CN112043206A - Sweeping and mopping integrated machine and cleaning method thereof - Google Patents
Sweeping and mopping integrated machine and cleaning method thereof Download PDFInfo
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- CN112043206A CN112043206A CN202010906593.3A CN202010906593A CN112043206A CN 112043206 A CN112043206 A CN 112043206A CN 202010906593 A CN202010906593 A CN 202010906593A CN 112043206 A CN112043206 A CN 112043206A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 126
- 238000004140 cleaning Methods 0.000 title claims abstract description 90
- 238000000034 method Methods 0.000 title claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims description 109
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- 238000012806 monitoring device Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 11
- 239000010865 sewage Substances 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 7
- 238000007790 scraping Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 6
- 238000011084 recovery Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 3
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- 230000009471 action Effects 0.000 description 3
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
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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
- 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
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- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
Abstract
The invention relates to the technical field of intelligent home furnishing, in particular to a sweeping and mopping integrated machine and a cleaning method thereof, wherein the sweeping and mopping integrated machine comprises: the floor sweeping device comprises a body, wherein the bottom of the body is telescopically connected with a floor sweeping structure and a floor mopping structure; when cleaning, sweep and drag all-in-one and clean the clean region according to clean order instruction, for example when the user sets for clean order instruction and for sweeping the floor after sweeping the floor earlier, at first the drive structure of sweeping the floor stretches out, utilize the structure of sweeping the floor to clean the clean region according to clean regional map, when the structure withdrawal of sweeping the floor is swept in later drive, the drive drags the ground structure to stretch out, utilize and drag the ground structure to clean the clean region according to clean regional map, this embodiment is accomplished the self-cleaning to ground through sweeping the floor and the cooperation of dragging the ground, under the prerequisite that improves clean effect, effectively use manpower and materials sparingly.
Description
Technical Field
The invention relates to the technical field of intelligent home furnishing, in particular to a sweeping and mopping integrated machine and a cleaning method thereof.
Background
The floor sweeping robot sold in the market at present has a single function and only has a floor sweeping function, so when the robot is used for cleaning the ground, the situation of incomplete cleaning is easy to occur, and in order to solve the problem in the prior art, people generally use the robot to clean the ground and then manually clean the residual spots on the ground, which wastes time and labor.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a sweeping and mopping integrated machine and a cleaning method thereof, so as to alleviate the technical problem that the existing sweeping robot is not thorough in cleaning.
(II) technical scheme
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a sweeping and mopping integrated machine, including: the body, the bottom telescopic connection of body has the structure of sweeping the floor and drags the ground structure.
Optionally, the sweeping structure includes: the broom mechanism comprises a first telescopic mechanism, a first rotating mechanism and a broom mechanism, wherein one end of the first rotating mechanism is connected with the output end of the first telescopic mechanism, and the output end of the first rotating mechanism is connected with the broom mechanism.
Optionally, the mopping structure includes: the second telescopic mechanism is connected with the mop mechanism, and the mop mechanism is connected with the output end of the second telescopic mechanism.
Optionally, the mop mechanism comprises: the upper wall and the lower wall of the supporting frame can be detachably connected with a mop cover.
Optionally, the mopping structure further includes: and the output end of the second rotating mechanism is connected with the mop mechanism, and the other end of the second rotating mechanism is connected with the second telescopic mechanism through a connecting rod.
Optionally, the mop mechanism is movably connected with a self-cleaning structure.
Optionally, the self-cleaning structure comprises: the third telescopic mechanism and the scraping plate are connected with the output end of the third telescopic mechanism and are in contact connection with the mop cloth surface.
Optionally, the top of body is equipped with infrared detection device, just the edge of body is equipped with a plurality of monitoring devices.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a cleaning method applied to the sweeping and mopping all-in-one machine of any one of the foregoing machines, the method including:
acquiring a map of an area to be cleaned;
acquiring a cleaning sequence instruction;
and controlling the sweeping structure and/or the mopping structure to extend or retract according to the cleaning sequence instruction, so that the sweeping and mopping integrated machine can sequentially clean the area to be cleaned according to the cleaning sequence instruction.
Optionally, the method further comprises;
and if the surface changing condition is met, executing the surface changing operation of the mopping structure.
Optionally, if the face changing condition is met, the step of executing the face changing operation of the mopping structure includes:
if the current cleaned area is detected to be more than or equal to one third of the area to be cleaned;
the second rotating mechanism is driven to rotate so as to drive the mop mechanism to rotate for surface changing.
Optionally, the method further includes:
and if the floor mopping structure surface changing operation is detected to be completed, performing a floor mopping structure self-cleaning operation.
Optionally, the step of performing a mop mechanism self-cleaning operation comprises:
the third telescopic mechanism is driven to push the scraping plate to move towards the direction close to the tail end of the mop cloth surface so as to push the sewage of the mop cloth surface into the sewage recovery box.
Optionally, the method further includes:
detecting a voice control instruction of a user to obtain a target voice control instruction of the user;
and executing the control processing corresponding to the target voice control instruction.
Optionally, after the step of executing the control processing corresponding to the target voice control instruction, the method further includes:
collecting the user voice positions through a plurality of monitoring devices, and determining the collected user voice positions closest to the sweeping and mopping integrated machine as the front positions of target users;
determining a target position to be moved to around the target user's front position;
and controlling the sweeping and mopping integrated machine to move to the target position from the current position.
Optionally, the method further includes:
if the number of the current positions of the users is detected to be one, determining the current position of the users as the current position of a target user;
and if the number of the current positions of the users is detected to be at least two, acquiring the current positions of the users of the at least two users by using an infrared detection device, and determining the current position of the user which is coincident with the current position of the user acquired by the monitoring device as the current position of the target user.
Optionally, the method further includes:
and if the instruction information is not detected within the preset time, controlling the sweeping and mopping integrated machine to return to the previous position from the current position, and cleaning the area to be cleaned according to the previous cleaning sequence instruction.
(III) the beneficial effects are as follows:
the embodiment of the invention has the following advantages or beneficial effects:
the sweeping and mopping integrated machine provided by the embodiment of the invention comprises: the floor sweeping device comprises a body, wherein the bottom of the body is telescopically connected with a floor sweeping structure and a floor mopping structure;
a cleaning method applied to the sweeping and mopping all-in-one machine of any one of the preceding claims, wherein the method comprises the following steps:
acquiring a map of an area to be cleaned;
acquiring a cleaning sequence instruction;
controlling the sweeping structure and/or the mopping structure to extend or retract according to the cleaning sequence instruction, so that the sweeping and mopping integrated machine can sequentially clean the area to be cleaned according to the cleaning sequence instruction;
when cleaning, sweep and drag all-in-one and clean the clean region according to clean order instruction, for example when the user sets for clean order instruction and for sweeping the floor after sweeping the floor earlier, at first the drive structure of sweeping the floor stretches out, utilize the structure of sweeping the floor to clean the clean region according to clean regional map, when the structure withdrawal of sweeping the floor is swept in later drive, the drive drags the ground structure to stretch out, utilize and drag the ground structure to clean the clean region according to clean regional map, this embodiment is accomplished the self-cleaning to ground through sweeping the floor and the cooperation of dragging the ground, under the prerequisite that improves clean effect, effectively use manpower and materials sparingly.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a bottom view of the sweeping and mopping integrated machine of the present invention;
FIG. 2 is a top view of the sweeping and mopping all-in-one machine of the present invention;
FIG. 3 is a schematic structural view of the sweeping structure of the present invention;
FIG. 4 is a schematic structural view of the mopping structure of the present invention;
FIG. 5 is a top view of FIG. 4;
FIG. 6 is a schematic flow chart of a cleaning method according to one embodiment of the present invention;
FIG. 7 is a schematic flow chart of a cleaning method according to another embodiment of the present invention;
fig. 8 is a block diagram of a cleaning system according to an embodiment of the present invention.
In the figure: 1. a body; 2. a sweeping structure; 3. a mopping structure; 4. a first telescoping mechanism; 5. a first rotating mechanism; 6. a broom mechanism; 7. a second telescoping mechanism; 8. a mop mechanism; 9. a support frame; 10. a mop cover; 11. a second rotating mechanism; 12. a third telescoping mechanism; 13. a squeegee; 14. an infrared detection device; 15. a monitoring device; 16. a water outlet; 17. a dust suction port; 18. a moving wheel; 19. a processor; 20. a memory; 21. a communication bus; 22. a water filling port; 23. a self-cleaning structure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention is described in further detail below with reference to the following figures and detailed description:
the floor sweeping robot sold in the market at present has a single function and only has a floor sweeping function, so when the robot is used for cleaning the ground, the situation of incomplete cleaning is easy to occur, and in order to solve the problem in the prior art, people generally use the robot to clean the ground and then manually clean the residual spots on the ground, which wastes time and labor.
To this end, as shown in fig. 1 to 5, an embodiment of the first aspect of the present invention provides a sweeping and mopping all-in-one machine, including: the floor sweeping machine comprises a body 1, wherein the bottom of the body 1 is telescopically connected with a floor sweeping structure 2 and a floor mopping structure 3; specifically, as shown in fig. 1, a sweeping mounting opening and a mopping mounting opening are formed in a body 1, a sweeping structure 2 is telescopically mounted in the sweeping mounting opening, and a mopping structure 3 is telescopically mounted in the mopping mounting opening; and sweep the floor the structure 2 and set up to two, two sweep the floor the structure 2 and set up in the both ends of body 1, drag the structure 3 and set up in two rear of sweeping the floor the structure 2.
Specifically, as shown in fig. 1, a water outlet 16 is arranged at the top end of the bottom of the body 1 along the moving direction, a water filling port 22 is correspondingly arranged at the top of the body 1, and a dust suction port 17 is arranged at the rear of the mopping structure 3; the bottom of the body 1 is provided with three groups of moving wheels 18 in a triangular layout, and at least one of the three groups of moving wheels 18 is a universal wheel.
When cleaning, the sweeping and mopping integrated machine cleans a cleaning area according to a cleaning sequence instruction, for example, when a user sets the cleaning sequence instruction to sweep the floor first and then mop the floor, the sweeping structure 2 is driven to extend out first, the cleaning area is cleaned according to a cleaning area map by using the sweeping structure 2, cleaned garbage is sucked through the dust suction port 17, the mopping structure 3 is driven to extend out while the sweeping structure 2 is driven to retract, the cleaning area is cleaned according to the cleaning area map by using the mopping structure 3, the automatic cleaning of the floor is completed by matching sweeping and mopping, and on the premise of improving the cleaning effect, manpower and material resources are effectively saved;
when a user sets a cleaning sequence instruction to sweep the floor while mopping, the corresponding driving floor sweeping structure 2 and the corresponding driving floor mopping structure 3 are both extended out, so that the floor sweeping structure 2 and the corresponding mopping structure 3 are matched together to clean the cleaning area according to the cleaning area map, the floor sweeping operation can be performed firstly, and then the floor sweeping mode is automatically switched to the floor mopping mode after preset time, for example, 10 minutes; the specific cleaning sequence instructs a user to perform autonomous setting as required, and the factory setting is generally to sweep the floor first and then mop the floor.
In one embodiment of the present invention, as shown in fig. 3, the sweeping structure 2 comprises: the broom mechanism comprises a first telescopic mechanism 4, a first rotating mechanism 5 and a broom mechanism 6, wherein one end of the first rotating mechanism 5 is connected with the output end of the first telescopic mechanism 4, and the output end of the first rotating mechanism 5 is connected with the broom mechanism 6; preferably, the first telescopic structure is an electric push rod, the first rotating mechanism 5 is a rotating motor, and of course, any structure suitable for the scheme can be selected for the first telescopic structure and the first rotating mechanism 5, and the first telescopic structure and the first rotating mechanism 5 both belong to the protection range of the scheme; specifically, in the sweeping mode, the first telescoping mechanism 4 drives the first rotating mechanism 5 and the broom mechanism 6 to extend downwards until the first rotating mechanism 5 and the broom mechanism 6 are contacted with the ground, meanwhile, the first rotating mechanism 5 drives the broom mechanism 6 to rotate so as to realize the cleaning operation on the ground, when the mode is switched to the mopping mode, the first rotating mechanism 5 stops rotating, and the first telescoping mechanism 4 pulls the first rotating mechanism 5 and the broom mechanism 6 to move towards the direction of retracting the sweeping mounting opening until the first telescoping mechanism 4 is completely retracted to prepare for the next sweeping operation.
In one embodiment of the present invention, as shown in fig. 4 and 5, the mopping structure 3 includes: the second telescopic mechanism 7 is connected with the mop mechanism 8, and the mop mechanism 8 is connected with the output end of the second telescopic mechanism 7; wherein, mop mechanism 8 includes: the mop cover comprises a supporting frame 9, wherein the upper wall surface and the lower wall surface of the supporting frame 9 can be detachably connected with a mop cover 10, preferably, the mop cover 10 is connected to the supporting frame 9 in a bonding mode, and when the mop cover 10 needs to be cleaned, the mop cover 10 only needs to be taken down; as shown in fig. 4, in this embodiment, the second telescopic structure is an electric push rod, and is connected with the mop mechanism 8 through a connecting rod, and the telescopic motion of the electric push rod is converted into the motion of extending or retracting the mop installing port of the mop mechanism 8; specifically, in the mopping mode, the second telescopic mechanism 7 extends the mop mechanism 8 downwards until the mop mechanism 8 is contacted with the ground, at this time, the water spraying operation is performed on the ground through the water outlet 16, the mop mechanism 8 moves along with the moving wheel 18 to realize the mopping operation, and when the mode is switched to the sweeping mode, the second telescopic mechanism 7 pulls the mop mechanism 8 to move towards the direction of retracting the mopping installation opening until the mop mechanism is completely retracted to prepare for the next mopping operation.
In one embodiment of the present invention, in order to ensure the mopping effect, as shown in fig. 4, the mopping structure 3 further includes: the output end of the second rotating mechanism 11 is connected with the mop mechanism 8, and the other end of the second rotating mechanism 11 is connected with the second telescopic mechanism 7 through a connecting rod; when the cleaning device is used, if the current cleaned area is detected to be more than or equal to one third of the area to be cleaned; the second rotating mechanism 11 is driven to rotate to drive the mop mechanism 8 to rotate for surface changing, namely, the mop surface 10 contacting with the ground is rotated to the upper end, and the ground is mopped by using the clean mop surface 10; of course, other conditions may be adopted for the surface changing condition, for example, when the floor mopping operation reaches a preset time, for example, 15min, the surface changing operation is performed.
In one embodiment of the present invention, as shown in fig. 4 and 5, the mop mechanism 8 is movably connected with a self-cleaning structure 23, and the self-cleaning structure 23 is adopted to clean the mop mechanism 8, so as to omit the cleaning operation of the mop cover 10 and prolong the service life of the mop cover 10.
Preferably, the self-cleaning structure 23 comprises: the scraping plate 13 is connected with the output end of the third telescopic mechanism 12 and is in contact connection with the mop surface 10; the bottom end of the mop mechanism 8 is also provided with a sewage recovery box; when the mop cover 10 needs to be cleaned, the third telescopic mechanism 12 is driven to push the scraper 13 to move towards the direction close to the mop cover 10 until the scraper abuts against one end of the mop cover 10, then the third telescopic mechanism 12 is continuously driven to push the scraper 13 to move towards the direction close to the tail end of the mop cover 10, so that sewage of the mop cover 10 is pushed into the sewage recovery box, and then the sewage recovery box is taken out and poured; when the self-cleaning is finished, the third telescoping mechanism 12 pulls the scraping plate 13 in the opposite direction until the scraping plate moves to one end of the mop cloth surface 10 and has a certain distance with the mop cloth surface 10, and the design is to ensure the normal rotation of the mop cloth mechanism 8 to change the surface.
In an embodiment of the present invention, the body 1 is further provided with a voice recognition module electrically connected to the controller, when in use, a user can control the sweeping and mopping integrated machine by voice, for example, the sweeping mode and the mopping mode can be switched by voice control, or a movement instruction can be sent to the sweeping and mopping integrated machine, so that the sweeping and mopping integrated machine moves in the direction of the user until the sweeping and mopping integrated machine moves to the vicinity of the user, and a cleaning operation is performed according to the user instruction, for example, the user can call the name of the sweeping and mopping integrated machine: a favorite, "favorite, come over", when the sweeping and mopping integrated machine receives the instruction, the sweeping and mopping integrated machine moves to the user, and then the user can continue to send the instruction, for example: "sweep the floor the operation", then drive the structure 2 of sweeping the floor and stretch out and sweep the floor the operation, above-mentioned structure realizes the intelligent operation of sweeping the all-in-one of this embodiment.
In an embodiment of the present invention, in order to determine the location of the user more accurately, as shown in fig. 2, an infrared detection device 14 is disposed at the top end of the body 1, and a plurality of monitoring devices 15 are disposed at the edge of the body 1; specifically, the infrared detection device 14 is rotatably connected to the body 1, and can rotate on the body 1 to collect user information; preferably, the infrared detection device 14 is configured as an infrared scanner, and the monitoring device 15 is a monitor;
when the device is used, the sound positions of users are collected through the plurality of monitoring devices 15, and the collected sound positions of the users closest to the sweeping and mopping integrated machine are determined as the positions in front of the target users; specifically, if the number of the current positions of the user is detected to be one, the current position of the user is determined as the current position of the target user; if the number of the current positions of the users is detected to be at least two, the infrared detection device 14 is used for collecting the current positions of the users of the at least two users, the current position of the user which is coincident with the current position of the user collected by the monitoring device 15 is determined as the current position of the target user, the positions of the users can be more accurately determined through the common cooperation of the monitoring device 15 and the infrared detection device 14, and the situation that when a plurality of users in a cleaning area exist, the user can not be determined which user sends an instruction is avoided;
then, determining a target position to be moved to around the front position of the target user; controlling the sweeping and mopping integrated machine to move from the current position to the target position; determining a position with a preset length of a distance between a connecting line between the current position of a target user and the current position of the sweeping and mopping integrated machine and the front position of the target user as a target position; for example, a position 10cm away from the user may be set as the target position; the sweeping and mopping integrated machine moves to a position 10cm away from the user and stops until the user gives a next instruction; if the instruction information is not detected within the preset time, controlling the sweeping and mopping integrated machine to return to the previous position from the current position, and cleaning the area to be cleaned according to the previous cleaning sequence instruction; specifically, for example, if no user instruction is received within 10s, the all-in-one machine is controlled to return to the previous position, and a cleaning sequence instruction is installed to clean the area to be cleaned. For example, when the floor mopping machine receives a user moving instruction during the floor mopping operation, the driving floor mopping structure 3 is retracted and moved to the position where the user is located, and if the user instruction is not received within 10s, the driving floor mopping machine returns to the original position and continues the floor mopping operation.
As shown in fig. 6, an embodiment of the second aspect of the present invention provides a cleaning method, which is applied to any one of the above-mentioned sweeping and mopping machines, and the method includes:
s101: acquiring a map of an area to be cleaned;
specifically, when the cleaning device is used for the first time, the sweeping and mopping integrated machine can be automatically moved for a period of time in the area to be cleaned, in the process, the sweeping and mopping integrated machine can automatically turn after meeting the collision wall, so that a map which can walk in the area to be cleaned can be automatically drawn, the map is stored, and then the sweeping and mopping integrated machine can perform cleaning operation according to the cleaning area.
S102: acquiring a cleaning sequence instruction;
specifically, the cleaning sequence instruction includes: the floor sweeping operation is firstly carried out and then the floor mopping operation is carried out, or the floor mopping operation is firstly carried out and then the floor sweeping operation is carried out, or the floor sweeping operation or the floor mopping operation is simultaneously carried out.
S103: and controlling the sweeping structure 2 and/or the mopping structure 3 to extend or retract according to the cleaning sequence instruction, so that the sweeping and mopping integrated machine can clean the area to be cleaned in sequence according to the cleaning sequence instruction.
Specifically, when the cleaning sequence instruction is received, the floor sweeping operation is performed first, and then the floor mopping operation is performed, the first-choice control floor sweeping structure 2 extends out to clean the area to be cleaned according to the area map to be cleaned, and after the floor sweeping operation is completed, the drive floor sweeping structure 2 retracts, and meanwhile the control floor mopping structure 3 extends out to clean the area to be cleaned according to the area map to be cleaned.
In one embodiment of the invention, the method further comprises;
s104: and if the surface changing condition is met, executing the surface changing operation of the mopping structure 3.
Specifically, if the current cleaned area is detected to be more than or equal to one third of the area to be cleaned;
the second rotating mechanism 11 is driven to rotate so as to drive the mop mechanism 8 to rotate for surface changing.
In one embodiment of the invention, the method further comprises:
s105: if it is detected that the surface changing operation of the mopping structure 3 is completed, the self-cleaning operation of the mopping structure 3 is performed.
Specifically, the third telescopic mechanism 12 is driven to push the scraper 13 to move towards the direction close to the tail end of the mop surface 10, so as to push the sewage of the mop surface 10 into the sewage recovery box.
In one embodiment of the present invention, as shown in fig. 7, the method further comprises:
s201: detecting a voice control instruction of a user to obtain a target voice control instruction of the user;
s202: and executing the control processing corresponding to the target voice control instruction.
Specifically, matching voice data sent by a user with voice data in a pre-stored voice list; and if the matching is successful, determining the target voice data.
And determining a target voice control instruction corresponding to the target voice data based on the corresponding relation between the preset voice data and the voice control instruction.
For example, a 'sweeping mode' is stored in a pre-stored voice list, and the mode is switched to the sweeping mode correspondingly, when a user sends a 'sweeping' password, corresponding voice data cannot be found in the voice list, which indicates that a voice instruction of the user is incorrect at the moment and the instruction needs to be replaced; if the user sends a 'sweeping mode' password, the corresponding voice data is found in the voice list, and the sweeping mode is automatically started, namely the sweeping structure 2 is controlled to extend out, and the mopping structure 3 is controlled to retract.
In an embodiment of the present invention, after the step of executing the control processing corresponding to the target voice control instruction, the method further includes:
s203: collecting the user voice positions through a plurality of monitoring devices 15, and determining the collected user voice positions closest to the sweeping and mopping integrated machine as the front positions of target users;
s204: determining a target position to be moved to around a front position of a target user;
s205: and controlling the sweeping and mopping integrated machine to move from the current position to the target position.
Determining a position with a preset length of a distance between a connecting line between the current position of a target user and the current position of the sweeping and mopping integrated machine and the front position of the target user as a target position; for example, a position 10cm away from the user may be set as the target position; the sweeping and mopping all-in-one machine moves to a position 10cm away from the user and stops, and the next step is instructed by the user.
In one embodiment of the invention, the method further comprises:
if the number of the current positions of the users is detected to be one, determining the current position of the users as the current position of the target user;
if the number of the current positions of the users is detected to be at least two, acquiring the current positions of the users of the at least two users by using the infrared detection device 14, and determining the current position of the user which is coincident with the current position of the user acquired by the monitoring device 15 as the current position of the target user; through the operation, the user sending the instruction and the corresponding position can be accurately determined.
In one embodiment of the invention, the method further comprises:
s206: and if the instruction information is not detected within the preset time, controlling the sweeping and mopping integrated machine to return to the previous position from the current position, and cleaning the area to be cleaned according to the previous cleaning sequence instruction.
Specifically, if the instruction information is not detected within the preset time, the sweeping and mopping integrated machine is controlled to return to the previous position from the current position, and the area to be cleaned is cleaned according to the previous cleaning sequence instruction; specifically, for example, if no user instruction is received within 10s, the all-in-one machine is controlled to return to the previous position, and a cleaning sequence instruction is installed to clean the area to be cleaned. For example, when the floor mopping machine receives a user moving instruction during the floor mopping operation, the driving floor mopping structure 3 is retracted and moved to the position where the user is located, and if the user instruction is not received within 10s, the driving floor mopping machine returns to the original position and continues the floor mopping operation.
To this end, as shown in fig. 8, an embodiment of the third aspect of the present invention provides a cleaning system including: the system comprises a processor 19, a communication interface, a memory 20 and a communication bus 21, wherein the processor 19, the communication interface and the memory 20 are communicated with each other through the communication bus 21; the memory 20 stores a computer program operable on the processor 19, the steps of any of the methods described above being implemented when the computer program is executed by the processor 19.
To this end, a fourth aspect of the present invention provides a storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the method of any one of the preceding when executed.
The communication bus 21 mentioned in the above electronic sweeping and dragging integrated machine may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus 21 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 7, but this is not intended to represent only one bus or type of bus.
The communication interface is used for communication between the electronic sweeping and mopping integrated machine and other sweeping and mopping integrated machines.
The memory 20 may include a Random Access Memory (RAM) 20, and may also include a non-volatile memory 20 (e.g., at least one disk memory). Alternatively, the memory 20 may be at least one memory device located remotely from the processor 19.
The processor 19 may be a general-purpose processor 19, and includes a central processing unit 19 (CPU), a network processor 19 (NP), and the like; but also a digital signal processor 19 (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the invention are brought about in whole or in part when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage and sweeping machine comprising one or more available media integrated servers, data centers, and the like. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (ssd)), among others.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or sweeper that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or sweeper. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or kiosk that includes the element.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (17)
1. A sweeping and mopping integrated machine is characterized by comprising: the floor sweeping machine comprises a body (1), wherein the bottom of the body (1) is telescopically connected with a floor sweeping structure (2) and a floor mopping structure (3).
2. A sweeping and mopping all-in-one machine according to claim 1, wherein the sweeping structure (2) comprises: the broom mechanism comprises a first telescopic mechanism (4), a first rotating mechanism (5) and a broom mechanism (6), wherein one end of the first rotating mechanism (5) is connected with the output end of the first telescopic mechanism (4), and the output end of the first rotating mechanism (5) is connected with the broom mechanism (6).
3. A sweeping and mopping all-in-one machine according to claim 1, wherein the mopping structure (3) comprises: the second telescopic mechanism (7) is connected with the mop mechanism (8), and the mop mechanism (8) is connected with the output end of the second telescopic mechanism (7).
4. A sweeping and mopping all-in-one machine according to claim 3, wherein the mop mechanism (8) comprises: the upper wall and the lower wall of the supporting frame (9) are detachably connected with a mop cover (10).
5. A sweeping and mopping all-in-one machine according to claim 3, wherein the mopping structure (3) further comprises: the output end of the second rotating mechanism (11) is connected with the mop mechanism (8), and the other end of the second rotating mechanism (11) is connected with the second telescopic mechanism (7) through a connecting rod.
6. A sweeping and mopping all-in-one machine according to claim 4, wherein the mop mechanism (8) is movably connected with a self-cleaning structure (23).
7. A sweeping and mopping all-in-one machine according to claim 6, wherein the self-cleaning structure (23) comprises: the mop comprises a third telescopic mechanism (12) and a scraping plate (13), wherein the scraping plate (13) is connected with the output end of the third telescopic mechanism (12) and is in contact connection with the mop surface (10).
8. A sweeping and mopping all-in-one machine according to claim 1, wherein the top end of the body (1) is provided with an infrared detection device (14), and the edge of the body (1) is provided with a plurality of monitoring devices (15).
9. A cleaning method for use in the sweeping and mopping machine of any one of claims 1-8, the method comprising:
acquiring a map of an area to be cleaned;
acquiring a cleaning sequence instruction;
and controlling the sweeping structure (2) and/or the mopping structure (3) to extend or retract according to the cleaning sequence instruction, so that the sweeping and mopping integrated machine can sequentially clean the area to be cleaned according to the cleaning sequence instruction.
10. The cleaning method of claim 9, further comprising;
and if the surface changing condition is met, executing the surface changing operation of the mopping structure (3).
11. The cleaning method according to claim 10, wherein the step of performing a surface change operation of the mopping structure (3) if the surface change condition is reached comprises:
if the current cleaned area is detected to be more than or equal to one third of the area to be cleaned;
the second rotating mechanism (11) is driven to rotate so as to drive the mop mechanism (8) to rotate for surface changing.
12. The cleaning method of claim 10, further comprising:
and if the floor mopping structure (3) is detected to be finished in the face changing operation, executing the self-cleaning operation of the floor mopping structure (3).
13. Method according to claim 12, characterized in that said step of performing a mop mechanism (8) self-cleaning operation comprises:
the third telescopic mechanism (12) is driven to push the scraper (13) to move towards the direction close to the tail end of the mop cover (10) so as to push the sewage of the mop cover (10) into the sewage recovery box.
14. The cleaning method of claim 9, further comprising:
detecting a voice control instruction of a user to obtain a target voice control instruction of the user;
and executing the control processing corresponding to the target voice control instruction.
15. The cleaning method according to claim 14, wherein after the step of executing the control process corresponding to the target voice control instruction, the method further comprises:
collecting the voice position of a user through a plurality of monitoring devices (15), and determining the collected voice position of the user closest to the sweeping and mopping integrated machine as the front position of a target user;
determining a target position to be moved to around the target user's front position;
and controlling the sweeping and mopping integrated machine to move to the target position from the current position.
16. The cleaning method of claim 15, further comprising:
if the number of the current positions of the users is detected to be one, determining the current position of the users as the current position of a target user;
if the number of the current positions of the users is detected to be at least two, the current positions of the users of the at least two users are collected by an infrared detection device (14), and the current position of the user which is coincident with the current position of the user collected by the monitoring device (15) is determined as the current position of the target user.
17. The cleaning method of claim 15, further comprising:
and if the instruction information is not detected within the preset time, controlling the sweeping and mopping integrated machine to return to the previous position from the current position, and cleaning the area to be cleaned according to the previous cleaning sequence instruction.
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| CN202010906593.3A CN112043206A (en) | 2020-09-01 | 2020-09-01 | Sweeping and mopping integrated machine and cleaning method thereof |
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| CN113812888A (en) * | 2021-09-28 | 2021-12-21 | 美智纵横科技有限责任公司 | Control method and device of sweeping robot, storage medium and electronic equipment |
| WO2022117107A1 (en) * | 2020-12-04 | 2022-06-09 | 苏州宝时得电动工具有限公司 | Cleaning robot, cleaning system, and cleaning method |
| WO2022121427A1 (en) * | 2020-12-11 | 2022-06-16 | 北京石头世纪科技股份有限公司 | Cleaning robot and cleaning robot system having same |
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Application publication date: 20201208 |