机身包括机身10、行走机构20、拖地模块40及控制模块60等，其中，行走机构20、拖地模块40及控制模块60等均安装于机身10。行走机构带动清洁机器人100在工作区域内行走，拖地模块40执行拖地工作。控制模块与行走机构、拖地模块40、能量模块30等电连接，控制行走机构带动清洁机器人100移动，并控制拖地模块40执行拖地工作。
在本申请一个实施例中，可以通过清洁机器人将外部电能储存于能量模块30中，也就是说，用户可以利用清洁机器人对能量模块30进行充电。在本申请另一个实施例中，能量模块30也可以通过普通充电器进行充电。即，在本申请中，可以通过两种方式对能量模块30进行充电，一种方式为：通过清洁机器人中的控制模块控制机器人回归基站对能量模块30进行充电，另一种方式为：通过外接充电器直接对能量模块30进行充电。进一步地，清洁机器人还可以包括信号发送模块，该信号发送模块在清洁机器人充电的过程中，向客户端发送能量模块中已充电量信息和/或清洁机器人利用已充电量能工作的时间信息，当用户在客户端中设置了各类手持清洁器的额定功率 时，客户端中还可以显示各类手持清洁器利用已充电量能工作的时间信息。
在本申请一个实施例中，能量模块30可以为电池包，每个电池包可以包括至少一个电池组，若干个电池组通过串并联转换将电池电压调整为所需要的工作电压。
在本申请一个实施例中，如图6所示，清洁机器人还设置有第一插接口31，手持清洁器设置有第二插接口，能量模块30设置有第三插接口，当第一插接口31与第三插接口耦合时，可以是能量模块30为清洁机器人100供电，也可以是利用清洁机器人100为能量模块30充电，进一步地，当将能量模块30从清洁机器人100中拔出并将第三插接口与手持清洁器中的第二插接口耦合时，可以是能量模块30为手持清洁器供电。其中，清洁机器人100上的第一插接口31可以是采用密封件进行固定，例如：胶体、密封椽圈等，从而保证清洁机器人的防水功能。
如图2及图6所示，自移动设备100还包括设置于机身上且包覆于能量模块30外的机盖32，机盖32主要用于防水、防潮、防太阳暴哂等。在其他实施例中，机盖32也可仅用于防水、防潮、防太阳暴哂等中的一种或几种功能，例如，机盖32也可仅为防水，避免雨水打湿能量模块30及电池接口上的电池包30、第一接插口31及第二接插口等造成电路损坏。本发明中的机盖32独立于所述机身。
在本申请中，机盖32设置于机身上且包覆于能量模块30外。在一个实施例中，机盖32可打开的连接于机身，机盖32和机身上设置有直接相互卡扣的卡扣装置。直接相互卡扣指的是机盖与机身之间的卡扣装置并不需要螺钉等紧固件即可互相解开卡扣。在另一个实施例中，机盖32固定连接于机身，机盖32与机身围设形成一腔体，能量模块30收容于腔体。
在上述实施例中，能量模块30与机盖32可根据实际情况设置于机身的不同位置，优选设置于机身下方，以减少雨淋日哂等环境的影响。也可以设置于拖地模块40的后方、两个主动轮21居中位置处，以稳定清洁机器人100的拖地重心。通过设置可拆卸且可耦合到手持清洁器的能源模块，实现自动充电系统中手持清洁器能够及时获得电能的技术效果。
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 (30)

  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在工作表面行走；
    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，对所述工作表面执行预定拖地工作，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用于检测区域类型的检测模块，在所述拖地模块完成当前区域的拖地工作时，所述检测模块检测下一区域的区域类型以判断所述区域类型是否和当前区域相同，当所述区域类型判断为不同时，所述控制模块控制所述清洁机器人向用户传递擦拭件待更换的信息，或更换擦拭件。
  2. 如权利要求1所述的清洁机器人，其特征在于，所述擦拭件待更换的信息为远程和/或清洁机器人本地的信息。
  3. 如权利要求1所述的清洁机器人，其特征在于，所述拖地模块包括：拖地板，所述拖地板用于可拆卸的安装所述擦拭件。
  4. 如权利要求1所述的清洁机器人，其特征在于，当所述区域类型判断为不同时，所述控制模块控制所述清洁机器人回归基站更换所述拖地模块。
  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：抬升机构，所述抬升机构在所述控制模块的控制下，调整所述拖地模块相对于所述工作表面的高度位置。
  6. 如权利要求5所述的清洁机器人，其特征在于，在所述清洁机器人回归基站更换所述拖地模块时，所述抬升机构带动所述拖地模块从相对于所述工作表面的第一位置抬升至第二位置。
  7. 如权利要求5所述的清洁机器人，其特征在于，所述机身顶部朝下设置有凸起装置，所述凸起装置与所述拖地模块产生相对运动而与所述拖地模块接触，从而使所述拖地模块与所述机身分离。
  8. 如权利要求1所述的清洁机器人，其特征在于，所述拖地模块可拆卸的安装在所述机身上。
  9. 如权利要求1所述的清洁机器人，其特征在于，所述区域类型划分方式为用户自定义和/或预先设定。
  10. 如权利要求1所述的清洁机器人，其特征在于，所述检测模块包括以下至少之一：视觉传感器、雷达传感器或光学传感器，根据所述检测模块检测到的结果判断区域类型。
  11. 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，所述检测模块基于所述工作区域地图检测下一区域的区域类型。
  12. 如权利要求11所述的清洁机器人，其特征在于，所述导航机构在所述清洁机器人回归基站更换擦拭件时，在所述工作区域地图中标记当前位置，从而所述清洁机器人在更换完擦拭件后回归标记的位置工作。
  13. 如权利要求1所述的清洁机器人，其特征在于，所述拖地模块还包括拖布传感器，当区域类型判断为相同时，所述拖布传感器检测所述擦拭件的清洁程度，当所述清洁程度低于预设阈值时，所述控制模块控制所述清洁机器人更换擦拭件。
  14. 如权利要求13所述的清洁机器人，其特征在于，所述拖布传感器安装在所述机身下方。
  15. 如权利要求13所述的清洁机器人，其特征在于，当所述擦拭件的清洁程度大于或者等于所述预设阈值时，所述控制模块控制所述清洁机器人直接进入下一区域工作。
  16. 如权利要求1至15中任一项所述的清洁机器人，其特征在于，所述清洁机器人还包括信号发送模块，所述信号发送模块在所述清洁机器人回归基站更换擦拭件时，向所述基站发送更换擦拭件的信号，或者，所述信号发送模块在所述清洁机器人回归基站充电时，向所述基站发送回归充电的信号。
  17. 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。
  18. 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。
  19. 一种清洁机器人清洁方法，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：
    在完成当前区域的拖地工作时，检测下一区域的区域类型以判断所述区域类型是否和当前区域的类型相同；
    当所述类型判断为不同时，向用户传递擦拭件待更换的信息，或更换擦拭件。
  20. 一种自动充电系统，所述系统包括清洁机器人、手持清洁器及至少一个能量模块，其特征在于，所述能量模块可选择的被用于给所述清洁机器人或所述手持清洁器供电。
  21. 如权利要求20所述的系统，其特征在于，所述能量模块通过所述清洁机器人将外部电能储存于所述能量模块中。
  22. 如权利要求20所述的系统，其特征在于，所述能量模块为电池包。
  23. 如权利要求22所述的系统，其特征在于，所述清洁机器人包括机身，所述机身上设置有能收容所述能量模块的电池接口，所述能量模块可拆卸的组装于所述电池接口中。
  24. 如权利要求23所述的系统，其特征在于，所述清洁机器人设置有第一插接口，所述手持清洁器设置有第二插接口，所述能量模块设置有第三插接口，当所述第一插接口与所述第三插接口耦合时执行第一功能和/或第二功能，所述第一功能为利用所述能量模块为所述清洁机器人供电，所述第二功能为利用所述清洁机器人为所述能量模块充电，当所述能量模块从所述清洁机器人中拔出并将所述第二插接口与所述第三插接口耦合时，利用所述能量模块为所述手持清洁器供电。
  25. 如权利要求24所述的系统，其特征在于，所述第一插接口通过密封件固定于所述清洁机器人。
  26. 如权利要求24所述的系统，其特征在于，所述清洁机器人还包括控制模块，当所述清洁机器人中的所述能量模块电量低于预设阈值时，所述控制模块控制所述清洁机器人回归基站充电。
  27. 如权利要求26所述的系统，其特征在于，所述清洁机器人还包括信号发送模块，所述信号发送模块在所述清洁机器人充电的过程中，向客户端发送以下信息：所述能量模块中已充电量信息和/或所述清洁机器人利用所述已充电量能工作的时间信息。
  28. 如权利要求23所述的系统，其特征在于，所述清洁机器人还包括独立 于所述机身的机盖，所述机盖设置于所述机身上并包覆所述能量模块。
  29. 如权利要求28所述的系统，其特征在于，所述机盖可打开的连接于所述机身，所述机盖与所述机身卡扣相连。
  30. 如权利要求28所述的系统，其特征在于，所述机盖固定连接于所述机身，所述机盖与所述机身围设形成一腔体，所述能量模块收容于所述腔体。
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