CN113017478A - Water charging and discharging control method for water storage assembly, water storage assembly and cleaning robot - Google Patents
Water charging and discharging control method for water storage assembly, water storage assembly and cleaning robot Download PDFInfo
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- CN113017478A CN113017478A CN202110424308.9A CN202110424308A CN113017478A CN 113017478 A CN113017478 A CN 113017478A CN 202110424308 A CN202110424308 A CN 202110424308A CN 113017478 A CN113017478 A CN 113017478A
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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
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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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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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
- A47L11/408—Means for supplying cleaning or surface treating agents
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
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Abstract
The invention relates to the technical field of intelligent robots, and particularly discloses a water charging and discharging control method for a water storage assembly, the water storage assembly and a cleaning robot. The water adding and discharging control method of the water storage assembly provided by the invention has a manual water adding and discharging function and an automatic water adding and discharging function which can be selected by a user, when the automatic water adding and discharging function is selected, the automatic water adding and discharging water level detection piece detects the upper limit water level in the water tank when water is automatically added so as to realize the automatic control of the water adding amount, the sewage water level detection piece detects whether the sewage in the water bag is discharged, and only after the sewage discharging and water adding are completed, the cleaning robot can leave the station to continue working so as to ensure that the cleaning robot can smoothly complete the cleaning work; when manual water adding and draining is selected, the water adding amount in the water tank is detected through the manual water adding water level detection piece, and when the water level in the water tank does not exceed the detection position of the manual water adding water level detection piece, the cleaning robot can only work in a standing mode, so that the cleaning robot can work smoothly.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a water charging and discharging control method of a water storage assembly, the water storage assembly and a cleaning robot.
Background
The intelligent cleaning robot can be used for cleaning various environments, such as shopping malls, office buildings, hotels, streets and the like, a water tank for storing clean water is arranged in the cleaning robot, a water bag is arranged in the water tank, and the water bag is used for storing sewage. When the cleaning robot just starts to work, the water tank is filled with clean water, the water bag is empty, the clean water in the water tank gradually becomes less and the sewage in the water bag gradually increases along with the continuation of the work of the cleaning robot, so that the space in the water tank is fully utilized, and the volume of the cleaning robot is reduced.
However, in the prior art, the water storage assembly applied to the cleaning robot generally only has the function of manual water charging and discharging or only has the function of automatic water charging and discharging, and has single function and poor use flexibility.
Therefore, it is desirable to provide a method for controlling water supply and drainage of a water storage assembly to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a water charging and discharging control method of a water storage assembly, the water storage assembly and a cleaning robot, and solves the problems that the cleaning robot in the prior art is single in function and poor in use flexibility.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a water charging and discharging control method of a water storage assembly, wherein the water storage assembly is applied to a cleaning robot and comprises a water tank and a water bag arranged in the water tank, a manual water charging level detection piece and an automatic water charging level detection piece are arranged in the water tank, a sewage level detection piece is arranged in the water bag, and the water charging and discharging control method comprises the following steps:
the cleaning robot enters the station and judges whether a user inputs an automatic water adding and discharging instruction or a manual water adding and discharging instruction;
if the user inputs an automatic water adding and draining instruction, automatically adding water into the water tank after automatically discharging sewage, stopping automatically adding water if the automatic water adding water level detection piece is triggered, and determining whether the cleaning robot can leave the station to work according to whether the sewage level detection piece is triggered;
if the user inputs a manual water adding and draining instruction, after manual sewage draining and manual water adding, whether the cleaning robot can leave the station to work is determined according to whether the manual water adding water level detection piece is triggered.
Preferably, determining whether the cleaning robot can leave the station according to whether the wastewater level detection part is triggered specifically comprises:
judging whether the sewage level detection piece is triggered or not;
if the sewage level detection piece is not triggered, the cleaning robot leaves the station to work;
and if the sewage level detection piece is triggered, judging whether a sewage drainage pipe of the water bag is blocked.
Preferably, the judging whether the sewage drain pipe of the water bag is blocked specifically comprises:
waiting for a preset time, judging whether the automatic water adding water level detection piece is triggered or not, and simultaneously judging whether the sewage water level detection piece is triggered or not;
if the automatic water adding level detection piece and the sewage level detection piece are triggered, determining that a sewage drain pipe of the water bag is blocked;
and if the automatic water adding water level detection piece and the sewage water level detection piece are not triggered, continuously adding water into the water tank automatically.
Preferably, the step of determining whether the cleaning robot can leave the station according to whether the manual water adding level detection piece is triggered specifically comprises:
if the manual water adding level detection piece is triggered, discharging the clean water in the water tank until the manual water adding level detection piece is not triggered;
and if the manual water adding level detection piece is not triggered, the cleaning robot leaves the station to work.
Preferably, a low water level detection part is arranged in the water tank, and a sewage alarm detection part is arranged in the water bag;
after the cleaning robot leaves the station to work, the low water level detection piece cannot detect a water level signal or the sewage alarm detection piece is triggered, and then the cleaning robot enters the station to discharge sewage and add water.
The invention also provides a water storage assembly, which adopts any one of the water storage assembly water charging and discharging control methods;
the manual water adding water level detection piece is used for detecting the upper limit water level of manual water adding;
the automatic water adding level detection piece is used for detecting the upper limit water level of automatic water adding and is lower than the manual water adding level detection piece;
the sewage water level detection piece is used for detecting the water level of sewage in the water bag, and the sewage water level detection piece and the automatic water adding water level detection piece are arranged at the same height.
Preferably, a low water level detection part is arranged in the water tank and used for detecting the lower limit water level in the water tank, and the low water level detection part is lower than the automatic water adding level detection part.
Preferably, a sewage alarm detection part is arranged in the water bag and used for detecting the upper limit water level of the sewage in the water bag, and the sewage alarm detection part is higher than the sewage level detection part.
Preferably, a first filter is arranged at the water inlet of the water bag, and a second filter is arranged at the water outlet of the water bag.
The invention further provides a cleaning robot which comprises the water storage assembly.
The invention has the beneficial effects that:
the water adding and discharging control method of the water storage assembly provided by the invention has a manual water adding and discharging function and an automatic water adding and discharging function which can be selected by a user, when the automatic water adding and discharging function is selected, the automatic water adding and discharging water level detection piece detects the upper limit water level in the water tank when water is automatically added so as to realize the automatic control of the water adding amount, the sewage water level detection piece detects whether the sewage in the water bag is discharged, and only after the sewage discharging and water adding are completed, the cleaning robot can leave the station to continue working so as to ensure that the cleaning robot can smoothly complete the cleaning work; when manual water adding and discharging is selected, the water adding amount in the water tank is detected through the manual water adding level detection piece, and when the water level in the water tank does not exceed the detection position of the manual water adding level detection piece, the cleaning robot can work off the station, so that the cleaning robot can work smoothly; the control method provided by the invention solves the problems of single function and poor use flexibility of the cleaning robot in the prior art.
The water storage assembly provided by the invention is provided with the manual water adding water level detection piece for detecting the upper limit water level of the manual water adding and the automatic water adding water level detection piece for detecting the upper limit water level of the automatic water adding, so that the problem that the cleaning robot cannot work normally due to excessive water in the water tank is avoided, and the water storage assembly has two functions of manual water adding and draining and automatic water adding and draining, so that the use flexibility of the cleaning robot is improved.
The cleaning robot provided by the invention has diversified functions and strong use flexibility, and improves the use satisfaction of users.
Drawings
Fig. 1 is a schematic structural diagram of a water storage assembly according to an embodiment of the invention;
FIG. 2 is a flow chart of the main steps of a water filling and draining control method for a water storage module according to a second embodiment of the present invention;
FIG. 3 is a flowchart illustrating the detailed steps of an automatic water filling and draining control method for a water storage module according to a second embodiment of the present invention;
FIG. 4 is a flowchart illustrating the detailed steps of a manual water charging and discharging control method for a water storage assembly according to a second embodiment of the present invention.
In the figure:
1. a water tank; 2. a water bag; 3. a manual water adding level detection part; 4. a water level detection part for automatically adding water; 5. a sewage level detection member; 6. a low water level detection member; 7. a sewage alarm detection member; 8. a first filter member; 9. a second filter member; 10. a clear water drain pipe; 11. a water spray pipe; 12. the clear water automatically drains; 13. a clean water manual drain pipe; 14. a sewage suction pipe; 15. a sewage drain pipe; 16. automatic sewage drainage pipe; 17. manual sewage drainage pipe.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Aiming at the problems that in the prior art, a cleaning robot generally only has a manual water adding and draining function or only has an automatic water adding and draining function, the functions are single, and the use flexibility is poor, the embodiment provides a water adding and draining control method for a water storage assembly, the water storage assembly and the cleaning robot so as to solve the technical problems.
Example one
As shown in fig. 1, the present embodiment provides a cleaning robot including a water storage assembly. The water storage assembly comprises a water tank 1 and a water bag 2 arranged in the water tank 1, wherein the water tank 1 is used for containing cleaning water, and the water bag 2 is used for containing sewage collected during cleaning. The water bag 2 is arranged in the water tank 1, so that the space in the water tank 1 can be fully utilized, and the size of the cleaning robot is reduced. A manual water adding level detection part 3 and an automatic water adding level detection part 4 are arranged in the water tank 1, and a sewage level detection part 5 is arranged in the water bag 2. The manual water adding level detection piece 3 is used for detecting the upper limit water level of manual water adding; the automatic water adding level detection piece 4 is used for detecting the upper limit water level of automatic water adding, and the automatic water adding level detection piece 4 is arranged lower than the manual water adding level detection piece 3; the sewage level detection piece 5 is used for detecting the water level of the sewage in the water bag 2, and the sewage level detection piece 5 and the automatic water adding level detection piece 4 are arranged at the same height.
Under the automatic mode of adding the drainage, confirm whether cleaning robot can leave the work of standing through the signal that sewage water level detection spare 5 detected, and add water level detection spare 5 and automatic equal altitude setting of water level detection spare 4 with sewage water level detection spare, after adding water and finishing to whether normal discharge sewage of cleaning robot has been convenient for detect, ensure that cleaning robot can just leave the supply station after the blowdown is accomplished, make cleaning robot can carry out cleaning work smoothly. In the manual water adding and discharging mode, in order to avoid the influence on the normal work of the cleaning robot caused by excessive water added into the water tank 1, the manual water adding water level detection piece 3 is arranged in the water tank 1, and whether the water discharging is normal or not can be judged manually because the water discharging is operated manually. The cleaning robot provided by the embodiment has two functions of manual water adding and draining and automatic water adding and draining, and the use flexibility of the cleaning robot is improved.
Further, still be equipped with low water level detection piece 6 in the water tank 1, low water level detection piece 6 is used for detecting the lower limit water level in the water tank 1, and low water level detection piece 6 is less than automatic water level detection piece 4 setting of adding. When the low water level detecting part 6 can not detect the water level signal, it indicates that the water level in the water tank 1 is too low to meet the cleaning requirement, and the cleaning robot needs to enter the station for water supplement so as to ensure that the cleaning robot can work smoothly.
Further, a sewage alarm detection part 7 is arranged in the water bag 2, the sewage alarm detection part 7 is used for detecting the upper limit water level of sewage in the water bag 2, and the sewage alarm detection part 7 is higher than the sewage water level detection part 5. When the sewage alarm detection part 7 detects a water level signal, it indicates that the water level in the water bag 2 reaches an upper limit value, and the cleaning robot can continue to work only if sewage needs to be discharged in time. Therefore, when the sewage alarm detection part 7 detects a water level signal, the cleaning robot enters the station to discharge sewage.
The manual water adding level detection part 3, the automatic water adding level detection part 4, the sewage level detection part 5, the low level detection part 6 and the sewage alarm detection part 7 are all liquid level detection sensors, and are not specifically limited in the prior art.
In this embodiment, the water tank 1 is provided with a clean water inlet and a clean water outlet, the clean water outlet is connected with a clean water drain pipe 10, the clean water inlet is connected with a clean water inlet pipe, and the water tank 1 is communicated with a spray head arranged outside through a spray pipe 11 to provide clean water for the cleaning process.
The water bag 2 is provided with a sewage inlet and a sewage outlet, the sewage inlet is connected with a sewage suction pipe 14, and the sewage outlet is connected with a sewage drain pipe 15. In order to ensure that impurities cannot be left in the water bag 2, the water inlet of the water bag 2 is provided with the first filtering piece 8, the first filtering piece 8 is used for filtering sewage entering the water bag 2 through the sewage suction pipe 14, and impurities mixed with the sewage are prevented from being deposited in the water bag 2 and are not convenient to clean. Preferably, the first filter 8 is disposed in the water bag 2 to fully utilize the space in the water bag 2 without increasing the overall volume of the water storage unit.
Further, a second filter 9 is provided at the outlet of the water bag 2 in order not to block the sewage drain pipe 15. The second filter member 9 may have a higher filtering accuracy than the first filter member 8, and the second filter member 9 may filter out impurities remaining in the sewage. Preferably, the second filter 9 is disposed in the water bag 2 to fully utilize the space in the water bag 2 without enlarging the overall volume of the water storage unit.
The clean water drain pipe 10 is connected with a clean water automatic drain pipe 12 and a clean water manual drain pipe 13. The automatic clear water draining pipe 12 is provided with an electronic valve electrically connected with the cleaning robot controller, and the controller controls the electronic valve to open so as to automatically drain clear water. The clear water manual drain pipe 13 is provided with a manual valve which is manually operated to manually drain clear water.
The sewage drain pipe 15 is connected to an automatic sewage drain pipe 16 and a manual sewage drain pipe 17. The automatic sewage draining pipe 16 is provided with an electronic valve electrically connected with the cleaning robot controller, and the controller controls the electronic valve to open so as to automatically drain sewage. The manual sewage drain pipe 17 is provided with a manual valve which is manually operated to discharge sewage manually.
The water storage component provided by the embodiment realizes the diversification of the functions of the cleaning robot, can realize manual water adding and draining, can realize automatic water adding and draining, and improves the satisfaction degree of users in use.
Example two
The embodiment provides a water charging and discharging control method of a water storage assembly, which is applied to the water storage assembly provided by the first embodiment and used for controlling water charging and discharging of a cleaning robot. Specifically, as shown in fig. 2, the water supply and drainage control method mainly includes:
the cleaning robot enters the station and judges whether a user inputs an automatic water adding and discharging instruction or a manual water adding and discharging instruction;
if the user inputs an automatic water adding and draining instruction, automatically adding water after automatically discharging sewage, stopping automatically adding water if the automatic water adding water level detection piece 4 is triggered, and determining whether the cleaning robot can leave the station to work according to whether the sewage level detection piece 5 is triggered;
if the user inputs a manual water adding and draining instruction, after manual sewage draining and manual water adding, whether the cleaning robot can leave the station or not is determined according to whether the manual water adding water level detection piece 3 is triggered or not.
The water filling and draining control method of the water storage assembly provided by the embodiment has a manual water filling and draining function and an automatic water filling and draining function which can be selected by a user, when the automatic water filling and draining function is selected, the automatic water filling and draining water level detection piece 4 detects the upper limit water level in the water tank 1 during automatic water filling so as to realize automatic control of the water filling amount, the sewage water level detection piece 5 detects whether sewage in the water bag 2 is drained, and only after pollution discharge and water filling are completed, the cleaning robot can leave the station to continue working so as to ensure that the cleaning robot can smoothly complete cleaning work; when manual water adding and discharging is selected, the water adding amount in the water tank 1 is detected through the manual water adding and discharging water level detection piece 3, and when the water level in the water tank 1 does not exceed the detection position of the manual water adding and discharging water level detection piece 3, the cleaning robot can work off the station to ensure that the cleaning robot can work smoothly; the control method provided by the invention solves the problems of single function and poor use flexibility of the cleaning robot in the prior art.
The water charging and discharging control method of the water storage assembly provided by the embodiment has two modes of automatic water charging and discharging and manual water charging and discharging. Fig. 3 is a flowchart illustrating the detailed steps of an automatic water charging and discharging control method for a water storage module, and fig. 4 is a flowchart illustrating the detailed steps of a manual water charging and discharging control method for a water storage module.
The method for controlling automatic water filling and draining of the water storage assembly according to the embodiment is described in detail below with reference to fig. 3, and the method for controlling automatic water filling and draining includes the following steps:
step one, the cleaning robot enters a station and judges whether an automatic water adding and draining instruction or a manual water adding and draining instruction is input by a user.
Specifically, after the cleaning robot enters the station, whether the user needs automatic water adding and draining or manual water adding and draining is judged, and different programs are executed by different instructions.
And step two, if the user inputs an instruction of automatically adding and draining, automatically draining the sewage.
Specifically, the cleaning robot obtains an automatic water feeding and discharging instruction, and since the water bag 2 is arranged in the water tank 1, in order to not affect the feeding of water into the water tank 1, the sewage in the water bag 2 is discharged first, so that the space in the water tank 1 is not occupied.
And step three, automatically adding water into the water tank 1, judging whether the automatic water adding water level detection piece 4 is triggered, and if so, stopping adding water.
In this embodiment, after the sewage is automatically discharged, water is automatically added into the water tank 1 until the automatic water adding water level detecting part 4 is triggered, which indicates that the water level in the water tank 1 has reached the upper limit, and the water adding into the water tank 1 is stopped, so that the automatic control of water adding is realized.
And step four, judging whether the sewage level detection piece 5 is triggered or not, and if the sewage level detection piece 5 is not triggered, enabling the cleaning robot to work out of the station.
In this embodiment, the automatic draining and adding of water are not manually performed, and although the draining and adding of water are completed, in order to ensure that the cleaning robot can work smoothly, it is necessary to determine whether the sewage level detecting member 5 is triggered after the water is added into the water tank 1, and if the sewage level detecting member 5 is not triggered, the cleaning robot can work out of the station. The water tank 1 is filled with water and then the water bag 2 is squeezed, if the water bag 2 is filled with no sewage or the squeezed water in the water bag 2 is not enough to trigger the sewage level detection part 5, the water tank 1 of the cleaning robot is proved to have enough clean water for cleaning, and the water bag 2 is filled with enough space for containing sewage, so that the cleaning robot can work smoothly.
In the working process of the cleaning robot after leaving the station, the low water level detection part 6 cannot detect a water level signal or the sewage alarm detection part is triggered, and the cleaning robot enters the station to discharge sewage and add water. If the low water level detecting member 6 does not detect the water level signal, it indicates that the water in the water tank 1 is insufficient, and water needs to be added into the water tank 1 in time. When the sewage alarm detection part 7 is triggered, the water bag 2 is filled with sewage, and the sewage cannot be continuously contained and needs to be discharged in time.
Specifically, if the low water level detecting part 6 cannot detect the water level signal, the cleaning robot enters the station and needs to discharge the sewage in the water bag 2 first, so that the water bag 2 does not occupy the space in the water tank 1, and sufficient water is added into the water tank 1 to improve the cruising ability of the cleaning robot. If sewage warning detection piece 7 is triggered, cleaning machines people enters the station, discharges the sewage in the water bag 2 earlier, and the water bag 2 that fills with sewage produces certain extrusion to the water in the water tank 1, and after the sewage in the water bag 2 of discharging, the water level in the water tank 1 can descend, even the low water level detection piece 6 in the water tank 1 detects water level signal, in order to ensure that making cleaning machines people have sufficient duration, need add sufficient water to in the water tank 1.
And step five, if the sewage level detection piece 5 is triggered, waiting for a preset time, judging whether the automatic water adding level detection piece 4 is triggered, simultaneously judging whether the sewage level detection piece 5 is triggered, and executing a corresponding program.
In this embodiment, if the wastewater level detection unit 5 is triggered, it is necessary to determine whether the wastewater drainage pipe 15 of the water bag 2 is blocked, specifically, after waiting for a preset time, it is determined whether the automatic water level detection unit 4 is triggered, and at the same time, it is determined whether the wastewater level detection unit 5 is triggered, and if both the automatic water level detection unit 4 and the wastewater level detection unit 5 are triggered, it is proved that the wastewater drainage pipe 15 of the water bag 2 is blocked, so that wastewater in the water bag 2 cannot be drained normally. After waiting for a preset time, if the automatic water filling level detecting element 4 and the sewage level detecting element 5 are not triggered, it is proved that the sewage in the water bag 2 is discharged, but the water injected into the water tank 1 is insufficient, and the water needs to be continuously added into the water tank 1 to ensure the cruising ability of the cleaning robot.
Fig. 4 is a method for controlling manual water charging and discharging of a water storage assembly according to the present embodiment, where the method for controlling manual water charging and discharging includes the following steps:
step one, the cleaning robot enters a station and judges whether an automatic water adding and draining instruction or a manual water adding and draining instruction is input by a user.
Specifically, after the cleaning robot enters the station, whether the user needs automatic water adding and draining or manual water adding and draining is judged, and different programs are executed by different instructions.
And step two, if the user inputs a manual water adding and discharging instruction, manually discharging the sewage.
Specifically, the cleaning robot obtains a manual water adding and discharging instruction, and since the water bag 2 is arranged in the water tank 1, in order to not affect the water adding into the water tank 1, the sewage in the water bag 2 is discharged first, so that the space in the water tank 1 is not occupied.
And step three, manually adding water into the water tank 1, judging whether the manual water adding water level detection piece 3 is triggered, and if so, discharging the clean water in the water tank 1 until the manual water adding water level detection piece 3 is not triggered.
In this embodiment, artificially add water to water tank 1 in manually, because the water level in water tank 1 can not be judged in manual adding water, after having added water manually, before cleaning robot leaves the station, need judge that manual water level detection spare 3 that adds is whether triggered, avoid 1 interior water of water tank too much and lead to cleaning robot can not normally work. If the manual watering water level detection piece 3 is triggered, the clear water is discharged outwards until the manual watering water level detection piece 3 is not triggered.
Further, in order to ensure the cruising ability of the cleaning robot due to sufficient water in the water tank 1 before the cleaning robot leaves the station, the automatic water level detecting part 4 needs to be ensured to be triggered when the manual water level detecting part 3 is not triggered after clear water is discharged outwards.
And step four, if the manual water adding water level detection piece 3 is not triggered, the cleaning robot leaves the station to work.
In the working process of the cleaning robot after leaving the station, the low water level detection part 6 cannot detect a water level signal or the sewage alarm detection part 7 is triggered, and the cleaning robot enters the station to discharge sewage and add water. If the low water level detecting member 6 does not detect the water level signal, it indicates that the water in the water tank 1 is insufficient, and water needs to be added into the water tank 1 in time. When the sewage alarm detection part 7 is triggered, the water bag 2 is filled with sewage, and the sewage cannot be continuously contained and needs to be discharged in time.
Specifically, if the low water level detecting part 6 cannot detect the water level signal, the cleaning robot enters the station and needs to discharge the sewage in the water bag 2 first, so that the water bag 2 does not occupy the space in the water tank 1, and sufficient water is added into the water tank 1 to improve the cruising ability of the cleaning robot. If sewage warning detection piece 7 is triggered, cleaning machines people enters the station, discharges the sewage in the water bag 2 earlier, and the water bag 2 that fills with sewage produces certain extrusion to the water in the water tank 1, and after the sewage in the water bag 2 of discharging, the water level in the water tank 1 can descend, even the low water level detection piece 6 in the water tank 1 detects water level signal, in order to ensure that making cleaning machines people have sufficient duration, need add sufficient water to in the water tank 1.
The water adding and discharging control method provided by the embodiment can ensure that the cleaning robot can work smoothly after water adding and discharging is finished no matter the water adding and discharging is carried out manually or automatically, and the using satisfaction degree of a user is improved.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The water filling and draining control method of the water storage assembly is characterized in that the water storage assembly is applied to a cleaning robot and comprises a water tank (1) and a water bag (2) arranged in the water tank (1), a manual water filling level detection piece (3) and an automatic water filling level detection piece (4) are arranged in the water tank (1), and a sewage level detection piece (5) is arranged in the water bag (2), and the water filling and draining control method comprises the following steps:
the cleaning robot enters the station and judges whether a user inputs an automatic water adding and discharging instruction or a manual water adding and discharging instruction;
if the user inputs an automatic water adding and draining instruction, automatically adding water into the water tank (1) after automatically discharging sewage, stopping automatically adding water if the automatic water adding water level detection piece (4) is triggered, and determining whether the cleaning robot can leave the station to work according to whether the sewage level detection piece (5) is triggered;
if the user inputs a manual water adding and draining instruction, after manual sewage draining and manual water adding, whether the cleaning robot can leave the station to work is determined according to whether the manual water adding water level detection piece (3) is triggered.
2. The water storage assembly water adding and draining control method of claim 1, wherein the step of determining whether the cleaning robot can leave the station according to whether the sewage level detection piece (5) is triggered specifically comprises the steps of:
judging whether the sewage level detection piece (5) is triggered or not;
if the sewage level detection piece (5) is not triggered, the cleaning robot leaves the station to work;
if the sewage level detection piece (5) is triggered, whether the sewage drainage pipe (15) of the water bag (2) is blocked or not is judged.
3. The method for controlling water supply and drainage of a water storage module as claimed in claim 2, wherein the step of determining whether the sewage drainage pipe (15) of the water bag (2) is blocked comprises the steps of:
waiting for a preset time, judging whether the automatic water adding water level detection piece (4) is triggered or not, and simultaneously judging whether the sewage water level detection piece (5) is triggered or not;
if the automatic water adding level detection piece (4) and the sewage level detection piece (5) are triggered, determining that a sewage drainage pipe (15) of the water bag (2) is blocked;
and if the automatic water adding water level detection piece (4) and the sewage water level detection piece (5) are not triggered, continuously adding water into the water tank (1) automatically.
4. The water storage assembly water adding and draining control method of claim 1, wherein the step of determining whether the cleaning robot can leave the station according to whether the manual water adding level detection piece (3) is triggered specifically comprises the steps of:
if the manual water adding level detection piece (3) is triggered, discharging the clean water in the water tank (1) until the manual water adding level detection piece (3) is not triggered;
and if the manual water adding level detection piece (3) is not triggered, the cleaning robot leaves the station to work.
5. The water storage assembly water adding and draining control method as claimed in any one of claims 2-4, characterized in that a low water level detection part (6) is arranged in the water tank (1), and a sewage alarm detection part (7) is arranged in the water bag (2);
after the cleaning robot leaves the station to work, the low water level detection part (6) cannot detect a water level signal or the sewage alarm detection part (7) is triggered, and then the cleaning robot enters the station to discharge sewage and add water.
6. A water storage module characterized in that the water charging and discharging control method of the water storage module according to any one of claims 1 to 5 is adopted;
the manual water adding level detection piece (3) is used for detecting the upper limit water level of manual water adding;
the automatic water adding level detection piece (4) is used for detecting the upper limit water level of automatic water adding, and the automatic water adding level detection piece (4) is arranged lower than the manual water adding level detection piece (3);
the sewage water level detection piece (5) is used for detecting the water level of sewage in the water bag (2), and the sewage water level detection piece (5) and the automatic water adding water level detection piece (4) are arranged at the same height.
7. A water storage assembly as claimed in claim 6, characterized in that a low water level detection member (6) is arranged in said water tank (1) for detecting a lower limit water level in said water tank (1), said low water level detection member (6) being arranged lower than said automatic water adding level detection member (4).
8. A water storage module as claimed in claim 6, wherein a sewage alarm detection member (7) is arranged in said water bag (2) for detecting an upper limit water level of sewage in said water bag (2), said sewage alarm detection member (7) being arranged higher than said sewage level detection member (5).
9. A water storage unit as claimed in claim 6, characterized in that the water inlet of the water bag (2) is provided with a first filter (8) and the water outlet of the water bag (2) is provided with a second filter (9).
10. A cleaning robot comprising the water storage assembly of any one of claims 6-9.
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Application publication date: 20210625 |