WO2021027446A1 - 清洁机器人的流体施加方法及清洁机器人 - Google Patents
清洁机器人的流体施加方法及清洁机器人 Download PDFInfo
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- WO2021027446A1 WO2021027446A1 PCT/CN2020/100867 CN2020100867W WO2021027446A1 WO 2021027446 A1 WO2021027446 A1 WO 2021027446A1 CN 2020100867 W CN2020100867 W CN 2020100867W WO 2021027446 A1 WO2021027446 A1 WO 2021027446A1
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- fluid
- cleaning
- cleaning robot
- storage tank
- liquid supply
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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
- 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—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
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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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
- A47L11/4019—Fill level sensors; Security means to prevent overflow, e.g. float valves
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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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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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
- A47L11/408—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
-
- 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 present invention claims the priority of an earlier application filed with the State Intellectual Property Office of China on August 14, 2019, with an application number of 201910749506.5 and an invention title of "fluid application method for cleaning robots and cleaning robots".
- the content of the foregoing earlier application is based on The method of introduction is incorporated into this text.
- the invention relates to the field of intelligent robots, in particular to a cleaning robot fluid application method and a cleaning robot.
- Cleaning robots are mainly used to replace labor and are engaged in cleaning work in the home environment.
- the cleaning robot integrates automatic cleaning technology and human intelligent design.
- intelligent cleaning robots in the existing market, in order to further meet the cleaning needs of users, it will greatly reduce the heavy tasks of users sweeping and mopping.
- the cleaning robot has gradually realized the multi-functional development from vacuuming, cleaning to washing and mopping, mainly by setting up a water tank inside the intelligent cleaning robot, and the user only needs to fill the water tank with water and put it inside the intelligent cleaning robot , Start the corresponding working mode, the intelligent cleaning robot can realize the function of scrubbing or mopping the floor.
- Its internal mainly involves water supply technology.
- the existing cleaning robot has a single water supply mode. After entering the water supply process, the water flow will continue Outflow, resulting in excessive water output and poor cleaning effect, making it difficult to meet the user's needs.
- the technical problem to be solved by the present invention is to provide a cleaning robot fluid application method and a cleaning robot.
- the cleaning robot intelligently controls the liquid storage tank to apply fluid to the cleaning part in different liquid supply modes when the cleaning robot is in different working modes. , Or control the liquid storage tank to stop applying fluid to the cleaning element, and can effectively control the amount of fluid applied to the cleaning element, thereby improving the cleaning effect and enhancing the user experience.
- the present invention provides a cleaning robot, including:
- the driving component is configured to drive the cleaning robot to move on the surface to be cleaned
- the liquid storage tank is configured to store fluid
- a cleaning element that cooperates with the fluid in the liquid storage tank to clean the surface to be cleaned
- the controller is installed in the main body, and the controller is configured to:
- the amount of fluid applied to the cleaning element in the first liquid supply mode is different from the amount of fluid applied to the cleaning element in the second liquid supply mode.
- the first liquid supply mode is that the liquid storage tank applies fluid to the cleaning element every first time interval, and the liquid storage tank stops applying fluid every second time interval. To the cleaning piece;
- the liquid storage tank applies fluid to the cleaning element every third time interval, and the liquid storage tank stops applying fluid to the cleaning element every fourth time interval.
- the first duration is less than the third duration, and the second duration is greater than the fourth duration.
- the first duration is less than the second duration, and the third duration is greater than the fourth duration.
- the first liquid supply mode and the second liquid supply mode both open and close the liquid storage tank in a cyclic manner to apply fluid to the cleaning element.
- the cleaning robot when the cleaning robot enters the first working mode, when the cleaning robot detects that the liquid storage tank is in communication with the cleaning element, the first liquid supply is used within a preset time period. Way to apply fluid to the cleaning element;
- the controller is further configured to control the cleaning robot to enter a third working mode, so that the liquid tank stops applying fluid to the cleaning member.
- the cleaning robot enters the third working mode and satisfies at least one of the following conditions:
- the cleaning robot walks to the soft surface to be cleaned
- the power of the cleaning robot is less than the preset power or the cleaning robot is in a charging state
- the cleaning robot is in an abnormal working state.
- the amount of fluid applied to the cleaning element in the first liquid supply mode is greater than the amount of fluid applied to the cleaning element in the second liquid supply mode within the same length of time.
- the speed of applying the fluid in the first liquid supply mode is the same as the speed of applying the fluid in the second liquid supply mode.
- the present invention provides a fluid application method for a cleaning robot, including:
- the amount of fluid applied to the cleaning element in the first liquid supply mode is controlled to be greater than the amount of fluid applied to the cleaning element in the second liquid supply mode.
- the first liquid supply mode is that the liquid storage tank applies fluid to the cleaning element every first time interval, and the liquid storage tank stops applying fluid every second time interval. To the cleaning piece;
- the second liquid supply mode is that the liquid storage tank applies fluid to the cleaning element every third time interval, and the liquid storage tank stops applying fluid to the cleaning element every fourth time interval
- the first duration is less than the third duration, and the second duration is greater than the fourth duration.
- the first duration is less than the second duration, and the third duration is greater than the fourth duration.
- the present invention provides a cleaning robot, including:
- the driving component is configured to drive the cleaning robot to move on the surface to be cleaned
- the liquid storage tank is configured to store fluid
- the cleaning element is configured to cooperate with the fluid to clean the surface to be cleaned
- the controller is installed in the main body, and the controller is configured to:
- the cleaning robot is controlled to enter the second working mode, so that the liquid storage tank applies fluid to the outside in the second liquid supply mode.
- the present invention provides a cleaning robot, including:
- the driving component is configured to drive the cleaning robot to move on the surface to be cleaned
- the liquid storage tank is configured to store fluid
- the cleaning element is configured to cooperate with the fluid to clean the surface to be cleaned
- the power device is configured to provide power to control the flow or stop of the fluid in the liquid storage tank, so that the liquid storage tank applies fluid to the outside in a first liquid supply mode, or the liquid storage tank uses a second liquid supply mode Apply fluid outward.
- the present invention provides a cleaning robot, including:
- the driving component is configured to drive the cleaning robot to move on the surface to be cleaned
- the liquid storage tank is configured to store fluid
- a cleaning element that cooperates with the fluid in the liquid storage tank to clean the surface to be cleaned
- the controller is installed in the main body, and the controller is configured to:
- the liquid storage tank is controlled to apply fluid to the cleaning element in an intermittent liquid supply mode, and the intermittent liquid supply mode is to cyclically open and close the liquid storage tank to apply fluid to the cleaning element.
- the intermittent liquid supply mode includes a first liquid supply mode and a second liquid supply mode.
- the first liquid supply mode is applied to the cleaning member.
- the amount of fluid is greater than the amount of fluid applied to the cleaning element in the second liquid supply mode.
- the cleaning robot includes a main body, a driving component that drives the cleaning robot to move on the surface to be cleaned, a liquid storage tank for storing fluid, a cleaning element and a controller connected to the liquid storage tank,
- a liquid storage tank for storing fluid
- a cleaning element and a controller connected to the liquid storage tank
- Figure 1 is a perspective view of a cleaning robot in an embodiment of the present invention
- Figure 2 is a bottom view of the cleaning robot in an embodiment of the present invention.
- Figure 3 is a perspective view of a liquid storage tank in an embodiment of the present invention.
- Fig. 4 is a schematic diagram of the disassembly of the cleaning element in an embodiment of the present invention.
- FIG. 5 is a flowchart of the method steps executed by the controller
- FIG. 6 is a flow chart of applying fluid to the cleaning element in the first liquid supply mode in an embodiment of the present invention.
- Figure 7 is a flow chart of applying fluid to the cleaning element in a second liquid supply mode in an embodiment of the present invention.
- FIG. 8 is a schematic diagram of conditions for the cleaning robot to enter the third working mode in an embodiment of the present invention.
- Fig. 9 is a block diagram of a sensor system in an embodiment of the invention.
- orientation words "front”, “rear”, “left”, and “right” mentioned in this article are all referring to the forward direction of the cleaning robot, and "top”, “bottom”, “upper”, “upper” and “upper” in this article "Down”, “Horizontal”, and “Vertical” are all based on the normal working state of the cleaning robot as a reference.
- the patent of the present invention is an exemplary description that the cleaning robot is mainly used to clean the ground home environment.
- the cleaning robot may also clean other indoor or outdoor environments, such as: restaurants, stations, The cleanliness of the airport and other environments.
- FIG. 1 is a perspective view of the cleaning robot in an embodiment of the present invention
- FIG. 2 is a bottom view of the cleaning robot in an embodiment of the present invention.
- the cleaning robot of the present invention includes: a main body 10, a driving component 20 that drives the cleaning robot to move on a surface to be cleaned, and a liquid storage tank 30 configured to store fluid, which cooperates with the fluid in the liquid storage tank 30
- a cleaning element 40 for cleaning the surface to be cleaned and a controller 50 installed inside the main body 10.
- the outline of the main body is generally circular. In other embodiments, the outline of the main body 10 may be generally elliptical, triangular, D-shaped or other shapes.
- the top of the main body 10 is provided with a recess 13, the liquid storage tank 30 is installed in the recess 13, and the liquid storage tank 30 can be provided with a snap assembly to lock the liquid storage tank 30 to the recess 13.
- the driving wheel assembly 20 includes left and right driving wheels 21 and omnidirectional wheels 22.
- the left and right driving wheels 21 are mounted on the left and right sides of the bottom of the main body 10, and the bottom is the side of the main body 10 facing the surface to be cleaned.
- the driving wheel assembly 20 is configured to carry the cleaning robot and drive the cleaning robot to move on the surface to be cleaned.
- the surface to be cleaned may be a relatively smooth floor surface, a carpeted surface, and other surfaces that need to be cleaned.
- the left and right driving wheels 21 are configured to at least partially extend and retract the bottom of the main body 10.
- the omnidirectional wheel 22 is installed at a front position of the bottom of the main body 10, and the omnidirectional wheel 22 is a movable caster wheel that can rotate 360 degrees horizontally, so that the cleaning robot can turn flexibly.
- the omnidirectional wheel 22 may also be installed at a rear position of the bottom of the main body 10, and the left and right driving wheels 21 and the omnidirectional wheel 22 are installed to form a triangle to improve the walking stability of the cleaning robot.
- the controller 50 is installed on the main body 10, and the controller 50 may include a plurality of controllers 50 to control each component separately, or only one may be provided to control all components.
- the controller 50 may include a main controller provided in the main body 10, a driving part controller that senses speed information of the driving part 20 and controls the driving part 20 to adjust the operation of the cleaning robot.
- the controller of each component transmits its information to the main controller, and the main controller processes the information according to the information of each component and feeds back corresponding control instructions to each component.
- the controller 50 may be a micro control unit such as a single-chip microcomputer, FPGA, ASIC, DSP, etc.
- the cleaning robot may further include a cleaning assembly 410, the cleaning assembly 410 includes a cleaning roller brush 411, the cleaning roller brush 411 is provided in a receiving groove opened at the bottom of the main body 10, the cleaning roller brush 411 can be a cleaning brush, a cleaning rubber brush Any one or a combination of two.
- the cleaning assembly 410 may further include a side brush 412 driven by a motor, and the side brush 412 is disposed at the front left and/or front right of the main body 10. The side brush 412 can rotate along an axis substantially perpendicular to the ground.
- the side brush 412 has a plurality of bundles of long bristles arranged at intervals around the axis, and the long bristles extend outward and beyond the outline of the main body 10, and are used to clean the garbage that exceeds the outline of the main body 10 on the ground to the receiving groove at the bottom of the main body 10 position.
- One or two side brushes 412 may be provided at the bottom of the main body 10.
- FIG. 3 is a three-dimensional view of the liquid storage tank in an embodiment of the present invention
- FIG. 4 is a schematic view of a disassembly of the cleaning element in an embodiment of the present invention.
- the liquid storage tank 30 is installed in the recess 13, and the top of the liquid storage tank 30 is provided with a liquid inlet 31 for the user to add fluid to the liquid storage tank 30, and the side wall of the liquid storage tank 30
- a communication contact 32 for communicating with the controller 50 is provided.
- the controller 50 transmits a control command to the storage tank through the communication contact 32.
- the liquid tank 30 controls the liquid supply mode of the liquid storage tank 30.
- the fluid can be a cleaning fluid to more effectively remove the dirt attached to the surface to be cleaned, for example, the ground with oil stains attached, part of the fluid with the function of cleaning oil stains can be added to the liquid storage tank 30 for better cleaning. Effectively remove oil stains.
- the fluid stored in the liquid storage tank 30 is clean water, so as to wipe the surface to be cleaned.
- the cleaning element 40 is installed at a rear position of the bottom of the main body 10, and the outer edge of the cleaning element 40 has the same shape as the outer edge of the main body 10.
- the cleaning member 40 includes a pad holder 41 and a cleaning pad 42 installed on the side of the pad holder 41 facing the surface to be cleaned.
- the rear end of the pad holder 41 is provided with a pressing portion 45, and the pad holder 41 faces the A hook 44 is provided on the bottom surface of the main body 10. Pressing the pressing portion 45 can control the hook 44 to retract, and releasing the pressing portion 45 can control the hook 44 to extend.
- the bottom of the main body 10 is provided with a catch protrusion corresponding to the hook 44, and the cushion bracket 41 can be installed on the main body 10 or the cushion bracket 41 can be removed from the main body 10 by pressing or releasing the pressing portion 45.
- the main body 10 is disassembled.
- the cleaning pad 42 is installed on the pad support 41 and fixed by Velcro.
- the bottom of the liquid storage tank 30 is provided with a liquid outlet, and the pad bracket 41 and the recess 13 are provided with a fluid guide hole 43 at the positions corresponding to the liquid outlet, and the fluid flowing out of the liquid storage tank 30 Lead to the cleaning pad 42.
- the fluid flowing out of the liquid storage tank 30 may be guided to the cleaning pad 42 through an external water pipe.
- the cleaning pad 42 is attached to the surface to be cleaned to clean the surface to be cleaned.
- FIG. 5 is a flowchart of method steps executed by the controller.
- the cleaning robot is turned on and the controller 50 starts to operate.
- the communication contact 32 and the controller 50 are connected through a first circuit.
- the cleaning element 40 is installed on the main body 10
- step S20 is executed and the cleaning robot enters the first working mode, and controls the liquid storage tank 30 to apply fluid to the cleaning element in the first liquid supply mode.
- S20 Control the cleaning robot to enter the first working mode, so that the liquid storage tank 30 applies fluid to the cleaning element in the first liquid supply mode.
- FIG. 6 is a flowchart of applying fluid to the cleaning element in the first liquid supply mode in an embodiment of the present invention.
- the controller 50 controls the initialization process of the liquid storage tank 30, including step 200, the liquid storage tank 30 starts to apply fluid to the cleaning element 40, and step 201 is every first time interval.
- the liquid storage tank applies fluid to the cleaning element, and in step 202, the liquid storage tank stops applying fluid to the cleaning element every second time interval.
- the bottom of the liquid storage tank 30 is provided with a liquid outlet, which corresponds to the fluid guide hole 43 opened in the pad bracket 41 and the recess 13, and guides the fluid flowing out of the liquid storage tank 30 to the cleaning pad 42.
- the liquid storage tank 30 starts to apply fluid to the cleaning element 40, and the fluid application period reaches the first After two hours, the liquid storage tank 30 stops applying fluid to the cleaning element 40. After the liquid storage tank 30 stops applying fluid to the cleaning element 40 for the first time period, the liquid storage tank 30 again A fluid is applied to the cleaning member 40.
- step 203 Whether the execution of step 203 reaches the preset duration, the controller 50 executes the step 201 in the control cycle every first time interval, the liquid tank applies fluid to the cleaning element and the step 202 every second time interval.
- the liquid storage tank stops applying fluid to the cleaning element, time is counted, and it is determined in real time whether the cumulative duration of the first duration and the second duration reaches the preset duration, if the preset duration is reached, step S30 is executed, if not
- step 201 and step 202 are continuously executed in a loop.
- the first liquid supply mode is to open and close the liquid storage tank 30 in a cyclic manner to apply fluid to the cleaning element 40.
- the method of opening or closing the liquid storage tank 30 may be to provide other components to open or close the liquid outlet, or it may be controlled by changing the air pressure inside the liquid storage tank 30 to control the flow of fluid or not.
- the liquid storage tank 30 is controlled to apply fluid to the cleaning element 40 in the first liquid supply mode for a preset time period, and the liquid storage tank 30 stops applying fluid to the cleaning element 40
- the first time duration of 40 is less than the second time duration of the liquid storage tank 30 applying fluid to the cleaning element 40.
- step S30 is executed to enter the second working mode of the cleaning robot.
- S30 Control the cleaning robot to enter the second working mode, so that the liquid storage tank applies fluid to the cleaning element in the second liquid supply mode.
- the applying fluid to the cleaning element in the second liquid supply mode includes step 301, applying fluid to the cleaning element 40 every third time interval, and step 302, applying fluid to the cleaning part 40 every fourth time interval. 30 stops applying fluid to the cleaning member 40.
- the cleaning robot enters the second working mode.
- the liquid storage tank 30 applies fluid to the cleaning element 40 in the second liquid supply mode. After the liquid storage tank 30 applies fluid to the cleaning element 40 for the fourth time period, it stops.
- the fluid is applied to the cleaning element 40, and when the time period for stopping the application of the fluid to the cleaning element 40 reaches the third time period, the liquid storage tank 30 applies fluid to the cleaning element 40 again.
- the second liquid supply mode is to open and close the liquid storage tank 30 in a cyclic manner to apply fluid to the cleaning element 40.
- the method of opening or closing the liquid storage tank 30 may be to provide other components to open or close the liquid outlet, or it may be controlled by changing the air pressure inside the liquid storage tank 30 to control the flow of fluid or not.
- the cleaning robot After the cleaning robot enters the second working mode, it starts to perform cleaning work.
- the liquid storage tank 30 applies fluid to the cleaning member 40 so that the cleaning member 40 has been wetted.
- the speed of applying the fluid in the first liquid supply mode is the same as the speed of applying the fluid in the second liquid supply mode.
- the third time period for closing the liquid storage tank 30 to apply fluid to the cleaning element 40 is longer than the fourth time period for opening the liquid storage tank 30 to apply fluid to the cleaning element 40.
- the first time period during which the liquid tank 30 stops applying fluid to the cleaning element 40 in the first liquid supply mode is shorter than the second time period during which the liquid tank 30 applies fluid to the cleaning element 40.
- the amount of fluid that the liquid storage tank 30 applies to the cleaning element 40 is reduced.
- the amount of fluid applied to the cleaning element in the first liquid supply mode is greater than the amount of fluid applied to the cleaning element in the second liquid supply mode within the same length of time.
- the amount of fluid applied to the cleaning element 40 in the first liquid supply mode greater than the amount of fluid applied to the cleaning element 40 in the second liquid supply mode, it can also be achieved in the following manner:
- the second time period for opening the liquid storage tank 30 to apply fluid to the cleaning element 40 in the first liquid supply mode is longer than opening the liquid storage tank 30 to apply fluid to the cleaning element 40 in the second liquid supply mode
- the first time period for closing the liquid storage tank 30 to apply fluid to the cleaning element 40 in the first liquid supply mode is less than the first time period for closing the liquid storage tank 30 to apply fluid in the second liquid supply mode To the third time period of the cleaning member 40.
- the amount of fluid applied to the cleaning element in the first liquid supply mode is greater than the amount of fluid applied to the cleaning element in the second liquid supply mode within the same length of time.
- the cleaning member 40 is prevented from being too wet. After mopping the surface to be cleaned, liquid will drip to the cleaning surface, causing secondary pollution, effectively improving the cleaning effect and improving users Experience.
- the controller 50 monitors whether the operating state of the cleaning robot meets the conditions for entering the third working mode. If it is satisfied, the cleaning robot is controlled to enter the third working mode. If it is not satisfied, it continues to apply fluid to the cleaning member 40 in the second liquid supply mode, and in the process, it controls every third time interval in a cyclic manner.
- the liquid storage tank applies fluid to the cleaning element, and the liquid storage tank 30 stops applying fluid to the cleaning element 40 every fourth time interval. Until step S40 is executed.
- the cleaning robot may further include a power device configured to provide power to control the flow or stop of the fluid in the tank.
- the power device may be a water pump, and the controller 50 may control the liquid storage tank 30 to apply fluid to the cleaning member 40 by controlling the water pump to start or stop pumping water. Specifically, it may control the power of the water pump.
- the pumping rate By changing the pumping rate, the amount of fluid applied to the cleaning element in the first liquid supply mode is different from the amount of fluid applied to the cleaning element in the second liquid supply mode. For example, when the cleaning robot enters the first working mode, the water pump runs at the first power, and the liquid storage tank 30 is controlled to apply fluid to the cleaning member in the first liquid supply mode.
- the water pump runs at the second power, and the liquid storage tank 30 is controlled to apply fluid to the cleaning element 40 in the second liquid supply mode.
- the first power is greater than the second power, so that the The flow rate of the fluid in the second liquid supply mode is greater than the flow rate of the fluid in the second liquid supply mode, and the liquid storage tank 30 has the same opening and stopping time for the liquid supply in the first liquid supply mode and the second liquid supply mode.
- the fluid is applied to the cleaning element so that the amount of fluid applied to the cleaning element in the first liquid supply mode is greater than the amount of fluid applied to the cleaning element in the second liquid supply mode.
- the power device may also be a moving part, and the movement of the moving part may control the opening or closing of the liquid outlet to control the liquid tank 30 to apply fluid to the cleaning member 40.
- the movement of the moving part is driven by a motor. In the original state, the moving part closes the liquid outlet. When the motor rotates forward, the moving part moves so that the liquid outlet is opened. The fluid in the liquid storage tank 30 flows out, and after the time period for applying fluid to the cleaning element reaches the second time period or the fourth time period, the controller 50 controls the motor to reverse and the moving part The liquid port is closed, and the liquid tank 30 stops applying fluid to the cleaning element. After the duration of stopping the fluid application reaches the first duration or the third duration, the motor rotates forward again to open the liquid outlet until the cleaning robot enters other working modes.
- the controller may be configured to control the cleaning robot to enter the first working mode, so that the liquid storage tank applies fluid to the outside in the first liquid supply mode, and controls the cleaning robot to enter the first working mode.
- the liquid storage tank applies fluid to the outside in the second liquid supply mode.
- the outwardly applied fluid may be directed in any direction other than the body of the cleaning robot.
- the cleaning robot is an air humidifier
- the cleaning robot may apply fluid toward or around the top of the cleaning robot.
- the first working mode of the cleaning robot may be a working mode with a slower walking speed. The cleaning robot needs to detect the surrounding environment while walking to determine the humidified area and the non- humidified area.
- the second working mode is a working mode with a slower walking speed.
- the external application of fluid by the cleaning robot may also apply fluid to the surface to be cleaned.
- the cleaning robot enters the first working mode, causes the liquid storage tank 30 to apply fluid to the outside in the first liquid supply mode, and controls the cleaning robot to enter the second working mode so that the liquid storage tank supplies the liquid to the Apply fluid externally.
- the first liquid supply mode and the second liquid supply mode are the same as the foregoing embodiment, and will not be repeated again.
- the controller may also be configured to control the liquid storage tank 30 to apply fluid to the cleaning element 40 in an intermittent liquid supply mode, the intermittent liquid supply mode being cyclically opened, The liquid storage tank is closed to apply fluid to the cleaning member.
- the intermittent liquid supply mode includes a first liquid supply mode and a second liquid supply mode. Within the same length of time, the amount of fluid applied to the cleaning element by the first liquid supply mode is greater than that of the second liquid supply mode. Means the amount of fluid applied to the cleaning element.
- FIG. 8 is a schematic diagram of conditions for the cleaning robot to enter the third working mode in an embodiment of the present invention
- FIG. 9 is a block diagram of the sensor system in an embodiment of the present invention.
- the cleaning robot enters the third working mode and satisfies at least one of the following conditions:
- the 401 cleaning robot walks to the soft surface to be cleaned.
- the cleaning robot detects that the cleaning robot is walking to a soft surface to be cleaned during the cleaning process in the second working mode, the cleaning robot is controlled to enter the third working mode.
- the soft surface to be cleaned is a surface that is not suitable for wet mopping, such as carpets or blankets.
- the sensor system 60 may also include a surface type detection sensor 61 to be cleaned.
- the surface type detection sensor 61 to be cleaned may be an infrared sensor. Different types of surfaces to be cleaned reflect different infrared sensor signals. The reflection of the infrared sensor signal on the surface is strong.
- the surface to be cleaned type detection sensor 61 may be a visual sensor, which recognizes the type of the surface to be cleaned by comparing different pixels on the visual image of the surface to be cleaned.
- the cleaning robot includes a cleaning roller brush 411, the surface type detection sensor 61 to be cleaned may be a sensor that detects changes in the current of the driving motor of the cleaning roller brush 411, and the cleaning robot runs until the carpet or carpet is laid.
- the increase of the cleaning resistance will cause the current of the drive motor of the cleaning roller to increase, so as to determine that the cleaning robot runs to the soft surface to be cleaned. It is detected that the cleaning robot is walking to the soft surface to be cleaned, the cleaning robot is controlled to enter the third working mode, and the liquid storage tank 30 is controlled to stop applying fluid to the cleaning member 40.
- the power of the cleaning robot 402 is less than the preset power.
- the cleaning robot will continuously consume the power of the battery when performing the cleaning work in the second working mode.
- the sensor system 60 may include a power monitoring sensor 62 for detecting the power of the battery.
- the cleaning robot needs to find the rechargeable socket and return to the rechargeable socket for charging.
- the cleaning robot enters the third working mode and controls the liquid storage tank to stop applying fluid to the cleaning part, so as to reduce the consumption of battery power and prevent the cleaning robot from looking for the charging seat In the process, the battery runs out and the machine crashes.
- the power detection sensor 62 can obtain the current battery power by detecting information such as current or voltage.
- the 403 cleaning robot is in a charging state.
- the cleaning robot looks for a charging seat because the power is lower than the preset power.
- the cleaning robot enters a third working mode and controls the liquid tank to stop applying fluid to the cleaning part.
- the sensor system 60 may include a working state sensor 63 for detecting the working state of the cleaning robot.
- the working state sensor 63 may be a charging base docking sensor, that is, it may detect that the cleaning robot is successfully docked with the charging contacts of the charging base, and control
- the liquid storage tank 30 stops applying fluid to the cleaning element 40 to prevent the fluid from flowing out and contacting the charging contacts of the charging base, causing a short circuit of the charging circuit or bringing other potential safety hazards.
- the 404 cleaning robot is in an abnormal working state.
- the abnormal working state of the cleaning robot is also detected by the working state sensor 63.
- the working state sensor 63 also includes a collision sensor or an obstacle detection sensor arranged in the front of the main body 10, and the collision sensor is configured to detect the cleaning Information about collisions between the robot and objects in the environment during the operation of the robot, and the obstacle detection sensor is configured to detect information about the operating environment of the robot, so as to reduce the collision between the main body 10 and the objects as much as possible.
- the collision sensor is triggered when the cleaning robot moves in all directions or turns, it can be considered that the cleaning robot is trapped.
- the working state sensor 63 also includes a drive component sensor, which can detect the operating conditions of the left and right drive wheels and the front wheels, and can determine whether the cleaning robot is in a normal working state.
- the omnidirectional wheel sensor is arranged at the position of the main body 10 on which the omnidirectional wheel 22 is installed, the omnidirectional wheel 22 is provided with a black and white wheel alternately with color blocks, and the driving component sensor is an infrared sensor, which is reflected by the black block When there is no signal output, when the white block is reflected, there is a signal output.
- the omnidirectional wheel 22 rotates, the black block and the white block alternately reflect the light emitted by the omnidirectional wheel sensor, and alternate Signal output. If the signal detected by the omnidirectional wheel sensor continues to have no signal output or continues to be output with the same signal within a predetermined time period, it can be determined that the cleaning robot is in an abnormal working state.
- the driving part sensor may also be a sensor that detects the driving motors of the left and right driving wheels.
- the driving part sensor detects that the current or voltage of the driving motors of the left and right driving wheels is in an abnormal state to determine cleaning.
- the robot is in an abnormal working state
- the cleaning robot enters the third working mode, and the liquid storage tank 30 is controlled to stop applying fluid to the cleaning member 40.
- the liquid storage tank 30 is controlled in time to stop applying fluid to the cleaning member 40 to prevent the cleaning robot from being applied to the cleaning when the cleaning robot is trapped in the same place or running in a small area. Too much fluid in the member 40 causes the fluid to seep out of the clean surface, causing secondary pollution to the clean surface.
- Condition five the user sends an instruction to the cleaning robot to stop applying fluid to the cleaning element.
- the cleaning robot can be instructed to stop applying fluid to the cleaning member 40.
- the instructions can be sent through peripheral devices of the cleaning robot, such as a remote control or a mobile phone APP.
- a corresponding switch can also be provided on the cleaning robot for control, and the switch can be a push-type or a touch-type.
- the cleaning robot may also have a voice interaction module, and the user may voice control the cleaning robot to stop applying fluid to the cleaning piece.
- the liquid storage tank when the cleaning robot enters different working modes, the liquid storage tank is controlled to apply fluid to the cleaning element in different liquid supply modes or the liquid storage tank is controlled to stop applying fluid to the cleaning element. ⁇ Cleaning pieces.
- the liquid storage tank can realize the intelligent control of the liquid storage tank to apply fluid to the cleaning element, and on the other hand, it can further effectively control the amount of fluid applied to the cleaning element, improve the cleaning effect and enhance the user experience.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Description
Claims (18)
- 一种清洁机器人,其中,包括:主体;驱动部件,被配置为驱动所述清洁机器人在待清洁面上移动;储液箱,被配置为储存流体;清洁件,与所述储液箱的流体相互配合清洁待清洁面;以及控制器,安装于所述主体,所述控制器被配置为:控制所述清洁机器人进入第一工作模式,使所述储液箱以第一供液方式施加流体至清洁件;控制所述清洁机器人进入第二工作模式,使所述储液箱以第二供液方式施加流体至清洁件;所述第一供液方式施加至所述清洁件的流体量与所述第二供液方式施加至所述清洁件的流体量不同。
- 根据权利要求1所述的清洁机器人,其中,所述第一供液方式为每间隔一第一时长所述储液箱施加流体至所述清洁件,每间隔一第二时长所述储液箱停止施加流体至所述清洁件;所述第二供液方式为每间隔一第三时长所述储液箱施加流体至所述清洁件,每间隔一第四时长所述储液箱停止施加流体至所述清洁件。
- 根据权利要求2所述的清洁机器人,其中,所述第一时长小于所述第三时长,所述第二时长大于所述第四时长。
- 根据权利要求2所述的清洁机器人,其中,所述第一时长小于所述第二时长,所述第三时长大于所述第四时长。
- 根据权利要求1至4任一项所述的清洁机器人,其中,所述第一供液方式和所述第二供液方式均以循环方式进行开启、关闭所述储液箱施加流体至所述清洁件。
- 根据权利要求1所述的清洁机器人,其中,所述清洁机器人进入第一工作模式为所述清洁机器人检测到所述储液箱与所述清洁件连通时,在预设时长内以所述第一供液方式施加流体至所述清洁件;所述清洁机器人进入第二工作模式为在所述第一工作模式结束后,以所述第二供液方式施加流体至所述清洁件。
- 根据权利要求1至4、6任一项所述的清洁机器人,其中,所述控制器还被配置为控制所述清洁机器人进入第三工作模式,使所述储液箱停止施加流体至所述清洁件。
- 根据权利要求7所述的清洁机器人,其中,所述清洁机器人进入第三工作模式至少满足如下条件之一:清洁机器人行走至软的待清洁面;清洁机器人的电量小于预设电量或清洁机器人处于充电状态;清洁机器人处于非正常工作状态;用户向所述清洁机器人发出停止施加流体至所述清洁件的指示。
- 根据权利要求1至4、6任一项所述的清洁机器人,其中,在大小相同的时长内,所述第一供液方式施加至所述清洁件的流体量大于所述第二供液方式施加至所述清洁件的流体量。
- 根据权利要求1至4、6任一项所述的清洁机器人,其中,所述第一供液方式施加所述流体的速度与所述第二供液方式施加所述流体的速度相同。
- 一种清洁机器人的流体施加方法,其中,包括:执行第一工作模式,以第一供液方式施加流体至清洁件;执行第二工作模式,以第二供液方式施加流体至清洁件;执行第三工作模式,停止施加流体至所述清洁件;在大小相同的时间间隔内,控制所述第一供液方式施加至所述清洁件的流体量大于所述第二供液方式施加至所述清洁件的流体量。
- 根据权利要求11所述的清洁机器人的流体施加方法,其中,所述第一供液方式为每间隔一第一时长所述储液箱施加流体至所述清洁件,每间隔一第二时长所述储液箱停止施加流体至所述清洁件;所述第二供液方式为每间隔一第三时长所述储液箱施加流体至所述清洁件,每间隔一第四时长所述储液箱停止施加流体至所述清洁件。
- 根据权利要求12所述的清洁机器人的流体施加方法,其中,所述第一时长小于所述第三时长,所述第二时长大于所述第四时长。
- 根据权利要求12所述的清洁机器人的流体施加方法,其中,所述第一时长小于所述第二时长,所述第三时长大于所述第四时长。
- 一种清洁机器人,其中,包括:主体;驱动部件,被配置为驱动所述清洁机器人在待清洁面上移动;储液箱,被配置为储存流体;清洁件,被配置为与所述流体相互配合清洁待清洁面;以及控制器,安装于所述主体,所述控制器被配置为:控制所述清洁机器人进入第一工作模式,使所述储液箱以第一供液方式向外施加流体;控制所述清洁机器人进入第二工作模式,使所述储液箱以第二供液方式向外施加流体。
- 一种清洁机器人,其中,包括:主体;驱动部件,被配置为驱动所述清洁机器人在待清洁面上移动;储液箱,被配置为储存流体;清洁件,被配置为与所述流体相互配合清洁待清洁面;以及动力装置,被配置为提供动力控制所述储液箱流体的流动或停止,使所述储液箱以第一供液方式向外施加流体,或使所述储液箱以第二供液方式向外施加流体。
- 一种清洁机器人,其中,包括:主体;驱动部件,被配置为驱动所述清洁机器人在待清洁面上移动;储液箱,被配置为储存流体;清洁件,与所述储液箱的流体相互配合清洁待清洁面;以及控制器,安装于所述主体,所述控制器被配置为:控制所述储液箱以间歇性供液方式施加流体至所述清洁件,所述间歇性供液方式为循环进行开启、关闭所述储液箱施加流体至所述清洁件。
- 根据权利要求17所述的清洁机器人,其中,所述间隙性供液方式包括第一供液方式和第二供液方式,在大小相同的时长内,所述第一供液方式施加至所述清洁件的流体量大于所述第二供液方式施加至所述清洁件的流体量。
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CN201910749506.5A CN110547727A (zh) | 2019-08-14 | 2019-08-14 | 清洁机器人的流体施加方法及清洁机器人 |
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CN115089054A (zh) * | 2022-06-29 | 2022-09-23 | 北京小米移动软件有限公司 | 清洁设备、清洁设备监控方法及装置 |
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CN115151173A (zh) * | 2020-03-22 | 2022-10-04 | 埃科莱布美国股份有限公司 | 用于地板清洁机的具有底盘清洁功能的对接站 |
CN116784724A (zh) * | 2022-03-14 | 2023-09-22 | 科沃斯机器人股份有限公司 | 自移动清洁设备的控制方法、清洁设备及可读存储介质 |
CN114675109B (zh) * | 2022-03-28 | 2024-05-14 | 湖南鹏耀科技有限公司 | 一种扫地机滚刷性能自动测试治具 |
CN114587196B (zh) * | 2022-03-29 | 2023-09-19 | 北京小米移动软件有限公司 | 清洁机器人的控制方法、装置及清洁机器人 |
CN117243530A (zh) * | 2022-06-09 | 2023-12-19 | 速感科技(北京)有限公司 | 拖地机器人及其喷水控制方法和装置以及可读存储介质 |
CN116250726B (zh) * | 2023-02-14 | 2023-11-17 | 九阳股份有限公司 | 一种米饭烹饪器具的内胆及烹饪器具 |
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