WO2023280054A1 - Procédé et dispositif de commande de nettoyage pour élément de lavage - Google Patents

Procédé et dispositif de commande de nettoyage pour élément de lavage Download PDF

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Publication number
WO2023280054A1
WO2023280054A1 PCT/CN2022/103212 CN2022103212W WO2023280054A1 WO 2023280054 A1 WO2023280054 A1 WO 2023280054A1 CN 2022103212 W CN2022103212 W CN 2022103212W WO 2023280054 A1 WO2023280054 A1 WO 2023280054A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
mopping
data
control
control unit
Prior art date
Application number
PCT/CN2022/103212
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English (en)
Chinese (zh)
Inventor
刘慧斌
李孟钦
胡文楠
赵文涛
段志平
郑卓斌
王立磊
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广州科语机器人有限公司
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Publication of WO2023280054A1 publication Critical patent/WO2023280054A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations

Definitions

  • the invention relates to the technical field of intelligent cleaning, in particular to a cleaning control method and device for mopping parts.
  • the cleaning of the mopping parts of the cleaning robot is carried out by spraying.
  • continuous spray cleaning is a serious waste of water resources, which increases the user's labor costs to a certain extent. The cost.
  • the embodiment of the present application provides a cleaning control method for mopping parts, which is applied to a cleaning robot and a base station used in conjunction with the cleaning robot.
  • the cleaning control method includes the following steps:
  • control the water injection system After receiving the cleaning instruction, control the water injection system to inject water into the cleaning tank so that the amount of water in the cleaning tank meets a first preset threshold; Describe the water volume value of the mop to be cleaned;
  • the embodiment of the present application also provides a mop cleaning control device, which is applied to a cleaning robot and a base station used in conjunction with the cleaning robot, including:
  • the first control unit is configured to control the water injection system to inject water into the cleaning tank after receiving the cleaning instruction, so that the amount of water in the cleaning tank meets the first preset threshold;
  • the second control unit is used to control the rotation of the dragging member for a preset time when the cleaning tank is not equipped with a wiper or a non-rotatable wiper; the second control unit is also used for when the When the cleaning tank is equipped with a rotatably controlled scraping piece, at least one of the dragging piece and the scraping piece is controlled to rotate for a preset time;
  • the third control unit controls the sewage recovery system to recover the sewage in the cleaning tank.
  • Fig. 1 is the structural representation of the cleaning robot provided by the present application.
  • Fig. 2 is a schematic diagram of the decomposition structure of the cleaning robot provided by the present application.
  • FIG. 3 is a schematic structural diagram of a base station provided by the present application.
  • FIG. 4 is a schematic diagram of a decomposed structure of a base station provided by the present application.
  • Fig. 5 is a schematic overall flow diagram of Embodiment 1 of a cleaning control method for a mop provided in the present application;
  • Fig. 6 is a schematic overall flow diagram of Embodiment 2 of a cleaning control method for mopping parts provided in the present application;
  • Fig. 7 is a schematic flow chart of the S1 step of a cleaning control method for mopping parts provided in the present application.
  • Fig. 8 is a schematic flow chart of determining the preset cycle cleaning times in a cleaning control method for mopping parts provided in the present application
  • Fig. 9 is a schematic flow chart with steps S61 and S62 of a cleaning control method for mop provided in the present application.
  • Fig. 10 is a first block flow diagram of a mop cleaning control device provided in the present application.
  • Fig. 11 is a second flow diagram of a mop cleaning control device provided in this application.
  • 100 cleaning robot; 101, mopping part; 200, base station; 201, base station body; 202, scraping part; 203, cleaning tank; 204, water injection system; 2041, clean water tank; 2042, first pump body ; 2043, the first conduit; 2044, the second water injection nozzle; 2045, the first water injection nozzle; 205, the sewage recovery system; 2051, the sewage tank; 2052, the second pump body; 2053, the second conduit; 2054, recovery Faucet; 206, cleaning the base; 1, the first control unit; 11, the first control subunit; 12, the second control subunit; 13, the third control subunit; 14, the fourth control subunit; 15, the first control subunit Fifth control subunit; 16. Sixth control subunit; 17. Seventh control subunit; 2. Second control unit; 3. Third control unit; 4. Fourth control unit; 5. First trigger unit; 6 . The fifth control unit; 7. The second trigger unit.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a Replaceable connection, or integral connection, can be mechanical connection or electrical connection, direct connection or indirect connection through an intermediary, or internal communication between two components.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a Replaceable connection, or integral connection, can be mechanical connection or electrical connection, direct connection or indirect connection through an intermediary, or internal communication between two components.
  • the embodiment of the present application discloses a cleaning control method for mopping parts, which is executed by a controller; it acts on the cleaning robot 100 shown in FIGS. 1 to 4 and the base station 200 used in conjunction with the cleaning robot 100 .
  • the cleaning robot 100 can be a floor scrubber with a mopping member 101 for wiping and mopping the working surface, and there is no specific limitation.
  • the controller may be composed of the control module of the cleaning robot 100 and/or the control module of the base station 200, or may be composed of background control and control, without limitation.
  • the base station 200 may include a base station body 201 , a water injection system 204 and a sewage recycling system 205 .
  • the base station body 201 is provided with a cleaning tank 203 capable of accommodating the mop 101 of the cleaning robot 100 .
  • the specific structure of the base station body 201 can be designed according to actual needs. For example, as shown in Figure 3 and Figure 4, the cleaning tank 203 can be directly opened on the base station body 201 for the bottom of the cabin where the cleaning robot 100 drives in;
  • the cleaning base 206 is detachable, and a cleaning tank 203 is opened on the cleaning base 206, and the cleaning base 206 is installed on the bottom of the cabin.
  • Such design facilitates cleaning and maintenance inside the cleaning tank 203 .
  • the cleaning tank 203 may be provided with a wiper 202 in contact with the mopping member 101;
  • the wiper 202 can also be designed as a fixed or rotatable control type, without limitation; as far as the structure of the wiper 202 is concerned, taking the fixed type as an example, as shown in Figure 4, it can be composed of multiple arcs.
  • the scraper blades are distributed in a circle, and the details are not limited.
  • the water injection system 204 can include a clean water tank 2041, a first pump body 2042, a first conduit 2043 and a water injection nozzle.
  • the clean water tank 2041 is installed on the base station body 201 for storing cleaning water.
  • the first pump body 2042 can be installed on the clean water tank 2041 , and the first water injection nozzle 2045 can be connected to the first pump body 2042 through the first conduit 2043 , and then connected to the clean water tank 2041 .
  • the first water injection nozzle 2045 is also connected to the water inlet of the cleaning tank 203 to realize water injection into the cleaning tank 203 .
  • the water injection system 204 can also be provided with a second water injection nozzle 2044 for adding water to the water tank inside the cleaning robot 100 .
  • the sewage recovery system 205 may include a sewage tank 2051 , a second pump body 2052 , a second conduit 2053 and a recovery nozzle 2054 .
  • the sewage tank 2051 can also be installed on the base station body 201 for storing recycled sewage.
  • the second pump body 2052 is installed on the sewage tank 2051 , and the recovery nozzle 2054 can be connected to the second pump body 2052 through the second conduit 2053 , and then connected to the sewage tank 2051 .
  • the second pump body 2052 is connected with the sewage tank 2051 .
  • the second pump body 2052 is specifically a vacuum diaphragm pump.
  • the second pump body 2052 pumps the sewage tank 2051 into a negative pressure state through a conduit. Under the action of the external atmospheric pressure, the dirty liquid in the cleaning tank 203 will pass through the cleaning tank. 203 water outlet flows out, then is sucked in the dirty water tank 2051 by the recycling nozzle 2054 through the dirty second conduit 2053.
  • the water outlet of the cleaning tank 203 may be opened at the bottom, which is not specifically limited.
  • an embodiment of a cleaning control method for mopping provided in the embodiment of the present application includes:
  • the water injection system after receiving the cleaning instruction, control the water injection system to inject water into the cleaning tank, so that the amount of water in the cleaning tank meets the first preset threshold; wherein, the first preset threshold is the part of the cleaning tank that may not pass the mop to be cleaned water value.
  • the cleaning instruction can be issued by the user or automatically by the system.
  • the control terminal issues a cleaning command for the mop, and at this time step S1 is executed, and the cleaning robot is controlled to return to the base station.
  • the cleaning instruction can be issued after it is judged that the wiping and dragging work is completed.
  • the cleaning instruction can be issued after the wiping and dragging of a certain area is completed.
  • the water injection system is controlled to inject water into the cleaning tank, so that the amount of water in the cleaning tank meets the first preset threshold.
  • the first preset threshold value can be a range value or a critical value, for example, a water volume range value within a certain range of the mopping part to be cleaned, or a water volume critical value just below the part of the mopping part to be cleaned .
  • the specific value of the first preset threshold can be determined according to the structure of the mopping member, the depth into the cleaning tank, and the volume of the cleaning tank, and will not be described in detail. Satisfying the first preset threshold is greater than or equal to the first preset threshold, that is, when the water volume in the cleaning tank is greater than or equal to the preset water volume, it can be considered that adding water is completed.
  • the configuration of the wiper with rotatable control (1) only the dragging piece is still controlled to rotate; (2) the dragging piece does not move, and only the wiper is controlled to rotate; (3) the wiper and the dragging The wipers rotate together.
  • step S21 or S22 it is possible to detect whether the cleaning robot is in place, and this detection can be by detecting the position of the cleaning robot, or detecting whether the cleaning robot is in a power-on state, that is, the cleaning robot Whether the charging end of the battery is connected to the power supply end of the base station.
  • this detection can be by detecting the position of the cleaning robot, or detecting whether the cleaning robot is in a power-on state, that is, the cleaning robot Whether the charging end of the battery is connected to the power supply end of the base station.
  • the preset time it can be obtained based on historical experimental data.
  • the sewage recovery system can be controlled to recover the sewage in the cleaning tank.
  • the water volume in the cleaning tank can also be monitored in real time.
  • the mopping member can be driven to rotate at this time to achieve rotational drying, and the water thrown out can be Flow into the cleaning tank in time for recovery.
  • the cleaning process can be controlled as follows:
  • the cleaning robot After cleaning the home environment, the cleaning robot returns to the base station, and sends a cleaning command to the base station to clean the mopping parts.
  • the base station injects clean water into the cleaning tank.
  • the cleaning robot can send a signal.
  • the base station stopped flooding.
  • the scraping action of the wiper piece will further accelerate the separation of dirt on the mopping piece. .
  • the rotation After the mopping member rotates for a preset time, the rotation can be stopped, and the sewage recovery system can be started to recover sewage.
  • step S1 it may specifically include:
  • the water volume data can be the liquid level information in the cleaning tank, which can be obtained by setting a liquid level sensor in the cleaning tank, or by setting a liquid level sensor at the bottom of the cleaning robot, or by setting the flow rate on the water inlet pipeline.
  • the valve is implemented, and there is no specific limitation.
  • step S22 when the mopping member and the scraping member are controlled to rotate together, in order to improve the cleaning efficiency, the two can be at least rotated in different directions and at the same speed, for example, the two can be controlled to rotate in opposite directions.
  • this control method can realize cycle control.
  • S1, S21 or S22, and S3 step For example, when the preset cycle cleaning times is three times, return to execute twice, and then repeat on the basis of the first cleaning. Add two cycles of cleaning to achieve a cleaner and more thorough cleaning. That is to say, after the first sewage recycling is completed, clean water can be injected repeatedly according to the preset cycle cleaning times, and the preset cycle cleaning times can be used to finally achieve the purpose of cleaning more thoroughly.
  • the determination of the number of preset cycle cleanings can be set by the user or the factory from the beginning, or it can be determined and set according to the actual situation of the mopping part. Specifically, the following steps may be included:
  • the acquisition of dirty data can be specifically obtained by first obtaining the image data of the surface of the mopping piece to be cleaned, and then matching the corresponding dirty image data in the established dirty image database, for example, by Judging whether the difference between the coverage of the dirty area on the two images meets the set range, if so, it can be regarded as a successful match, at this time, remember to read the data of the matched dirty image as a drag piece dirty data.
  • a calculation model can also be established in advance, and the calculation module can be established according to the corresponding relationship between the working range, working time and dirt data of the mopping member.
  • the working time and working range of the cleaning robot are obtained, and the obtained data are substituted into the calculation model to calculate the dirt data of the mopping parts.
  • this embodiment is not limited to the two proposed methods, and those skilled in the art can make appropriate transformations based on these.
  • S52. Based on the corresponding relationship between the dirty data and the preset cycle cleaning times, determine the preset cycle cleaning times.
  • the process of determining the number of preset cleaning cycles may be completed between receiving the cleaning command and before water injection.
  • steps are also included between the step of S21 or S22 and the step of S3:
  • whether the second preset threshold is satisfied means whether it is greater than or equal to the second preset threshold, and the second preset threshold may be a critical value or a range value summed up based on historical experience. For example, when the dirty data is greater than or equal to the second preset threshold, it can be considered that the sewage in the current cleaning tank is dirty, that is to say, the mop is dirty, and if it is dirty, it is easy to have a cleaning Unclean condition.
  • step S3 it is necessary to return to the step S1 again to realize another cleaning operation.
  • the dirt data is less than the second preset threshold, it can be considered that the sewage in the cleaning tank is not very dirty, that is to say, the mopping member is not very dirty. Therefore, after the step S3 is performed, the cleaning operation can be completed without repeated cleaning.
  • the two methods of obtaining the dirt data of the mopping parts and the data of sewage pollution can be used in combination with each other or only one of them can be used. Specifically, it can be selected and changed according to actual needs, without limitation.
  • the present application also provides a cleaning control device for mopping parts, including: a first control unit 1, used to control the water injection system to fill the cleaning tank with water after receiving the cleaning instruction, so that cleaning The amount of water in the tank satisfies the first preset threshold; the second control unit 2 is used to control the rotation of the dragging member for a preset time when the cleaning tank is not equipped with a wiper or a non-rotatable wiper; the second The control unit 2 is also used to control the dragging member and/or the scraping member to rotate for a preset time when the cleaning tank is equipped with a rotatable and controllable scraping member; the third control unit 3 controls the sewage recovery system to clean the waste water in the cleaning tank. Sewage recycling.
  • the first control unit 1 includes: a first control subunit 11, used to acquire the current water volume data in the cleaning tank; a second control subunit 12, used to compare the current water volume data with the first preset threshold;
  • the third control subunit 13 is configured to control the water injection system to inject water into the cleaning tank until the first preset threshold is met when it is judged that the current water volume data does not meet the first preset threshold.
  • a first trigger unit 5 which is used to trigger the first control unit 1, the second control unit 2 and the third control unit 3 until the predetermined condition is met after the third control unit 3 controls the sewage recovery system to complete the sewage recovery. Set cycle cleaning times.
  • a fourth control unit 4 which is used to determine the number of preset cycle cleaning times
  • the fourth control unit 4 includes: a fourth control subunit 14, which is used to obtain the dirt data of the mop; the fifth control subunit
  • the unit 15 is configured to determine the preset cycle cleaning times based on the corresponding relationship between the dirty data and the preset cycle cleaning times.
  • the fifth control unit 6 includes: a sixth control subunit 16 for acquiring the dirt data of the sewage in the cleaning tank; a seventh control subunit 17 , used to judge whether the dirty data meets the second preset threshold; when the seventh control subunit 17 judges that the dirty data meets the second preset threshold, the second trigger unit 7 is used to control the sewage in the third control unit 3 After the recovery system completes the sewage recovery, the first control unit 1 , the second control unit 2 and the third control unit 3 are triggered.
  • the disclosed devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or integrated. to another grid network to be installed, or some features can be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • a unit described as a separate component may or may not be physically separated, and a component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
  • the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or part of the contribution to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods in various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disk or optical disk, and various media that can store program codes.

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  • Electric Vacuum Cleaner (AREA)
  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)

Abstract

Un procédé et un dispositif de commande de nettoyage pour un élément de lavage (101) appliqués à un robot de nettoyage (100) et une station de base (200) utilisée en coopération avec le robot de nettoyage (100). Le procédé de commande de nettoyage consiste : S1, après la réception d'une instruction de nettoyage, à commander un système d'injection d'eau (204) pour injecter de l'eau dans un réservoir de nettoyage (203), de sorte que la quantité d'eau dans le réservoir de nettoyage (203) satisfasse un premier seuil prédéfini, le premier seuil prédéfini étant la valeur de la quantité d'eau dans le réservoir de nettoyage (203) qui peut submerger une partie à nettoyer d'un élément de lavage (101); S21, lorsque le réservoir de nettoyage (203) n'est pas pourvu d'un élément de raclage (202) ou lorsqu'il est pourvu d'un élément de raclage non rotatif (202), à commander l'élément de lavage (101) pour le faire tourner pendant un temps prédéfini; S22, lorsque le réservoir de nettoyage (203) est pourvu d'un élément de raclage (202) qui est commandé en rotation, à commander l'élément de lavage (101) et/ou l'élément de raclage (202) pour les faire tourner pendant un temps prédéfini; et S3, à commander un système de récupération des eaux usées (205) pour récupérer les eaux usées dans le réservoir de nettoyage (203).
PCT/CN2022/103212 2021-07-05 2022-07-01 Procédé et dispositif de commande de nettoyage pour élément de lavage WO2023280054A1 (fr)

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CN202110759211.3 2021-07-05
CN202110759211.3A CN113455967B (zh) 2021-07-05 2021-07-05 用于拖擦件的清洗控制方法及装置

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CN114246519B (zh) * 2021-12-30 2023-06-09 尚科宁家(中国)科技有限公司 一种表面清洁系统的自清洗方法
CN114246520A (zh) * 2021-12-30 2022-03-29 尚科宁家(中国)科技有限公司 一种表面清洁系统的自清洗方法
CN114795017A (zh) * 2022-05-20 2022-07-29 尚科宁家(中国)科技有限公司 一种清洁机自清洗控制方法
CN115462708B (zh) * 2022-08-01 2023-10-31 云鲸智能(深圳)有限公司 拖擦件清洗方法、清洁机器人及清洁系统

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