CN110558901A - Sweeping robot moving method and sweeping robot - Google Patents

Sweeping robot moving method and sweeping robot Download PDF

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Publication number
CN110558901A
CN110558901A CN201910847950.0A CN201910847950A CN110558901A CN 110558901 A CN110558901 A CN 110558901A CN 201910847950 A CN201910847950 A CN 201910847950A CN 110558901 A CN110558901 A CN 110558901A
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CN
China
Prior art keywords
signal
main control
side brush
sweeping robot
control part
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Granted
Application number
CN201910847950.0A
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Chinese (zh)
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CN110558901B (en
Inventor
檀冲
严涛
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Xiaogou Electric Internet Technology Beijing Co Ltd
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Xiaogou Electric Internet Technology Beijing Co Ltd
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Priority to CN201910847950.0A priority Critical patent/CN110558901B/en
Publication of CN110558901A publication Critical patent/CN110558901A/en
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Classifications

    • 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
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

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  • Electric Vacuum Cleaner (AREA)

Abstract

The application discloses a sweeping robot moving method and a sweeping robot, belongs to the technical field of ground cleaning, and solves the problems of power consumption and moving speed of the sweeping robot during non-sweeping movement; the method comprises the following steps: the main control part of the sweeping robot judges the type of the received signal; when the main control part judges that the signal type is a no-load moving signal, a control instruction is output to a cleaning part of the sweeping robot to control the cleaning part to stop cleaning; and when the main control part determines that the cleaning part stops working, the sweeping robot is controlled to move to the designated position from the current position according to the designated position corresponding to the no-load movement signal. The invention can effectively reduce the power consumption in the non-cleaning moving process and improve the moving speed.

Description

Sweeping robot moving method and sweeping robot
Technical Field
The invention relates to the technical field of floor cleaning, in particular to a sweeping robot moving method and a sweeping robot.
Background
When the sweeping robot moves in a non-sweeping mode, if the sweeping part is still running, the power consumption is increased, and the moving speed is reduced. For example, when the cleaning robot performs cleaning, if the amount of power in the power supply unit is too low, the cleaning robot needs to stop the current cleaning operation and return to the charging stand for charging. However, if the distance between the sweeping robot and the charging seat is too far, and the side brush, the rolling brush and the dust collection motor are still in working states during the process that the sweeping robot returns to the charging seat, the power consumption is still fast, and finally the remaining power is insufficient, so that the sweeping robot cannot smoothly reach the charging seat and stops on the way of returning to the charging seat.
disclosure of Invention
In view of the above analysis, the present invention aims to provide a sweeping robot moving method and a sweeping robot, which solve the problems of power consumption and moving speed of the sweeping robot during non-sweeping movement.
The purpose of the invention is mainly realized by the following technical scheme:
the invention discloses a moving method of a sweeping robot, which comprises the following steps:
the main control part of the sweeping robot judges the type of the received signal;
When the main control part judges that the signal type is a no-load moving signal, a control instruction is output to a cleaning part of the sweeping robot to control the cleaning part to stop cleaning;
and when the main control part determines that the cleaning part stops working, the sweeping robot is controlled to move from the current position to the designated position according to the designated position corresponding to the no-load moving signal.
further, the no-load moving signal is an electric quantity early warning signal, and the designated position is a charging seat position; and when the current electric quantity is detected to be lower than the set electric quantity threshold value, generating an electric quantity early warning signal and sending the electric quantity early warning signal to the main control part.
further, the no-load moving signal is a breakpoint position continuous sweeping signal, and the specified position is a breakpoint position; the off-potential is a pause position of the last cleaning of the sweeping robot; when the sweeping robot returns to the power-off position again for continuous sweeping, the breakpoint position coordinates are called, and breakpoint position continuous sweeping signals are generated and sent to the main control part.
further, the no-load moving signal is a return charging seat signal; when the sweeping robot receives a charging-seat returning signal sent by the operating end or a charging-seat returning signal generated due to the completion of sweeping, a charging-seat returning signal is generated and sent to the main control part; the designated position corresponding to the return charging-stand signal is the charging-stand position.
Further, the no-load movement signal is a position movement signal; when the sweeping robot cleans and receives a position moving signal sent by an operation end, a quick moving signal is generated and sent to the main control part; the designated position corresponding to the quick moving signal is a moving position which the sweeping robot needs to reach.
further, the output control command is a stop command, and the stop command is used for controlling the side brush motor, the rolling brush motor and the dust collection motor of the cleaning part to stop.
Further, the output control instruction further comprises a side brush position increasing instruction, and the side brush position increasing instruction is used for controlling the side brush position of the sweeping robot to increase.
Further, controlling the position of the side brush of the sweeping robot to be increased comprises:
When the state of the side brush motor is determined to be switched to the stalling state, the main control part generates a side brush position increasing instruction and sends the side brush position increasing instruction to the side brush position adjusting part;
The side brush position adjusting component lifts the side brush to a specified height according to the received side brush position lifting instruction, and feeds back a side brush lifting in-place signal to the main control part;
and the main control part confirms that the side brush reaches the specified height according to the side brush lifting in-place signal and controls the side brush position adjusting part to stop lifting the side brush.
furthermore, a position sensor is arranged at a specified height position where the side brush rises; in the process of lifting the side brush, when the top of the side brush is in contact with the position sensor, the position sensor outputs a signal that the side brush is lifted in place.
The invention also discloses a sweeping robot, which comprises a main control part, a sweeping part and a walking part;
the main control part is electrically connected with the cleaning part and the walking part respectively;
the main control part analyzes the received signals and judges the types of the signals; when the main control part judges that the signal type is a no-load moving signal, a control instruction is output to the cleaning part to control the cleaning part to stop cleaning;
And when the main control part determines that the cleaning part stops working, the main control part controls the walking part to move from the current position to the specified position according to the specified position corresponding to the no-load moving signal.
Compared with the prior art, the application can realize at least one of the following beneficial effects:
a) According to the invention, when the sweeping robot moves in a non-sweeping mode, the motor of the sweeping part of the sweeping robot is turned off, so that the power consumption of the sweeping part is stopped, and the power consumption in the moving process is reduced;
b) The invention reduces the friction force in the moving process when the cleaning machine moves in a non-cleaning mode, thereby reducing the power consumption and improving the moving speed.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the application, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a flowchart of a moving method of a sweeping robot according to a first embodiment of the present invention;
Fig. 2 is a flowchart of a moving method of the sweeping robot according to the second embodiment of the present invention;
Fig. 3 is a schematic view of a sweeper robot according to a third embodiment of the present invention.
Detailed Description
The preferred embodiments of the present application will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the application serve to explain the principles of the application.
Example one
The embodiment provides a moving method of a sweeping robot, as shown in fig. 1, including the following steps:
Step S1, the main control part of the sweeping robot judges the type of the received signal;
the received signal types comprise no-load moving signals, namely the signal types for controlling the sweeping robot to move in a non-sweeping state;
Specifically, the no-load movement signal includes an electric quantity early warning signal, a breakpoint position continuous scanning signal, a return charging stand signal or a quick movement signal.
When the power supply part of the sweeping robot detects that the current electric quantity is lower than the set electric quantity threshold value and needs to return to the charging seat for charging, the power supply part of the sweeping robot generates an electric quantity early warning signal and sends the electric quantity early warning signal to the main control part, and the designated position corresponding to the electric quantity early warning signal is the charging seat position.
Alternatively, the power threshold may be set to a current power less than 15% of the total power.
when the sweeping robot needs to return to the breakpoint position to continue sweeping, the designated position is the breakpoint position of sweeping, and a breakpoint position continuous sweeping signal is generated and sent to the main control part; the breaking point position is a pause position of the last cleaning of the sweeping robot.
When the sweeping robot performs sweeping, if the sweeping needs to be suspended to return to the charging seat for charging because the electric quantity is too low, the sweeping robot generates a breakpoint position coordinate and records a position point where sweeping is suspended; and after the sweeping robot returns to the charging seat and is charged, the sweeping robot needs to return to the position point where sweeping is suspended to continue sweeping, and the designated position is the breakpoint position coordinate when sweeping is suspended so as to generate a breakpoint position continuous sweeping signal, so that the sweeping robot returns to the breakpoint position to continue unfinished sweeping work.
When the sweeping robot receives a charging-seat returning signal sent by the operating end or a charging-seat returning signal generated due to the completion of sweeping, a charging-seat returning signal is generated and sent to the main control part; the designated position corresponding to the return charging-stand signal is the charging-stand position.
when the sweeping robot cleans and receives a position moving signal sent by an operation end, a quick moving signal is generated and sent to the main control part; the designated position corresponding to the quick moving signal is a moving position which the sweeping robot needs to reach.
Preferably, the electric quantity early warning signal, the breakpoint position continuous scanning signal, the return charging seat signal and the fast moving signal all include signal identifiers which can be identified by the main control part and are unique in the generation process, and the main control part can analyze the types of the received signals through the signal identifiers.
Step S2, when the main control part judges that the signal type is an idle-load moving signal, outputting a control instruction to a cleaning part of the sweeping robot to control the cleaning part to stop cleaning;
the method specifically comprises the following substeps:
Step S201, when the main control part judges that the signal type is any one of an electric quantity early warning signal, a breakpoint position continuous scanning signal, a return charging seat signal and a quick moving signal, a stalling instruction capable of controlling the side brush motor, the rolling brush motor and the dust collection motor to stall is generated.
Step S202, after the side brush motor, the rolling brush motor and the dust collection motor receive the stop command sent by the main control part, the side brush motor, the rolling brush motor and the dust collection motor are switched to a stop state from a working state.
Preferably, after the side brush motor, the rolling brush motor and the dust collection motor are switched to the stop state, the main control part detects the electric quantity consumption of the power supply part, and if the electric quantity consumption is the same as the electric quantity consumed by the walking wheels of the walking part of the sweeping robot during rotation, it is determined that the side brush motor, the rolling brush motor and the dust collection motor are switched to the stop state.
And step S3, when the main control part determines that the cleaning part stops working, controlling the sweeping robot to move from the current position to the designated position according to the designated position corresponding to the no-load movement signal.
The main control part determines that the cleaning part stops working by determining that the side brush motor, the rolling brush motor and the dust collection motor stop rotating.
the designated positions comprise a charging seat position when the cleaning robot needs to return to charge due to low electric quantity, a breakpoint position generated when the cleaning robot cannot continue to clean due to low electric quantity, and a moving position which is sent by the operation end and needs to be reached by the cleaning robot.
The charging seat position, the breakpoint position and the moving position are coordinates of the charging seat position, the breakpoint position and the moving position.
In this embodiment, when the electric quantity is too low, the sweeping robot needs to return to the charging seat to charge, because the operating states of the side brush, the rolling brush and the dust collection motor are switched to the stop state, the consumption of the residual electric quantity in the power supply part can be greatly reduced, the sweeping robot can reach the charging seat to charge before the electric quantity is consumed, and the sweeping robot is prevented from stopping at a certain position due to insufficient electric quantity.
When the floor sweeping robot needs to move to a designated position, the working states of the side brush, the rolling brush and the dust collection motor are switched to a stop state, so that the resistance generated by the contact of the rotation of the side brush and the rotation of the rolling brush with the ground can be greatly reduced, the power consumption caused by overcoming the resistance in the moving process is reduced, the moving speed is improved, and the floor sweeping robot can move to the designated position in an express way.
Example two
The embodiment provides a moving method of a sweeping robot, as shown in fig. 2, including the following steps:
step S1’The main control part of the sweeping robot judges the type of the received signal;
Wherein, step S1’The steps are the same as those of step S1 in the first embodiment.
Step S2’when the main control part judges that the signal type is a no-load moving signal, a control instruction is output to a cleaning part of the sweeping robot to control the cleaning part to stop cleaning;
the output control instructions comprise a stop instruction and a side brush position increasing instruction, and the stop instruction is used for controlling the side brush motor, the rolling brush motor and the dust collection motor of the cleaning part to stop rotating; and the side brush position increasing instruction is used for controlling the side brush position of the sweeping robot to increase.
The method specifically comprises the following substeps:
Step S201’And the main control part generates a stalling instruction which can control the side brush motor, the rolling brush motor and the dust collection motor to stall when judging that the signal type is any one of the electric quantity early warning signal, the breakpoint position continuous sweeping signal, the return charging seat signal and the quick moving signal.
Step S202’After the side brush motor, the rolling brush motor and the dust collection motor receive the stop command sent by the main control part, the side brush motor, the rolling brush motor and the dust collection motor are switched to a stop state from a working state.
step S203’and when the state of the side brush motor is determined to be switched to the stalling state, the main control part generates a side brush position increasing instruction and sends the side brush position increasing instruction to the side brush position adjusting part.
Step S204’The side brush position adjusting component lifts the side brush to a specified height according to the received side brush position lifting instruction, and feeds back a side brush lifting in-place signal to the main control part;
Specifically, when the side brush position adjusting component adjusts the position of the side brush, the side brush is lifted from the position where the side brush is in contact with the ground to the position where the side brush is not in contact with the ground;
preferably, a position sensor is arranged at a specified height position where the side brush rises; in the process of lifting the side brush, when the top of the side brush is in contact with the position sensor, the side brush is shown to be lifted to the designated height from the working height, and the position sensor outputs a side brush lifting in-place signal.
step S205’And the main control part confirms that the side brush reaches the specified height according to the side brush lifting in-place signal and controls the side brush position adjusting part to stop lifting the side brush.
When the side brush is lifted to a designated height, the bottom of the side brush does not contact the ground when the sweeping robot moves on a plane.
Step S3’And after the main control part determines that the cleaning part stops working, controlling the sweeping robot to move from the current position to the designated position according to the designated position corresponding to the no-load moving signal.
The main control part determines that the cleaning part stops working and comprises the steps of determining that the side brush motor, the rolling brush motor and the dust collection motor stop rotating and the side brush is lifted to a specified height.
The designated positions comprise a charging seat position when the cleaning robot needs to return to charge due to low electric quantity, a breakpoint position generated when the cleaning robot cannot continue to clean due to low electric quantity, and a moving position which is sent by the operation end and needs to be reached by the cleaning robot.
The charging seat position, the breakpoint position and the moving position are coordinates of the charging seat position, the breakpoint position and the moving position.
In this embodiment, when the sweeping robot needs to return to the charging seat to charge due to too low electric quantity, the working states of the side brush, the rolling brush and the dust collection motor are switched to the stop state; the limit brush can not contact with ground after being improved, and frictional force reduces to prevent that the brush hair of limit brush from being blocked in the gap on ground, consequently, can reduce the consumption of surplus electric quantity in the power supply part by a wide margin, make the robot of sweeping the floor can arrive the charging seat before the electric quantity is accomplished to consume and charge, avoid the robot of sweeping the floor to stop at a certain position because of the electric quantity is not enough.
When the floor sweeping robot needs to move to a designated position, the working states of the side brush, the rolling brush and the dust collection motor are switched to a stop state, and the side brush is lifted and does not contact with the ground, so that the resistance generated by the contact between the rotation of the side brush and the rotation of the rolling brush and the ground can be greatly reduced, and the floor sweeping robot can move to the designated position in an express way.
EXAMPLE III
The embodiment provides a sweeping robot, as shown in fig. 3, which includes a main control part, a sweeping part, a walking part and a power supply part;
The power supply part comprises a power supply part and an electric quantity detection module electrically connected with the power supply part, the power supply part can select a battery pack, and the electric quantity detection module can select an existing electric quantity detection circuit module and is used for detecting the residual electric quantity and the electric quantity consumption in the power supply part.
The cleaning part comprises a rolling brush component, a dust absorption component and an edge brush component;
The rolling brush component comprises a rolling brush motor and a rolling brush electrically connected with the rolling brush motor, the rolling brush motor is connected with the main control part, and the main control part controls the rotation or stop of the rolling brush motor through instructions.
The dust collection component comprises a dust collection motor, the dust collection motor is connected with the main control part, and the main control part controls the rotation or the stop of the dust collection motor through instructions.
The side brush part of the side brush part comprises a side brush motor, a side brush position adjusting component and a position sensor,
The side brush position adjusting assembly comprises a side brush lifting motor and a lifting rod connected with the side brush lifting motor; the side brush is respectively connected with the side brush motor and the lifting rod; the lifting rod can be a hydraulic rod with a telescopic function.
The side brush motor and the side brush lifting motor are respectively electrically connected with the main control part, and the main control part controls the rotation or stop of the side brush motor through instructions; the main control part controls the side brush lifting motor through instructions to enable the lifting rod to stretch and retract, and drives the side brush connected with the main control part to ascend or descend.
the position sensor is arranged at the bottom of the sweeper shell and above the side brush, when the position of the side brush is increased to the position above the side brush and the position sensor above the side brush is in contact with the upper edge of the side brush, bristles in the side brush are not in contact with the ground, the position sensor generates a signal that the side brush is lifted in place and sends the signal to the main control part to stop the lifting motor of the side brush, and the lifting of the side brush is stopped.
The walking wheel part comprises a walking wheel motor and a walking wheel electrically connected with the walking wheel motor, the walking wheel motor is connected with the main control part, and the main control part controls the rotation or the stalling of the walking wheel motor through instructions.
The main control part is a main control chip and is electrically connected with the cleaning part, the walking part and the power supply part; the device is used for analyzing the received signal and judging the type of the signal; when the main control part judges that the signal type is any one of no-load moving signals including an electric quantity early warning signal, a breakpoint position continuous sweeping signal, a return charging seat signal and a quick moving signal, outputting a control instruction to the cleaning part to control the cleaning part to stop cleaning; and when the main control part determines that the cleaning part stops working, the main control part controls the walking part to move from the current position to the specified position according to the specified position corresponding to the no-load moving signal.
Specifically, the method of controlling the cleaning portion to stop the cleaning operation is as described in the first embodiment or the second embodiment.
Compared with the prior art, the beneficial effects of the vacuum cleaner provided by the embodiment are basically the same as those provided by the first embodiment or the second embodiment, and are not repeated herein.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application.

Claims (10)

1. A moving method of a sweeping robot is characterized by comprising the following steps:
The main control part of the sweeping robot judges the type of the received signal;
When the main control part judges that the signal type is a no-load moving signal, a control instruction is output to a cleaning part of the sweeping robot to control the cleaning part to stop cleaning;
and when the main control part determines that the cleaning part stops working, the sweeping robot is controlled to move from the current position to the designated position according to the designated position corresponding to the no-load moving signal.
2. The moving method according to claim 1, wherein the no-load moving signal is a power warning signal, and the designated position is a charging seat position; and when the current electric quantity is detected to be lower than the set electric quantity threshold value, generating an electric quantity early warning signal and sending the electric quantity early warning signal to the main control part.
3. the moving method according to claim 1, wherein the no-load moving signal is a breakpoint position continuous sweep signal, and the designated position is a breakpoint position; the off-potential is a pause position of the last cleaning of the sweeping robot; when the sweeping robot returns to the power-off position again for continuous sweeping, the breakpoint position coordinates are called, and breakpoint position continuous sweeping signals are generated and sent to the main control part.
4. the mobile method of claim 1, wherein the idle mobile signal is a return to cradle signal; when the sweeping robot receives a charging-seat returning signal sent by the operating end or a charging-seat returning signal generated due to the completion of sweeping, a charging-seat returning signal is generated and sent to the main control part; the designated position corresponding to the return charging-stand signal is the charging-stand position.
5. the moving method according to claim 1, wherein the no-load moving signal is a position moving signal; when the sweeping robot cleans and receives a position moving signal sent by an operation end, a quick moving signal is generated and sent to the main control part; the designated position corresponding to the quick moving signal is a moving position which the sweeping robot needs to reach.
6. the moving method according to any one of claims 1 to 5, wherein the control command outputted is a stop command for controlling a side brush motor, a roll brush motor, and a dust suction motor of the cleaning section to stop.
7. The moving method according to claim 6, wherein the outputted control instructions further comprise a brush position raising instruction for controlling the brush position raising of the sweeping robot.
8. The moving method according to claim 7, wherein the controlling the sweeping robot to increase the position of the edge brush comprises:
when the state of the side brush motor is determined to be switched to the stalling state, the main control part generates a side brush position increasing instruction and sends the side brush position increasing instruction to the side brush position adjusting part;
the side brush position adjusting component lifts the side brush to a specified height according to the received side brush position lifting instruction, and feeds back a side brush lifting in-place signal to the main control part;
and the main control part confirms that the side brush reaches the specified height according to the side brush lifting in-place signal and controls the side brush position adjusting part to stop lifting the side brush.
9. The moving method according to claim 8, wherein a position sensor is installed at a specified height position where the side brush is raised; in the process of lifting the side brush, when the top of the side brush is in contact with the position sensor, the position sensor outputs a signal that the side brush is lifted in place.
10. a sweeping robot is characterized by comprising a main control part, a sweeping part and a walking part;
The main control part is electrically connected with the cleaning part and the walking part respectively;
The main control part analyzes the received signals and judges the types of the signals; when the main control part judges that the signal type is a no-load moving signal, a control instruction is output to the cleaning part to control the cleaning part to stop cleaning;
and when the main control part determines that the cleaning part stops working, the main control part controls the walking part to move from the current position to the specified position according to the specified position corresponding to the no-load moving signal.
CN201910847950.0A 2019-09-09 2019-09-09 Sweeping robot moving method and sweeping robot Active CN110558901B (en)

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WO2022021894A1 (en) * 2020-07-29 2022-02-03 深圳市普森斯科技有限公司 Cleaning control method and apparatus, and electronic device

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