WO2023071031A1

WO2023071031A1 - Cleaning device and control method therefor

Info

Publication number: WO2023071031A1
Application number: PCT/CN2022/081665
Authority: WO
Inventors: 陈章东; 李昂; 郭盖华
Original assignee: 深圳乐动机器人有限公司
Priority date: 2021-10-29
Filing date: 2022-03-18
Publication date: 2023-05-04
Also published as: CN114027747A; CN114027747B

Abstract

The present application provides a cleaning device and a control method therefor. The cleaning device comprises a cleaning recess (1) and a cover plate (2), one end of the cleaning recess (1) is provided with an opening (11), and an accommodating cavity (12) is formed inside the cleaning recess (1); the cover plate (2) is located above the cleaning recess (1), the cover plate (2) has a first state and a second state, and in the first state, the cover plate (2) is separated from the cleaning recess (1); in the second state, the cover plate (2) covers the opening (11) so as to seal the accommodating cavity (12). According to the cleaning device, when a mopping assembly (6) is cleaned, the opening (11) of the cleaning recess (1) can be covered with the cover plate (2), so as to prevent sewage in the cleaning recess (1) from leaking out, thereby avoiding other components of a cleaning robot system from being wetted by sewage, reducing contamination to the surrounding environment, and prolonging the service life of the cleaning robot system.

Description

Cleaning device and control method thereof

This application claims priority to a Chinese patent application with application number 202111277729.X and application title "Cleaning Device" filed at the State Intellectual Property Office of the People's Republic of China on October 29, 2021, the entire contents of which are hereby incorporated by reference In this application.

technical field

The present application relates to the technical field of robots, in particular to a cleaning device and a control method thereof.

Background technique

The cleaning robot system includes a cleaning robot and a base station. The mopping component in the cleaning robot includes a mounting plate and a rag layer installed on the mounting plate. When the mopping component of the cleaning robot needs to be cleaned, the cleaning robot will automatically dock on the base station for cleaning , There are two main cleaning methods for mopping components:

(1) The cleaning robot controls the movement (rotation or translation) of the mopping component, and the cleaning tank of the base station is equipped with a fixed scraping structure;

(2) The scraping structure in the cleaning tank of the base station moves (rotates or translates), while the mopping component remains stationary;

In the above two cleaning methods, the cleaning robot directly docks on the base station to clean the mopping components.

Due to the flaws in the design of the base station, when the cleaning robot docks on the base station to clean the mopping components, the sewage is easy to fly on the docking platform of the base station, which will cause the cleaning robot to slip or wet the cleaning robot's vacuum components or other functional parts. Components affect the docking or vacuuming effect, as well as the realization of other related functions.

technical problem

One of the objectives of the embodiments of the present application is to provide a cleaning device and its control method to solve the technical problem in the prior art that sewage is easily splashed on the docking platform of the base station when cleaning the mopping components.

technical solution

The technical scheme that the embodiment of the present application adopts is:

In the first aspect, a cleaning device is provided for cleaning mopping components, including:

a cleaning tank, one end of the cleaning tank has an opening, and the inside of the cleaning tank forms an accommodating cavity, and the accommodating cavity is used for accommodating the mopping component; and

a cover plate located above the cleaning tank, the cover plate has a first state and a second state, and in the first state, the cover plate is separated from the cleaning tank;

In the second state, the cover plate covers the opening to seal the accommodating cavity.

In one embodiment, the cleaning device further includes a connecting piece, the connecting piece is rotatably connected to the cover plate, and in the second state, the connecting piece is detachably connected to the mopping assembly, And drive the mop assembly to rotate.

In one embodiment, the cleaning device further includes a driving member, which is in transmission connection with the connecting member, and is used to drive the connecting member to rotate.

In one embodiment, the cleaning device further includes a lift assembly connected to the cover plate for driving the cover plate close to or away from the opening.

In one embodiment, the lift assembly includes:

screw rod, the cover plate has a screw hole suitable for the screw rod, and the screw rod is screwed into the screw hole; and

The driving part is transmission connected to the screw rod, so as to drive the screw rod to rotate around its own axis.

In one embodiment, the lifting assembly further includes a guide rod, the guide rod is arranged parallel to the axial direction of the screw rod, the cover plate has a guide hole, and the guide rod is slidably inserted into the guide rod. inside the hole.

In one embodiment, the cleaning device further includes a position sensor for detecting the position of the cover plate.

In one embodiment, the cleaning device further includes a controller, the controller is electrically connected to the position sensor and the lifting assembly respectively; position signal, and control the movement of the lifting assembly according to the position signal.

In one embodiment, a rib is further provided in the cleaning tank, and the rib is connected to the bottom surface of the accommodating chamber.

In one embodiment, the rib surface is provided with a plurality of convex points.

In one embodiment, a water inlet hole is provided on the side of the housing chamber and/or on the surface of the rib, and the water inlet hole is used to inject clean water or cleaning liquid into the cleaning tank;

The cleaning device also includes a water supply assembly, the water supply assembly includes a clean water tank and a clean water pipeline; one end of the clean water pipeline communicates with the clean water tank, and the other end of the clean water pipeline communicates with the water inlet hole .

In one embodiment, a guide post is provided in the accommodating cavity, and the guide post is used for mating connection with an end of the mopping assembly provided with a mopping layer.

In one embodiment, a water outlet hole is provided at the bottom of the accommodation chamber and/or the bottom of the guide post, and the water outlet hole is used to discharge the sewage in the cleaning tank;

The water outlet is provided with a valve for controlling the opening and closing of the water outlet;

The cleaning device also includes a sewage recovery assembly, the sewage recovery assembly includes a sewage tank and a sewage pipeline; one end of the sewage pipeline communicates with the sewage tank, and the other end of the sewage pipeline communicates with the water outlet hole connected.

In one embodiment, the cleaning device further includes a water level sensor, the water level sensor is arranged on the side wall of the accommodation chamber, and the water level sensor is used to monitor the water level in the accommodation chamber.

In one embodiment, the cleaning device further includes an installation ear plate connected to the cleaning tank, and the installation ear plate is used to install the cleaning tank on the base station of the cleaning robot system.

In one embodiment, the cleaning tank has a transition chamber connected between the opening and the accommodation chamber.

In a second aspect, a method for controlling a cleaning device is provided, which is suitable for the cleaning device, and the method for controlling the cleaning device includes the following steps:

Loading the mopping component, first switching the cover plate to the first state, and then transferring the mopping component to be cleaned into the cleaning tank;

To clean the mop assembly, first inject clean water or cleaning liquid into the cleaning tank, then switch the cover plate from the first state to the second state, and then clean the Mopping components;

To load out the floor mopping assembly, first switch the cover plate from the second state to the first state, and then transfer the cleaned mopping assembly out of the cleaning tank.

In one embodiment, in the step of loading the mopping component, the cover plate is first switched to the first state, and then the cleaning robot enters the base station and unloads the mopping component to be cleaned to an empty space. In the cleaning tank loaded;

In the step of loading out the mopping assembly, the cover plate is switched from the second state to the first state, and then the cleaning robot enters the base station and cleans the mopping floor Components are mounted thereon and driven away from the base station.

In one embodiment, in the step of loading the mopping component, the cover plate is switched to the first state first, and then the mopping component to be cleaned is transferred from the first storage unit by a transfer device into the cleaning tank;

In the step of loading out the floor mopping assembly, the cover plate is switched from the second state to the first state, and then the cleaned mopping assembly is removed from the cleaning The slot is transferred to the second storage unit.

In one embodiment, before the step of loading the mopping component, the control method of the cleaning device further includes the step of disassembling and assembling the mopping component;

In the step of disassembling and assembling the floor mopping component, the cover plate is maintained in the first state, and then the cleaning robot enters the base station and unloads the mopping component to be cleaned into the cleaning tank, and then The mopping component to be cleaned is transferred from the cleaning tank to the first storage unit through the transfer device, and the other mopping component that has been cleaned is transferred from the second storage unit to the storage unit. The cleaning tank is used for the cleaning robot to install the cleaned mopping assembly thereon and drive away from the base station.

Beneficial effect

The beneficial effect of the cleaning device provided by the embodiment of the present application is that compared with the prior art, the cleaning device of the present application can cover the opening of the cleaning tank when the mopping component needs to be cleaned by setting the cover plate. , can prevent the sewage in the cleaning tank from leaking out, prevent the sewage from wetting other components of the cleaning robot system, and reduce pollution to the surrounding environment, which can effectively improve the service life of the cleaning robot system.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

FIG. 1 is a schematic diagram of a three-dimensional structure of a cleaning device provided in an embodiment of the present application;

Fig. 2 is the schematic diagram of the three-dimensional structure of the cleaning tank provided by the embodiment of the present application;

Fig. 3 is the top view of the cleaning tank provided by the embodiment of the present application;

Fig. 4 is a cross-sectional structure diagram along line A-A in Fig. 3;

FIG. 5 is a flow chart of a control method for a cleaning device provided in an embodiment of the present application.

Wherein, each reference sign in the figure:

1-cleaning tank; 11-opening; 12-accommodating cavity; 13-guide column; 14-convex edge; 141-bump; 15-inlet hole; ;

2- cover plate;

3-connector;

4-driver;

5-lifting assembly; 51-screw; 52-driver; 53-guide rod;

6- mopping assembly; 61- mounting plate; 62- rag layer;

7-water supply assembly; 71-clean water tank; 72-clean water pipeline;

8-sewage recovery component; 81-sewage tank; 82-sewage pipeline.

Embodiments of the present invention

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying No device or element must have a particular orientation, be constructed, and operate in a particular orientation, and thus should not be construed as limiting the application.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

Please refer to FIG. 1 to FIG. 2 together. FIG. 1 is a schematic diagram of a three-dimensional structure of a cleaning device provided by an embodiment of the present application; FIG. 2 is a schematic diagram of a three-dimensional structure of a cleaning tank provided by an embodiment of this application. The cleaning device provided in the embodiment of the present application will now be described. The cleaning device is used to clean the mopping assembly 6, and the cleaning device includes a cleaning tank 1 and a cover plate 2; one end of the cleaning tank 1 has an opening 11, the other end of the cleaning tank 1 is closed, and the inside of the cleaning tank 1 forms an accommodating chamber 12. The accommodating cavity 12 is used to accommodate the floor mopping assembly 6; the cover plate 2 is located above the cleaning tank 1, and the cover plate 2 has a first state and a second state. In the first state, the cover plate 2 is separated from the cleaning tank 1. In the second state, the cover plate 2 is closed to the opening 11; that is, when the cover plate 2 is separated from the cleaning tank 1, it is the first state of the cover plate 2; when the cover plate 2 is closed to the opening 11, it is the cover plate 2's second state.

The cover plate 2 can be closed manually or automatically. For example, a control assembly can be set in the base station. When a cleaning instruction is given, the control component controls the cover plate 2 to cover the opening 11 , and if it detects that the cleaning is completed, controls the cover plate 2 to move away from the opening 11 of the cleaning tank 1 .

Compared with the prior art, the cleaning device provided by the present application can cover the cover plate 2 on the opening 11 of the cleaning tank 1 when cleaning the mopping assembly 6 by providing the cover plate 2, which can prevent the cleaning tank 1 from The leakage of sewage can prevent the sewage from wetting other components of the cleaning robot system and reduce the pollution to the surrounding environment, which can effectively improve the service life of the cleaning robot system.

In one embodiment of the present application, referring to FIG. 1, the cleaning device further includes a connecting piece 3, which is rotatably connected to the cover plate 2. Disconnect the connection and drive the mopping assembly 6 to rotate. By providing the connecting piece 3, the connection between the floor mopping assembly 6 and the cover plate 2 is facilitated, and it is also beneficial to control the movement of the floor mopping assembly 6 after the cover plate 2 is closed.

The connecting part 3 may include: an electromagnet and a control part. The mopping assembly 6 is provided with a magnetic guide, and the magnetic guide can be a structural member with a magnetic conduction function such as an iron block or a nickel block. An electromagnet is installed on the connector 3, and the position of the electromagnet relative to the connector 3 remains fixed. , in the state of power-on or power-off, the electromagnet absorbs the floor-mopping assembly 6, so as to realize the adsorption of the electromagnet to the floor-mopping assembly 6.

The control part is electrically connected to the electromagnet, and the control part is used to control the electromagnet to switch between power on and power off. When the electromagnet is in the energized state, the electromagnet can pick up the mopping assembly 6; when the electromagnet is in a de-energized state, the electromagnet loses its attraction to the mopping assembly 6 and the mopping assembly 6 falls off. Or, when the electromagnet is in a power-off state, the electromagnet can attract the mopping assembly 6; when the electromagnet is in a energized state, the electromagnet loses its attraction to the mopping assembly 6 to make the mopping assembly 6 fall off.

In an embodiment, please refer to FIG. 2 , FIG. 3 and FIG. 4 ; FIG. 3 is a top view of the cleaning tank provided by the embodiment of the present application; FIG. 4 is a cross-sectional structure diagram along line A-A in FIG. 3 . The mopping assembly 6 includes a mounting plate 61 and a rag layer 62 installed on the mounting plate 61; the end that is provided with the rag layer 62 is the first end of the mopping assembly 6; the end that is provided with the mounting plate 61 is the mopping assembly 6. second end. A guide post 13 is provided in the receiving chamber 12 for mating connection with the first end of the mopping assembly 6 . The side of the cover plate 2 facing the cleaning tank 1 is used for movably connecting with the second end of the mopping assembly 6 , and the mopping assembly 6 can rotate relative to the cover plate 2 or slide relative to the cover plate 2 . By setting the guide post 13, it is convenient for the floor mopping assembly 6 to be quickly put into the accommodating chamber 12 of the cleaning tank 1, which is beneficial for the floor mopping assembly 6 to clean through its own movement, greatly improving work efficiency and saving time and cost.

In an embodiment of the present application, please refer to FIG. 1 , the cleaning device further includes a driving part 4 , which is in transmission connection with the connecting part 3 , and the driving part 4 is used to drive the connecting part 3 to rotate.

By setting the driving member 4, the mopping assembly 6 can be driven to rotate automatically, which improves the cleaning efficiency and cleaning effect. Specifically, the driving part 4 is a motor, and the output shaft of the motor is connected to the connecting part 3 through transmission, so as to drive the connecting part 3 to rotate, so that the water in the mopping assembly 6 and the cleaning tank 1 generates relative motion, so as to realize the first mopping. Cleaning of component 6.

In an embodiment of the present application, please refer to FIG. 1 , the cleaning device further includes a lifting assembly 5 connected to the cover 2 for driving the cover 2 to approach or move away from the opening 11 of the cleaning tank 1 . By setting the lifting assembly 5, it greatly facilitates the automatic covering of the cover plate 2 on the cleaning tank 1, which greatly improves the working efficiency.

In one embodiment of the present application, please refer to FIG. 1 , the lifting assembly 5 includes a screw rod 51 and a driver 52; the cover plate 2 has a screw hole suitable for the screw rod 51, and the screw rod 51 is threadedly connected to the screw hole Inside; the drive member 52 is connected to the screw rod 51 through transmission, so as to drive the screw rod 51 to rotate around its own axis. The lifting assembly 5 adopts a screw rod 51 , which has high transmission efficiency and stable movement, and can accurately cover the cover plate 2 on the opening 11 of the cleaning tank 1 .

During the rotation of the screw rod 51 around its own axis relative to the cover plate 2 , it can drive the cover plate 2 to rise and fall along the axis direction of the screw rod 51 . The driving part 52 can be a motor, and the output shaft of the driving part 52 is connected to the screw rod 51 through transmission, so as to drive the screw rod 51 to rotate around its own axis.

Specifically, multiple screw rods 51 may be provided, for example two, and the multiple screw rods 51 are distributed at intervals. There are also multiple screw holes on the cover plate 2 , and there is a one-to-one correspondence between the screw holes and the screw rods 51 , and the screw holes are also distributed on the cover plate 2 at intervals. Using the synchronous rotation of multiple screw rods 51 can drive the different positions of the connector 3 to rise and fall synchronously, thereby effectively reducing the torque on the cover plate 2 and ensuring that the process of rising and falling of the cover plate 2 remains stable.

In one embodiment of the present application, please refer to Fig. 1 together, the lifting assembly 5 also includes a guide rod 53, the guide rod 53 is arranged parallel to the axial direction of the screw mandrel 51, there is a guide hole on the cover plate 2, and the guide rod 53 slides Plug into the guide hole. By setting the guide rod 53, it has a guiding effect on the movement track of the cover plate 2, prevents the cover plate 2 from running off, and improves the closing accuracy.

The guide rod 53 is partly located in the guide hole, and the guide rod 53 and the guide hole can be matched with a small gap to limit the position of the cover plate 2 by the guide rod 53, so that the cover plate 2 can only move in the vertical direction.

Specifically, a plurality of guide rods 53 may be provided, for example two, and the plurality of guide rods 53 are distributed at intervals. There are also multiple guide holes, and there is a one-to-one correspondence between the guide holes and the guide rods 53 , and the guide holes are also distributed at intervals on the cover plate 2 . Using a plurality of guide rods 53 can reduce the shaking of the cover plate 2 in the process of rising and falling, and ensure that the cover plate 2 remains stable during the process of rising and falling.

In one embodiment of the present application, please refer to Fig. 1, the cleaning device also includes a position sensor, the position sensor can be installed on the cleaning tank 1, and can also be installed on the cover plate 2 or other positions of the base station, the position sensor is used to detect the cover The position of the plate 2 is to determine whether the cover plate 2 covers the opening 11 of the cleaning tank 1 during cleaning. When not cleaning, the cover plate 2 is separated from the cleaning tank 1. By arranging a position sensor to monitor the position of the cover plate 2, the cleaning work can be avoided when the cover plate 2 is not completely closed, so as to ensure safety.

In one embodiment of the present application, please refer to Fig. 1, the cleaning device also includes a controller, the controller is electrically connected with the lifting assembly 5, the driving member 4 and the position sensor respectively, and the controller is used to receive the position of the cover plate 2 sent by the position sensor. position signal, and control the movement of the lifting assembly 5 according to the position signal. Specifically, the controller is electrically connected with the driving member 52, and the controller controls the movement of the driving member 52. When the position sensor detects that the cover plate 2 is completely covered at the opening 11 of the cleaning tank 1, the driving member 52 stops moving, and the controller The driving part 4 is controlled to start, and the floor mopping assembly 6 is driven to move, so as to realize the cleaning of the floor mopping assembly 6 .

In an embodiment of the present application, please refer to FIG. 1 to FIG. 2 together, a rib 14 is further provided in the cleaning tank 1 , and the rib 14 is connected to the bottom surface of the accommodating chamber 12 . By providing the ribs 14 in the accommodating chamber 12, when the mopping assembly 6 needs to be cleaned, the mopping assembly 6 is moved so that the mopping layer and the ribs 14 can be effectively flapped, thereby improving the cleaning effect.

In an embodiment of the present application, please refer to FIG. 2 , a plurality of bumps 141 are provided on the surface of the rib 14 . By adding bumps 141 on the surface of the rib 14, when cleaning the mopping assembly 6, the friction force between the mopping layer of the mopping assembly 6 and the rib 14 can be increased, improving the cleaning effect of the mopping layer.

In an embodiment of the present application, please refer to FIG. 1 and FIG. 2 together, the side of the accommodating chamber 12 is provided with a water inlet hole 15 for injecting clean water or cleaning liquid into the cleaning tank 1 . Alternatively, the water inlet hole 15 is arranged on the upper surface of the rib 14 . Of course, the water inlet hole 15 can also be provided on the side of the receiving chamber 12 and the upper surface of the rib 14 at the same time.

In the cleaning device of the present application, by setting the water inlet 15, clear water or cleaning liquid can be replenished in the housing chamber 12 in time, and the number of the water inlet 15 can be set in multiples, which can speed up the water inlet speed, reduce the water inlet time, and improve work efficiency.

In an embodiment of the present application, please refer to FIG. 1 to FIG. 2 , the bottom of the accommodating cavity 12 is provided with a water outlet hole 16 for discharging the sewage in the cleaning tank 1 . Alternatively, the water outlet hole 16 is provided at the bottom of the guide post 13 to form the water outlet hole 16 . Certainly, the water outlet hole 16 may also be provided at the bottom of the receiving chamber 12 and the bottom of the guide post 13 at the same time. By setting the water outlet hole 16, the sewage can be discharged from the accommodation chamber 12 conveniently. The quantity of the water outlet hole 16 can be provided in multiples, which can speed up the drainage, so that the sewage in the accommodation chamber 12 can be discharged quickly, and the working efficiency is improved.

In one embodiment of the present application, a valve may also be provided at the water outlet hole 16 to control the opening and closing of the water outlet hole 16. When clean water or cleaning liquid is injected into the accommodating chamber 12, the valve is closed, and when the sewage is discharged, the valve is opened. .

In one embodiment of the present application, please refer to Fig. 1 to Fig. 2 together, the cleaning device also includes a water supply assembly, and the water supply assembly includes a clean water tank 71 and a clean water pipeline 72; The other end of the clear water pipeline 72 communicates with the water inlet 15 .

The clean water tank 71 is used to store clean water, and the clean water tank 71 can be directly connected to water sources such as tap water pipes, so as to utilize tap water and other water sources to replenish clean water;

One end of the clean water pipeline 72 is connected to the cleaning tank 1 , specifically, one end of the clean water pipeline 72 is connected to the water inlet 15 of the cleaning tank 1 . The other end of the clean water pipeline 72 is connected to the clean water tank 71 . The clean water pipeline 72 is used to transport the clean water in the clean water tank 71 to the cleaning tank 1 . Specifically, the clean water pipeline 72 may include: a pipeline, a control valve and a clean water pump, the pipeline is used to connect the cleaning tank 1 and the clean water tank 71, and the control valve and the clean water pump are used to control whether the clean water in the pipeline flows. When it is necessary to replenish clean water to the cleaning tank 1, it is only necessary to open the control valve and the clean water pump, so that the clean water can flow into the cleaning tank 1 under the action of the clean water pump.

In one embodiment of the present application, please refer to Fig. 1 to Fig. 2 together, the cleaning device also includes a sewage recovery assembly, the sewage recovery assembly includes a sewage tank 81 and a sewage pipeline 82; one end of the sewage pipeline 82 is connected to the sewage The tank 81 communicates, and the other end of the sewage pipeline 82 communicates with the water outlet 16 .

The sewage tank 81 is used to store sewage, and the sewage tank 81 can be directly connected to the sewer and other places where sewage collects, so that the sewage can directly flow into the sewer; the sewage tank 81 can also be manually removed by the user to discharge sewage. Specifically, the sewage can be the sewage formed after cleaning the rag layer in the mopping assembly 6 in the cleaning tank 1 , or the sewage generated by cleaning the cleaning tank 1 .

One end of the sewage pipeline 82 is connected to the cleaning tank 1 , specifically, one end of the sewage pipeline 82 is connected to the outlet hole 16 of the cleaning tank 1 . The other end opposite to this one end is connected to the waste water tank 81 . The sewage pipeline 82 is used to transport the sewage in the cleaning tank 1 to the sewage tank. Specifically, the sewage pipeline 82 may include: a pipeline and a water pump, the pipeline is used to connect the cleaning tank 1 and the sewage tank 81, and the water pump is used to suck the sewage in the cleaning tank 1 into the sewage tank 81, which can improve drainage efficiency.

In one embodiment of the present application, the cleaning device also includes a water level sensor, the water level sensor is arranged on the side wall of the accommodating chamber 12, and is used to monitor the water level in the accommodating chamber 12. , stop injecting clear water or cleaning solution into the receiving chamber 12, while ensuring the cleaning effect of the rag layer of the mopping assembly 6, it can save clear water or cleaning solution and reduce unnecessary waste of resources.

In one embodiment of the present application, please refer to Fig. 1 to Fig. 2 together, the cleaning device also includes installation ear plate 17, and installation ear plate 17 is connected with cleaning tank 1, and two installation ear plates 17 are arranged symmetrically, so that The cleaning tank 1 is installed on the base station of the cleaning robot system, which can reduce the shaking of the mopping component 6 to the cleaning tank 1 during cleaning, and prevent sewage from overflowing from the accommodating chamber 12 .

In one embodiment of the present application, please refer to Fig. 1 to Fig. 4 together, the cleaning tank 1 also includes a transition chamber 18, the transition chamber communicates with the opening 11 and the accommodating chamber 12; by setting the transition chamber 18, the mop assembly 6 can be cleaned When the rag layer is used, it can prevent the sewage from splashing to the outside of the cleaning tank 1 to prevent secondary pollution; moreover, the bottom of the transition chamber 18 can be slightly inclined to the accommodation chamber 12 to facilitate the return of sewage to the accommodation chamber 12, so that the sewage can be drained from the drain. If it flows out of the hole, it can be recycled.

In one embodiment of the present application, referring to Fig. 1, the number of housing chambers 12 in the cleaning tank 1 can also be set in multiples, and the number of housing chambers 12 is determined according to the number of mopping components 6 in the cleaning robot, one housing chamber 12 Corresponding to a mopping component 6 . Generally, the cleaning robot is provided with two mopping assemblies 6, so this embodiment also provides two accommodation cavities 12, correspondingly, the two accommodation cavities 12 have the same structure, and guide posts 13 are arranged in the two accommodation cavities 12 , rib 14, water inlet hole 15 and water outlet hole 16.

Based on the structure of the cleaning device described above, this embodiment also provides a method for controlling the cleaning device. The general process is as follows:

After the cleaning robot completes the cleaning work, it enters the base station, and transfers the mopping assembly 6 in the cleaning robot to the cleaning tank 1, and the mopping assembly 6 is connected with the guide post 13; injects clean water or cleaning liquid into the cleaning tank 1; 2 Cover the opening 11 of the cleaning tank 1, and rotate the mopping assembly 6 to realize the cleaning of the mopping assembly 6. By providing the cover plate 2 , after the cleaning robot unloads the floor mopping assembly 6 to the cleaning tank 1 , the cover plate 2 is covered on the opening 11 of the cleaning tank 1 to clean the floor mopping assembly 6 . Closing the cover plate 2 before cleaning can prevent the docking platform of the base station from being wetted by sewage, and can prevent the cleaning robot from slipping or wetting the dust-absorbing components of the cleaning robot.

Specifically, please refer to Fig. 5, and refer to Fig. 1, Fig. 2, and Fig. 4 together. The control method of the cleaning device provided by the embodiment of the present application includes the steps of loading the mopping assembly, cleaning the mopping assembly, and loading out the mopping assembly. .

Wherein, in the step of loading the mopping component, the cover plate 2 is switched to the first state first, and then the mopping component 6 to be cleaned is transferred to the cleaning tank 1 . Specifically, in this step, first maintain the cover plate 2 in the first state, that is, the state separated from the cleaning tank 1, to expose the opening 11, and then pass, but not limited to, manually, manipulators, transfer devices or cleaning robots to clean the (that is, dirty) mopping assembly 6 is put into the unloaded cleaning tank 1 from the opening 11, and the mopping assembly 6 is to be cleaned.

In the step of cleaning the mopping assembly, first inject clean water or cleaning liquid into the cleaning tank 1 , then switch the cover plate 2 from the first state to the second state, and then clean the mopping assembly 6 in the sealed accommodating chamber 12 . Specifically, in this step, an appropriate amount of clear water or cleaning solution can be injected into the cleaning tank 1 from the water inlet 15 or from the opening 11, wherein whether the amount of the injected clear water or cleaning solution is appropriate can be monitored according to the water level sensor. It depends on the height of the water level, or according to the intuitive vision of the liquid submerging the mopping assembly 6; then, switch the cover plate 2 that was originally in the first state to the second state to cover the opening 11 and seal the accommodating chamber 12; Subsequently, in the relatively sealed and closed accommodating cavity 12, the rib 14 in the cleaning tank 1 and the floor mopping assembly 6 can be made to rotate one of the two, and the other one of the two to realize The cleaning operation of the floor mopping assembly 6, for this, one of the previous embodiments adopts the method of fixing the rib 14 and controlling the rotation of the mopping assembly 6 through the connector 3 of the cover plate 2, and scraping and beating the mopping assembly 6 by means of the rib 14. The mode of mopping floor assembly 6 realizes the cleaning operation to floor mopping assembly 6.

In the step of loading out the mopping assembly, the cover plate 2 is switched from the second state to the first state, and then the cleaned mopping assembly 6 is transferred out of the cleaning tank 1 . Specifically, after the cleaning of the mop assembly 6 is completed, the cover plate 2 in the second state can be switched to the first state to separate from the cleaning tank 1 and expose the opening 11; It is limited to transferring the cleaned (i.e. clean) mopping assembly 6 from the cleaning tank 1 by manual, manipulator, transfer device or cleaning robot. After the cleaning tank 1 is empty, it can be cycled to the step of loading the mopping assembly for The cleaning operation of the mopping assembly 6 to be cleaned next.

In addition, in actual application scenarios, the mopping assembly 6 is usually installed on a cleaning robot, and the cleaning device is usually installed on a base station. Based on this, the embodiment of the present application also proposes the following implementations for the control method of the cleaning device:

In one of the implementations, in the step of loading the mopping component, the cover plate 2 is first switched to the first state, and then the cleaning robot enters the base station and unloads the mopping component 6 to be cleaned to an empty cleaning tank 1; in the step of loading out the mopping assembly, first switch the cover plate 2 from the second state to the first state, then make the cleaning robot enter the base station and install the cleaned mopping assembly 6 on it, and then drive away base station.

Based on this, after the cleaning robot works for a period of time and the mopping assembly 6 is dirty, the cleaning robot can directly enter the base station and unload its mopping assembly 6 into the cleaning tank 1 of the cleaning device of the base station to mop the floor by the cleaning device. Component 6 performs cleaning operations. And, during the cleaning operation of the mopping assembly 6 by the cleaning device, the cleaning robot that has unloaded the mopping assembly 6 can drive away from the base station, and continue to use its own other functional assemblies such as the sweeping assembly to carry out related operations, so as to improve the overall cleaning efficiency. The operating efficiency of robotic systems. Subsequently, after the cleaning device finishes cleaning the mopping assembly 6, the cleaning robot that originally unloaded the mopping assembly 6 can enter the base station again, and obtain and load the clean mopping assembly 6 that has been cleaned from the cleaning tank 1, and then Drive away from the base station to continue the cleaning operation with better cleaning effect by utilizing the purified mopping assembly 6 .

In another embodiment, in the step of loading the mopping component, the cover plate 2 is first switched to the first state, and then the mopping component 6 to be cleaned is transferred from the first storage unit to the cleaning tank 1 through the transfer device Middle; in the step of loading out the mopping assembly, the cover plate 2 is switched from the second state to the first state, and then the cleaned mopping assembly 6 is transferred from the cleaning tank 1 to the second storage unit through the transfer device.

Based on this, one or more dirty mopping components 6 to be cleaned can be stored through the first storage unit, and one or more clean mopping components 6 that have been cleaned can be stored through the second storage unit, To reduce cross-contamination between clean and dirty mopping components 6 . And it can also be carried out through circulation: the cover plate 2 is separated from the cleaning tank 1, the transfer device obtains the mopping assembly 6 to be cleaned from the first storage unit and transfers it to the cleaning tank 1, and the cover plate 2 covers the opening 11 of the cleaning tank 1 , the cleaning tank 1 cleans the mopping component 6 in it, after cleaning is completed, the cover plate 2 is separated from the cleaning tank 1, and the transfer device transfers the cleaned mopping component 6 from the cleaning tank 1 to the second storage unit for storage, The transfer device obtains the mopping assembly 6 to be cleaned from the first storage unit and transfers it to the cleaning tank 1, etc., so as to improve the loading efficiency of the mopping assembly 6 to be cleaned, and improve the loading efficiency of the mopping assembly 6 after cleaning. output efficiency and improve the overall operating efficiency.

Therefore, before the step of loading the mopping component, the control method of the cleaning device may further include the step of disassembling and assembling the mopping component.

In the step of disassembling and assembling the floor mopping component, first keep the cover plate 2 in the first state, then let the cleaning robot enter the base station and unload the mopping component 6 to be cleaned into the cleaning tank 1, and then use the transfer device to clean the mopping component 6 The mopping assembly 6 is transferred from the cleaning tank 1 to the first storage unit, and another mopping assembly 6 that has been cleaned is transferred from the second storage unit to the cleaning tank 1, so that the cleaning robot can clean the mopping assembly 6 Mount on it and drive away from the base station.

Based on this, after the cleaning robot works for a period of time and the mopping assembly 6 is dirty, the cleaning robot can enter the base station and unload the dirty mopping assembly 6 to be cleaned into the cleaning tank 1 of the cleaning device of the base station; subsequently, The mopping assembly 6 to be cleaned can be transferred from the cleaning tank 1 to the first storage unit by the transfer device for storage, and then the clean mopping assembly 6 that has been cleaned is obtained from the second storage unit and transferred to the cleaning tank 1, for cleaning robot installation. In this way, the cleaning robot can reinstall the cleaned mopping assembly 6 within a short time of unloading the dirty mopping assembly 6 to be cleaned, and then it can leave the base station and continue to pass through the clean mopping assembly. The component 6 performs a cleaning operation with a better cleaning effect on the place, so that the overall operating efficiency of the cleaning robot system can be improved.

The above descriptions are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the application should be included in the protection of the application. within range.

Claims

A cleaning device for cleaning the floor mopping component (6), characterized in that it comprises:

A cleaning tank (1), one end of the cleaning tank (1) has an opening (11), and an accommodating chamber (12) is formed inside the cleaning tank (1), and the accommodating chamber (12) is used to accommodate the mop ground assembly (6); and

A cover plate (2), located above the cleaning tank (1), the cover plate (2) has a first state and a second state, and in the first state, the cover plate (2) and the The cleaning tank (1) is separated;

In the second state, the cover plate (2) covers the opening (11) to seal the accommodating cavity (12).
The cleaning device according to claim 1, characterized in that, the cleaning device further comprises a connecting piece (3), and the connecting piece (3) is rotatably connected to the cover plate (2). In this state, the connecting member (3) is detachably connected to the mopping assembly (6) and drives the mopping assembly (6) to rotate.
The cleaning device according to claim 2, characterized in that, the cleaning device further comprises a driving part (4), the driving part (4) is in transmission connection with the connecting part (3), and the driving part (4) ) is used to drive the connecting piece (3) to rotate.
The cleaning device according to any one of claims 1-3, characterized in that, the cleaning device further comprises a lifting assembly (5), and the lifting assembly (5) is connected to the cover plate (2) for To drive the cover plate (2) close to or away from the opening (11).
The cleaning device according to claim 4, characterized in that, the lifting assembly (5) comprises:

A screw (51), the cover plate (2) has a screw hole adapted to the screw (51), and the screw (51) is screwed into the screw hole; and

The driving member (52) is transmission-connected to the screw rod (51) to drive the screw rod (51) to rotate around its own axis.
The cleaning device according to claim 5, characterized in that, the lifting assembly (5) further comprises a guide rod (53), and the guide rod (53) is arranged parallel to the axial direction of the screw rod (51), The cover plate (2) has a guide hole, and the guide rod (53) is slidably inserted into the guide hole.
The cleaning device according to claim 4, characterized in that, the cleaning device further comprises a position sensor for detecting the position of the cover plate (2).
The cleaning device according to claim 7, characterized in that, the cleaning device further comprises a controller, the controller is electrically connected to the position sensor and the lifting assembly (5) respectively; the controller is used to receive The position sensor sends out the position signal of the cover plate (2), and controls the movement of the lifting assembly (5) according to the position signal.
The cleaning device according to any one of claims 1-3, characterized in that, a rib (14) is further provided in the cleaning tank (1), and the rib (14) is connected to the accommodating chamber (12) bottom surface.
The cleaning device according to claim 9, characterized in that, the surface of the rib (14) is provided with a plurality of convex points (141).
The cleaning device according to claim 9, characterized in that, the side of the housing chamber (12) and/or the surface of the rib (14) are provided with water inlet holes (15), and the water inlet holes (15 ) is used to inject clean water or cleaning solution into the cleaning tank (1);

The cleaning device also includes a water supply assembly, the water supply assembly includes a clean water tank (71) and a clean water pipeline (72); one end of the clean water pipeline (72) communicates with the clean water tank (71), and the clean water The other end of the pipeline (72) communicates with the water inlet hole (15).
The cleaning device according to any one of claims 1-3, characterized in that, a guide post (13) is provided in the accommodating chamber (12), and the guide post (13) is used for mopping the floor The assembly (6) is provided with one end of the rag layer (62) for mating connection.
The cleaning device according to claim 12, characterized in that, the bottom of the accommodation chamber (12) and/or the bottom of the guide post (13) is provided with a water outlet hole (16), and the water outlet hole (16) Used to discharge the sewage in the cleaning tank (1);

The water outlet hole (16) is provided with a valve for controlling the opening and closing of the water outlet hole (16);

The cleaning device also includes a sewage recovery component, the sewage recovery component includes a sewage tank (81) and a sewage pipeline (82); one end of the sewage pipeline (82) communicates with the sewage tank (81), so The other end of the sewage pipeline (82) communicates with the water outlet hole (16).
The cleaning device according to any one of claims 1-3, characterized in that, the cleaning device further comprises a water level sensor, the water level sensor is arranged on the side wall of the accommodating cavity (12), and the water level sensor It is used for monitoring the water level in the accommodating chamber (12).
The cleaning device according to any one of claims 1-3, characterized in that, the cleaning device further comprises an installation ear plate (17) connected to the cleaning tank (1), and the installation ear plate (17 ) is used to install the cleaning tank (1) on the base station of the cleaning robot system.
The cleaning device according to any one of claims 1-3, characterized in that, the cleaning tank (1) has a transition chamber ( 18).
A control method of a cleaning device, characterized in that the control method of the cleaning device is applicable to the cleaning device according to any one of claims 1-16, and the control method of the cleaning device comprises the following steps:

Loading the mopping component, first switching the cover plate (2) to the first state, and then transferring the mopping component (6) to be cleaned to the cleaning tank (1);

To clean the mopping assembly, first inject clean water or cleaning liquid into the cleaning tank (1), then switch the cover plate (2) from the first state to the second state, and then in the sealed cleaning the mop assembly (6) in the accommodation chamber (12);

Load out the mopping assembly, first switch the cover plate (2) from the second state to the first state, and then remove the cleaned mopping assembly (6) from the cleaning tank (1) transferred out.
The control method of the cleaning device according to claim 17, characterized in that, in the step of loading the floor mopping component, the cover plate (2) is first switched to the first state, and then the cleaning robot enters the The base station unloads the mopping assembly (6) to be cleaned into the empty cleaning tank (1);

In the step of loading out the mopping assembly, the cover plate (2) is switched from the second state to the first state, and then the cleaning robot enters the base station and cleans all The ground mopping component (6) is installed thereon, and then drives away from the base station.
The control method of the cleaning device according to claim 17, characterized in that, in the step of loading the floor mopping component, the cover plate (2) is first switched to the first state, and then the transfer device The mopping component (6) to be cleaned is transferred from the first storage unit to the cleaning tank (1);

In the step of loading out the mopping assembly, the cover plate (2) is first switched from the second state to the first state, and then the cleaned mopping assembly ( 6) Transfer from the cleaning tank (1) to the second storage unit.
The control method of the cleaning device according to claim 19, characterized in that, before the step of loading the mopping component, the control method of the cleaning device further includes the step of disassembling and assembling the mopping component;

In the step of disassembling and assembling the mopping component, the cover plate (2) is maintained in the first state, and then the cleaning robot enters the base station and unloads the mopping component (6) to be cleaned to the In the cleaning tank (1), the mopping assembly (6) to be cleaned is transferred from the cleaning tank (1) to the first storage unit through the transfer device, and the cleaned another The mopping component (6) is transferred from the second storage unit to the cleaning tank (1), so that the cleaning robot can install the cleaned mopping component (6) thereon and drive away from the base station.