WO2020125758A1 - Robot de nettoyage et procédé de commande - Google Patents

Robot de nettoyage et procédé de commande Download PDF

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Publication number
WO2020125758A1
WO2020125758A1 PCT/CN2019/127044 CN2019127044W WO2020125758A1 WO 2020125758 A1 WO2020125758 A1 WO 2020125758A1 CN 2019127044 W CN2019127044 W CN 2019127044W WO 2020125758 A1 WO2020125758 A1 WO 2020125758A1
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WO
WIPO (PCT)
Prior art keywords
cleaning robot
liquid
mopping
module
mop
Prior art date
Application number
PCT/CN2019/127044
Other languages
English (en)
Chinese (zh)
Other versions
WO2020125758A9 (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
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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 JP2021536292A priority Critical patent/JP2022514791A/ja
Priority to KR1020217019203A priority patent/KR102611848B1/ko
Priority to EP19900880.6A priority patent/EP3900602A4/fr
Priority to US17/417,059 priority patent/US20220047141A1/en
Publication of WO2020125758A1 publication Critical patent/WO2020125758A1/fr
Publication of WO2020125758A9 publication Critical patent/WO2020125758A9/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—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
    • A47L11/28—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
    • 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
    • A47L11/4036—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
    • A47L11/4052—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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • 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 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 that can autonomously control the delivery of liquid to the wiper.
  • a cleaning robot which walks and works in a work area
  • the cleaning robot includes:
  • a walking mechanism that supports the fuselage and drives the cleaning robot to walk on the working surface in the working area
  • the power module provides driving force for walking and working for the cleaning robot
  • the mopping module is used to install on the fuselage to perform a predetermined mopping work, and the mopping module can be installed with a wiper;
  • the control module is electrically connected and controls the power module to realize the automatic walking and automatic work of the cleaning robot; the cleaning robot further includes: a liquid supply device electrically connected to the control module, In the mopping mode, when a preset condition is satisfied, the control module restricts the liquid supply device from transferring liquid to the mopping module.
  • control module restricts the liquid supply device to transfer liquid to the mopping module when an abnormality of the cleaning robot is detected.
  • control module restricts the liquid supply device to transfer liquid to the mopping module.
  • the cleaning robot further includes a mop detection device electrically connected to the control module, the mop detection device is used for detecting whether the wiper is installed on the cleaning robot, and detected by the mop detection device In the abnormal case where the wiper is not installed on the cleaning robot, the control module restricts the liquid supply device from transferring liquid to the mopping module.
  • the control module restricts the liquid supply device to the mopping device when it is detected that the mopping module is at a non-mopping height within a preset period of time
  • the ground module transfers liquid.
  • the cleaning robot further includes a lifting mechanism, and the control module controls the lifting mechanism to raise the mopping module from a first position to a second position relative to the work surface when performing the mopping work, the
  • the control module controls the lifting mechanism to raise the mopping module from a first position to a second position relative to the work surface when performing the mopping work, the
  • the liquid supply device is restricted from transferring liquid to the mopping module.
  • control module controls the lifting mechanism to lift the mopping module from a first position to a second position relative to the work surface under the following circumstances, including at least one of the following: the cleaning robot returns to the base station for replacement The mopping module, the cleaning robot is in a standby state, and the cleaning robot is trapped or stuck.
  • control module controls the lifting mechanism to lift the mopping module from a first position relative to the working surface to a second position to control the cleaning robot to cross over
  • the non-working surface when it is detected that the mopping module satisfies the lifted state within a preset time period, restricts the liquid supply device to transfer liquid to the mopping module.
  • the control module controls the lifting mechanism to lower the mopping module from the second position relative to the working surface to the first position, the The liquid supply device transfers liquid to the mopping module.
  • control module restricts the liquid supply device to transfer liquid to the mopping module when the cleaning robot is at least replacing the wiper.
  • control module restricts the liquid supply device to transfer liquid to the mopping module, including:
  • control module controls the liquid supply device to stop delivering liquid to the mopping module.
  • An embodiment of the present invention also provides a cleaning robot control method.
  • the cleaning robot includes: a mopping module that performs predetermined mopping work.
  • the method includes:
  • restricting the transfer of liquid to the mopping module includes: stopping the transfer of liquid to the mopping module.
  • restricting the delivery of liquid to the mopping module when the preset condition is satisfied includes: controlling the delivery of liquid to the mopping module when the preset condition is not satisfied.
  • the beneficial effects of the present invention are: the cleaning robot can complete the mopping work more efficiently, reduce the burden on the user, improve the automation degree and user experience of the cleaning robot.
  • the control module can intelligently limit the liquid supply device to transfer liquid to the wiper, thereby extending the service life of the floor material such as the floor in the user's home.
  • the problem to be solved by the present invention is to provide a cleaning robot capable of intelligently switching working modes to improve work efficiency and effects.
  • the technical solution adopted by the present invention to solve the problems of the prior art is: a cleaning robot control method, the cleaning robot walks and works in a work area, and is characterized in that the cleaning robot includes: for performing a predetermined mopping work
  • the mopping module and the liquid supply device the working mode of the cleaning robot includes: dry mop or wet mop, in the dry mop mode, the liquid supply device is controlled to be in a closed state, in the wet mop mode, Controlling the liquid supply device to transfer liquid to the mopping module, the working area includes: at least one preset area,
  • the method includes:
  • the cleaning robot is controlled to perform wet drag on the preset area.
  • a wiper can be installed on the mopping module.
  • the method further includes:
  • control module controls the cleaning robot to transfer information to the user to unload the wiper, or controls the cleaning robot Unload at least the wiper.
  • the working area is divided into at least one preset area in a preset and/or user-defined manner.
  • the method further includes: if it is detected that the cleaning robot completes the wet mop in the work area, controlling the cleaning robot to dry mop the work area.
  • the cleaning robot includes: a liquid supply device, the liquid supply device is used to transfer liquid to the mopping module, and during the wet dragging work of the cleaning robot, the liquid supply device is preset Power and a preset time to deliver liquid to the mopping module, before wet mopping the working area, the method further includes:
  • Controlling the cleaning robot to wet the wiper based on at least one of the following methods, including: delivering liquid to the liquid supply device at a power greater than the preset power, and supplying the liquid at a time greater than the preset time Liquid device conveys liquid.
  • the method before performing a wet drag on the work area, the method further includes: controlling the cleaning robot to wet the wiper in a manner of walking along a preset path before starting the wet drag.
  • the cleaning robot is controlled to perform wet dragging on the preset area, and the method further includes:
  • the cleaning robot is controlled to walk to the starting position of the dry tow in the preset area, and the wet towing is started from the starting position.
  • An embodiment of the present invention also provides a cleaning robot that walks and works in a work area, characterized in that the cleaning robot includes: a mopping module for performing a predetermined mopping work and a liquid supply device,
  • the working mode of the cleaning robot includes: dry mop or wet mop. In the dry mop mode, the liquid supply device is controlled to be off, and in the wet mop mode, the liquid supply device is controlled to the The mopping module transfers liquid, and the working area includes: at least one preset area,
  • the cleaning robot further includes a control module that controls the cleaning robot to dry-drag the preset area; if it is detected that the cleaning robot completes dry-dragging in the preset area, the control robot is controlled The cleaning robot performs wet dragging on the preset area.
  • a wiper can be installed on the mopping module, and before performing wet dragging on the preset area, the control module controls the cleaning robot to transmit information to the user that the wiper is to be replaced, or, to control The cleaning robot replaces at least the wiper.
  • the cleaning robot can intelligently switch between the dry mop and wet mop working modes during the work, and continue to automatically perform wet mop work after the dry mop in the area is completed without the need
  • User manual switching can save user time and improve user experience.
  • 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, which may include: controlling the cleaning robot to enter a working state; determining 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. 8 is a structural diagram of a lifting structure according to an embodiment of the present invention.
  • Figure 9-12 is a schematic diagram of the scene of the cleaning robot working process
  • Figure 13-16 is a schematic diagram of the application scenario when the non-working surface of the cleaning robot is a carpet
  • FIG. 14 is a structural diagram of a mopping module in a cleaning robot.
  • 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 may include a mopping floor 43, and the mop is detachably installed on the mopping floor.
  • the mopping floor and the mopping cloth can be self-contained, or can be connected by means of velcro or double-sided tape, etc., which is not limited in this application.
  • 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 to remove dust and debris in the working area, etc. Rubbish. 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.
  • 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, so that the cleaning robot can autonomously and automatically
  • the liquid supply to the mop can be controlled in a controlled manner.
  • the transferred liquid can be water, water with essential oils, alcohol, etc., which is not limited in this application.
  • the working modes of the cleaning robot may include: dry mop, wet mop, dry mop first, wet mop first, wet mop first, or dry mop mopping mode. The user can select the corresponding work mode in the cleaning robot app according to actual needs . In the dry drag mode, it can be realized by controlling the liquid supply device to be in a closed state; in the wet drag mode, it can be realized by controlling the liquid supply device to transfer liquid to the mopping module.
  • FIG. 4 shows a situation in which there is only one liquid reservoir for the cleaning robot.
  • the liquid supply device may include: a liquid reservoir 51 and a liquid transfer device 50 electrically connected to the control module, wherein the liquid The transfer device 50 is connected to the liquid reservoir 51.
  • the 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 mopping module lifting mechanism can adjust the height of the mopping module 40 relative to the working surface.
  • the lifting mechanism of the mopping module includes a lifting mechanism and a fixed plate 11, the lifting mechanism is fixedly connected to the fixed plate 11, and the mopping module 40 is installed on the fixed plate 11.
  • the lifting mechanism includes a lifting motor 15 and a transmission mechanism, wherein the transmission mechanism includes a gear 16 screw 17 meshing device, and also includes a lifting frame 19, the lifting motor 15 drives the transmission mechanism to drive the mopping module 40 up and down.
  • the lifting frame 19 drives the mopping module 40 to move up and down relative to the work surface under the action of the lifting mechanism.
  • a slide slot 22 is provided on the lifting frame 19, and a corresponding protrusion (not shown) is provided on the fuselage.
  • the up and down movement of the mopping module 40 relative to the fuselage is completed.
  • the lifting mechanism of the mopping module may also be a swing mechanism.
  • the lifting frame 19 drives the mopping module 40 to swing under the action of the swing mechanism, thereby adjusting the distance of the mopping module 40 relative to the working surface.
  • the specific structure is to adjust The common structure of the device will not be repeated here.
  • the mopping module 40 is installed on the fixing plate 11 through magnetic attraction.
  • the mopping module 40 is provided with magnetic elements 18 such as magnets, magnetic strips, etc.
  • the magnetic element can be attracted, and the mopping module 40 can also be installed on the fixing plate 11 by providing pin holes on the mopping module 40 and cooperating with corresponding pins provided on the fixing plate 11.
  • a protruding device (not shown in the figure) is provided on the top of the fuselage, such as a top post or a convex ball, etc.
  • the protruding device generates relative motion with the mopping module 40 and contacts the mopping module 40, thereby mopping the ground
  • the module 40 is separated from the body 11.
  • the number of the protruding devices is 2, and the projection of the mopping floor falls on both ends of the mopping floor. Of course, the number of the protruding devices may be one or more.
  • the mopping module of the cleaning robot has at least three height positions relative to the work surface driven by the lifting mechanism: the first position when the cleaning robot performs the mopping work, the second position when the cleaning robot walks or crosses obstacles, etc.
  • the cleaning robot may also have a fourth position below the first position for installing a new mop.
  • FIG. 9-12 is a schematic diagram of a scene of a cleaning robot working process, and the positional relationship of the mopping module 40 will be described according to the schematic diagram of the scene.
  • the lifting mechanism controls the mopping module in the first position.
  • the lifting mechanism controls the mopping module to be in the second position shown in FIG.
  • the mopping module will Automatically lifted, the second position is higher than the working height, but the height can not be higher than the height of the unloading mop, to prevent the mop and mopping floor from falling off; when the cleaning robot needs to replace the mop during the mopping process or the power is low during the mopping process
  • the lifting mechanism controls the mopping module to be raised to the second position as shown in FIG. 10, and at the same time, the cleaning robot can also form the position coordinates of its previous position through the navigation mechanism and put the position coordinates in Marked in the work area map; when the mop is replaced, the lifting mechanism controls the mop to be lifted to the third position shown in FIG.
  • the old mop can be unloaded to the first operating position as shown in FIG. 1.
  • This first operating position can be used to complete the disassembly of the old mop; after the old mop is unloaded, 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.
  • the mopping module is attracted to the fuselage through magnetic attraction.
  • the mop module is provided with a magnet and the magnetic element is provided on the fuselage.
  • the lifting mechanism controls the mopping module to the second position and sets off to return to the position marked on the work area map.
  • the lifting mechanism controls the mopping module Adjust to the first position to continue mopping; when the cleaning robot needs to suspend mopping during mopping, the lifting mechanism controls the mopping module 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 detects whether the liquid reservoir is installed on the cleaning robot when it starts to work. When it is detected that the liquid reservoir is not installed on the cleaning robot, the cleaning robot cannot start and start working, and the control module Control the cleaning robot to transmit information to the user that the liquid storage is not installed.
  • the information received by the user may be an alarm issued by the machine itself or a reminder message on the app.
  • the cleaning robot starts to work.
  • 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, When it is detected that the dry mopping work is completed, wet mop the work area. This can prevent defects such as hair and other wastes from easily sticking to the work area when the user does not vacuum the work area when the work area is wetly dragged.
  • the cleaning robot can intelligently switch between dry mop and wet mop working modes during the work process, and automatically perform wet mop work after the dry mop in the area is completed, without the need for the user to observe the working condition of the machine, and the user does not need to When the dry towing is completed, the machine is manually controlled to start the wet towing mode.
  • Using the method in this embodiment can save user time and improve the user experience.
  • the user can 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 For: only dry mop, wet mop only, wet mop first and dry mop, etc., this application does not limit this.
  • the working area may be divided into at least one preset area according to the preset area division method in the cleaning robot app, or the user may The working area is divided into at least one preset area.
  • the robot can first dry-drag one of the preset areas according to the working mode of first dry drag and then wet drag.
  • the wet drag is continued on the preset area.
  • the robot can also first dry-drag the entire work area, and after judging the completion of the dry-drag work of the entire work area, perform the wet-drag work on the entire area.
  • the cleaning robot when it is detected that the wet towing work is completed, can be controlled to dry tow the work area so that the user can enter the work area as early as possible without staining the wet work area .
  • the cleaning robot is in the process of dry mopping, if it detects coffee, milk and other liquids, you can avoid cleaning these areas first, and then change to wet mop mode, then clean these areas to prevent dry mop Sticking these liquids for cleaning will cause defects in other areas contaminated by these liquids.
  • 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.
  • the cleaning robot before the cleaning robot performs wet or dry mopping, it is controlled to transmit information to the user that the mop is to be replaced, or the cleaning robot is controlled to at least replace the mop.
  • the user After the user receives the message on the machine or app reminding that the mop needs to be replaced, the user can choose to manually replace it or choose to control the machine to automatically replace the mop or mop module.
  • the mop is detachably installed on the mop module, so when replacing You can just replace the mop.
  • the cleaning robot After the cleaning robot completes the dry mop, it can also automatically return to the base station to replace the new mop, and after replacing the new mop, perform the wet mop.
  • the cleaning robot can fully moisten the mop by the following means before wet mop, so that at the beginning of the wet mop mode, the water injected onto the mop can be completely in the mop in a short time Spreading on top makes the moist mop area increase, so as to improve the cleaning efficiency of the mopping robot at the beginning of wet mop.
  • the liquid supply device can transfer liquid to the mopping module according to the preset power and preset time, then before the wet drag, the cleaning robot can increase the transfer when the liquid supply device works normally
  • the power of the liquid that is, before the start of the wet drag operation, the liquid can be delivered to the liquid supply device according to a power greater than the preset power, and after working for a period of time, it is reduced to the power during normal operation.
  • the liquid may also be delivered to the liquid supply device at a time greater than the preset time, and after a period of operation, the liquid may be reduced to the delivery time during normal operation.
  • the cleaning robot can also be controlled to wet the mop by walking in a preset path before starting the wet towing, for example, the mopping robot can be controlled to start moving according to the program forward, backward, steering, etc.
  • the liquid accumulated on the mop is completely absorbed by the mop to achieve the purpose of moistening the mop in a large area.
  • the cleaning robot installs the mop and walks to the starting position with the mopping module raised, it can walk forward and backward near the starting point to moisten the mop.
  • the cleaning can be controlled
  • the robot walks to the starting position of the wet tow and starts the wet towing from the starting position.
  • the cleaning robot fully moistens the mop before the mop, to ensure that only when the mop is moistened near the seepage point, the cleaning effect is poor.
  • the control module may control the cleaning robot to transmit information to the user to unload the wiper, or at least unload the wiper.
  • the cleaning robot can control the cleaning robot to transmit the information of unloading the mop to the user, or unload the mop, or unload the mopping module; it can also transmit the information of the mop to be replaced to the user , Or replace the mop, or replace the mopping module.
  • the cleaning robot will not have the old contaminated mop, which avoids the phenomenon of mold and odor caused by not cleaning the old mop in time.
  • the unloaded wipes can also be recycled to avoid contaminating the user's home with the old mop unloaded on the ground or the base plate of the base station.
  • the user may be sent a message to uninstall the mop through the signal sending module, or the user may be notified to uninstall the mop through an instruction unit installed on the fuselage, or the cleaning robot may go to the base station to uninstall the mop by itself.
  • the user can directly throw away the old mop, or install a new mop on the robot.
  • the robot can return to the base station to unload the dirty mop.
  • the cleaning robot walks to the base station and completes the unloading of the old mop at the first operating position 201.
  • the mop replacement device of base station 300 The old mop is recycled to the old mop slot 204, and then the robot directly travels to the base station to stand by, or the cleaning robot can also install a new mop and stand by, which is not limited in this application. After that, after a certain number of mops have been collected in the old mop trough 204, the user can collectively process the old mop.
  • the user controls the machine in the app to work in accordance with the default "dry-drag-on-wet-drag" work mode, and controls the robot to dry-drag and then wet-drag the work area.
  • the robot can dry-pull the work area first.
  • the liquid transfer device is controlled to be locked and closed.
  • the robot automatically returns to the base station to replace the mop.
  • control the machine to walk to the starting point when the mopping module is in the lifted state to start the wet mopping work.
  • the control module may restrict the liquid supply device to transfer liquid to the mopping module.
  • the uninterrupted water supply of the water tank will cause the mop to bubble or the ground to generate a large amount of water, and the problem of foaming the floor can protect the cleaning robot and protect the floor Not to be damaged by liquid, and to ensure the purpose of mopping effect.
  • Restricting the liquid supply device to transfer liquid to the mopping module may be to control the liquid supply device to stop transferring liquid to the mopping module; or it may be to control the liquid supply device to mop compared to the case where the liquid supply device transfers liquid in the wet drag mode
  • the module delivers less liquid.
  • control module when the cleaning robot is in the wet drag mode, restricts the liquid supply device to transfer liquid to the mopping module when an abnormality of the cleaning robot is detected.
  • control module may restrict the liquid supply device to transfer liquid to the mopping module when it is detected that the cleaning robot is trapped or stuck or the controller malfunctions. For example, an abnormal situation that is trapped by an obstacle or the drive wheel falls into a recessed area.
  • the cleaning robot may further include a mop detection device 90 electrically connected to the control module, the mop detection device 90 is used before the cleaning robot starts to perform the mopping work or the process of performing the mopping work In the process, it is detected whether the mop is installed on the cleaning robot. If it is not abnormal, the control module restricts the liquid supply device to transfer liquid to the mop; if the mop is installed on the cleaning robot, the mopping work is started.
  • 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 restricts the liquid supply device to transfer liquid to the mopping module when it is detected that the mopping module is at a non-mopping height within a preset time period.
  • the cleaning robot further includes a lifting mechanism, and the control module controls the lifting mechanism to lift the mopping module from the first position to the second position relative to the work surface when performing the mopping work.
  • the control module controls the lifting mechanism to lift the mopping module from the first position to the second position relative to the work surface when performing the mopping work.
  • control module controls the lifting mechanism to lift the mopping module from the first position to the second position relative to the work surface under the following circumstances, which may include but not limited to at least one of the following: the cleaning robot returns to the base station to replace the mopping module, The cleaning robot is in a state where the floor is suspended and suspended.
  • the lifting mechanism can be controlled to lift the mopping module from the first position to the second position relative to the work surface, and limit Liquid supply.
  • the control module controls the lifting mechanism to lift the mopping module from the first position to the second position relative to the working surface, To control the cleaning robot to cross the non-working surface.
  • the cleaning robot crosses the non-working surface
  • the liquid supply device is restricted from transferring liquid to the mopping module.
  • the control module controls the lifting mechanism to lower the mopping module from the second position relative to the working surface to the first position, and the liquid supply device transfers liquid to the mopping module.
  • the control module controls the lifting mechanism to move the mopping module 40 Raised from a first position 34 relative to the ground to a second position 36 to control the cleaning robot to cross the carpet.
  • the mopping module 40 has been in a lifted state, and during the process of the cleaning robot crossing the carpet, the liquid supply device stops sending liquid to the mopping module to ensure that the mop is not stained by the floor and the carpet is not Wet by mop.
  • control module controls the lifting mechanism to lower the mopping module from the second position 36 to the first position 34, and the liquid supply device resumes the state of transferring liquid to the mopping module, ensuring that the machine can perform mopping normally jobs.
  • control module when the cleaning robot is in the wet mop mode, restricts the liquid supply device from transferring liquid to the mopping module while the cleaning robot is in the process of replacing the mop or mopping module.
  • the control module can control the liquid supply device to stop transferring liquid to the mopping module.
  • control The module controls the liquid supply device to resume normal liquid supply to the mopping module.
  • 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 or may also be used to indicate Whether the liquid reservoir is installed on the robot.
  • 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 or may also be used to indicate Whether the liquid reservoir is installed on the robot.
  • the instruction unit can send out the voice message "Master, the water volume is insufficient, please add water to me".
  • 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 mo
  • 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 liquids in the two liquid reservoirs respectively, and control the liquid delivery device corresponding to the liquid reservoirs 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 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.
  • the first and second before all kinds of 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 and The second hoses are all hoses, but they are two different hoses.
  • the first hose and The second hoses are all hoses, but they are two different hoses.
  • only two liquid reservoirs are taken as an example for description, or more than two liquid reservoirs may be used, the principle is the same, This application will not repeat them.
  • 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)
  • Electric Suction Cleaners (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot de nettoyage et un procédé de commande, le robot de nettoyage (100) comprenant : un corps de machine (10) ; un mécanisme de marche (20), qui supportr le corps de machine (10) et qui amène le robot de nettoyage (100) à marcher ; un module de puissance (80), qui fournit une force d'entraînement de marche et d'actionnement pour le robot de nettoyage (100) ; un module d'essuyage de sol (40), permettant un montage sur le corps de machine (10) et l'exécution d'une opération prédéfinie d'essuyage de sol, un balai d'essuyage pouvant être monté sur le module d'essuyage de sol (40) ; et un module de commande (60), qui est électriquement connecté au module de puissance (80) et qui commande le module de puissance (80) de façon à réaliser la marche automatique et l'actionnement automatique du robot de nettoyage (100). Le robot de nettoyage (100) comprend en outre un appareil d'alimentation en liquide et le module de commande (60) peut, en fonction des conditions actuelles d'essuyage de sol, amener l'appareil d'alimentation en liquide à conduire un liquide jusqu'au module d'essuyage de sol (40). Le procédé de commande comprend les étapes suivantes : en mode d'essuyage humide, lorsque des conditions prédéfinies sont vérifiées, le module de commande (60) empêche l'appareil d'alimentation en liquide de conduire un liquide jusqu'au module d'essuyage de sol (40). Le présent robot de nettoyage peut réaliser efficacement une opération d'essuyage de sol, a un degré élevé d'automatisation, allège la charge sur un utilisateur et améliore l'expérience de l'utilisateur. Comme l'appareil d'alimentation en liquide peut être commandé de manière intelligente et autonome en fonction de conditions actuelles d'essuyage de sol pour conduire un liquide jusqu'au balai d'essuyage, la durée de vie des matériaux de revêtement de sol, tels que des lames de parquet et des articles similaires, est ainsi étendue lors d'un entretien ménager d'utilisateur.
PCT/CN2019/127044 2018-12-21 2019-12-20 Robot de nettoyage et procédé de commande WO2020125758A1 (fr)

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JP2021536292A JP2022514791A (ja) 2018-12-21 2019-12-20 掃除ロボット及び制御方法
KR1020217019203A KR102611848B1 (ko) 2018-12-21 2019-12-20 로봇청소기 및 제어방법
EP19900880.6A EP3900602A4 (fr) 2018-12-21 2019-12-20 Robot de nettoyage et procédé de commande
US17/417,059 US20220047141A1 (en) 2018-12-21 2019-12-20 Cleaning robot and control method

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CN201811572174 2018-12-21
CN201811572166 2018-12-21
CN201811572174.X 2018-12-21
CN201811572166.5 2018-12-21
CN201910250300 2019-03-29
CN201910250300.8 2019-03-29

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KR102611848B1 (ko) 2023-12-08
US20220047141A1 (en) 2022-02-17
JP2022514791A (ja) 2022-02-15
KR20210108959A (ko) 2021-09-03
CN111345745A (zh) 2020-06-30
EP3900602A1 (fr) 2021-10-27
EP3900602A4 (fr) 2022-09-14
WO2020125758A9 (fr) 2020-10-08

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