CN113974498B - Cleaning robot, and control method and system of cleaning robot - Google Patents

Cleaning robot, and control method and system of cleaning robot Download PDF

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Publication number
CN113974498B
CN113974498B CN202111329497.8A CN202111329497A CN113974498B CN 113974498 B CN113974498 B CN 113974498B CN 202111329497 A CN202111329497 A CN 202111329497A CN 113974498 B CN113974498 B CN 113974498B
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CN
China
Prior art keywords
cleaning robot
rolling
dragging
assembly
push rod
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Application number
CN202111329497.8A
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Chinese (zh)
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CN113974498A (en
Inventor
李北辰
黄泽鹏
梁弘毅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Qiyuan Robot Co.,Ltd.
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Guangzhou Xiaoluo Robot Co ltd
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Priority to CN202111329497.8A priority Critical patent/CN113974498B/en
Publication of CN113974498A publication Critical patent/CN113974498A/en
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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
    • 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
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/32—Carpet-sweepers
    • A47L11/33—Carpet-sweepers having means for storing dirt
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • 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
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4052—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
    • 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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • 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

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A cleaning robot comprises a base, a rolling and dragging assembly, an ultrasonic sensor and a control unit, wherein the rolling and dragging assembly is connected to the base through an electric push rod lifting assembly and can integrally move away from or close to the ground under the driving of the electric push rod lifting assembly, the position of the rolling and dragging assembly, which is contacted with the ground to generate a first friction force so as to realize the mopping, is used as the mopping mode position of the rolling and dragging assembly, the position of the rolling and dragging assembly, which is away from the ground by a specific distance, is used as the avoidance mode position of the rolling and dragging assembly, the position of the rolling and dragging assembly, which is contacted with the ground to generate a second friction force so as to prevent the cleaning robot from walking is used as the stop mode position of the rolling and dragging assembly, and the second friction force is greater than the first friction force; the control unit is connected with the ultrasonic sensor to control the ultrasonic sensor to detect and receive a detection result of the ultrasonic sensor; the control unit is also connected with a motor of the electric push rod lifting assembly to control the work of the motor.

Description

Cleaning robot, and control method and system of cleaning robot
Technical Field
The present invention relates to the field of robots, and in particular, to a cleaning robot, a control method of the cleaning robot, and a cleaning robot system.
Background
The cleaning robot in the existing market has a single function, mainly uses dust collection and cleaning to perform cleaning tasks, and gradually appears the cleaning robot with the functions of cleaning the floor, mopping the floor and the like along with the dependence of a user on the cleaning robot. A cleaning robot with a mop mopping function is very good for cleaning floors, but if working on a carpet, it will wet or soil the carpet. In addition, the existing cleaning robot with the mop mopping function only realizes mopping and has very single function.
Disclosure of Invention
An embodiment of the present invention provides a cleaning robot, a control method of the cleaning robot, and a cleaning robot system, which can effectively solve the above technical problems in the prior art.
In order to achieve the above object, an embodiment of the present invention provides a cleaning robot, including a base, a rolling and dragging assembly, an ultrasonic sensor, and a control unit, where the rolling and dragging assembly is connected to the base through an electric push rod lifting assembly and can be driven by the electric push rod lifting assembly to move away from or close to the ground as a whole, where a position where a rolling and dragging of the rolling and dragging assembly contacts with the ground to generate a first friction force to realize dragging is used as a dragging mode position of the rolling and dragging assembly, a position where the rolling and dragging of the rolling and dragging assembly is away from the ground by a certain distance is used as an avoidance mode position of the rolling and dragging assembly, a position where the rolling and dragging of the rolling and dragging assembly contacts with the ground to generate a second friction force to hinder the cleaning robot from walking is used as a staying mode position of the rolling and dragging assembly, and the second friction force is greater than the first friction force; the control unit is connected with the ultrasonic sensor to control the ultrasonic sensor to detect and receive a detection result of the ultrasonic sensor; the control unit is also connected with a motor of the electric push rod lifting assembly to control the motor to work;
when the control unit judges that the cleaning robot leaves the base station and reaches the area to be cleaned, the control unit drives the rolling and dragging assembly to move through the electric push rod lifting assembly so that the rolling and dragging assembly is located at the avoidance mode position;
when the control unit judges that the cleaning robot is positioned in the area to be cleaned and the current cleaning mode does not include a mopping mode, the control unit drives the rolling and dragging assembly to move through the electric push rod lifting assembly so that the rolling and dragging assembly is positioned at the avoidance mode position;
when the control unit judges that the cleaning robot is located in an area to be cleaned and the current cleaning mode comprises a floor mopping mode, the control unit judges whether the floor where the cleaning robot is located is a floor or a carpet according to a detection result sent by the ultrasonic sensor, if the floor is judged to be the floor, the control unit drives the rolling and dragging component to move through the electric push rod lifting component so that the rolling and dragging component is located at the floor mopping mode position, and if the floor is judged to be the carpet, the control unit drives the rolling and dragging component to move through the electric push rod lifting component so that the rolling and dragging component is located at the avoidance mode position;
when the control unit judges that the current state of the cleaning robot needs to return to the base station, the control unit drives the rolling and dragging assembly to move through the electric push rod lifting assembly so that the rolling and dragging assembly is located at the avoidance mode position;
when the control unit judges that the front of the cleaning robot is an obstacle/is suspended and the cleaning robot cannot pass through according to the detection result sent by the ultrasonic sensor, the control unit drives the rolling and dragging component to move through the electric push rod lifting component so that the rolling and dragging component is located at the avoidance mode position and controls the cleaning robot to avoid the obstacle/be suspended to walk;
when the control unit judges that the front of the cleaning robot is an obstacle/is suspended and the cleaning robot cannot pass through according to the detection result sent by the ultrasonic sensor, the control unit drives the rolling and dragging component to move through the electric push rod lifting component so that the rolling and dragging component is located at the avoidance mode position and controls the cleaning robot to avoid the obstacle/be suspended to walk;
when the control unit receives an instruction of stopping the cleaning robot at the current position to wait for notification, the control unit drives the rolling and dragging assembly to move to be in the stopping mode position through the electric push rod lifting assembly.
As an improvement of the scheme, the ultrasonic sensor is arranged on the lower surface of the base and has a distance L from the ground 1 The obstacle crossing height of the cleaning robot is L 2 According to intensity H and distance L that ultrasonic sensor detected ground signal judge that the current ground of cleaning robot is floor or carpet, and cleaning robot the place ahead is the barrier or unsettled:
when L is 1 -L 2 ≤L≤L 1 +L 2 And H is less than or equal to H 0 Judging that the floor where the cleaning robot is currently located is a carpet;
when L is 1 -L 2 ≤L≤L 1 +L 2 And H > H 0 Judging that the ground where the cleaning robot is currently located is a floor;
when L is less than L 1 -L 2 Judging that the front of the cleaning robot is an obstacle and the cleaning robot cannot pass through the obstacle;
when L > L 1 +L 2 When the cleaning robot is in the air, the front part of the cleaning robot is judged to be suspended and the cleaning robot cannot pass through;
wherein H 0 Is a preset intensity threshold.
As an improvement of the above scheme, the cleaning robot is further provided with an infrared distance measuring sensor/laser distance measuring sensor connected with the control unit, the infrared distance measuring sensor/laser distance measuring sensor is arranged on the lower surface of the base, and the distance between the lower surface of the base and the ground is also L 1 (ii) a When the control unit passes through the ultrasonic sensor can not obtain the detection result, the control unit further judges through the detection result of the infrared distance measuring sensor/the laser distance measuring sensor:
when L is 1 -L 2 ≤P≤L 1 +L 2 Judging that the floor where the cleaning robot is currently located is a carpet;
when P > L 1 +L 2 Judging that the front of the cleaning robot is suspended and the cleaning robot cannot pass through;
and P is the ground distance detected by the infrared distance measuring sensor/laser distance measuring sensor.
As an improvement of the above solution, the ultrasonic sensors include at least three ultrasonic sensors, the three ultrasonic sensors are respectively disposed at the front sides of the left and right driving wheels and the universal wheel of the cleaning robot, and the control unit determines the following according to the detection results of the three ultrasonic sensors:
(1) When the detection result of any one of the ultrasonic sensors satisfies: l > L 1 +L 2 When the robot cleaner is used, judging that the front of the robot cleaner is suspended and the robot cleaner cannot pass through;
(2) When the detection result of any one of the ultrasonic sensors satisfies the following conditions: l < L 1 -L 2 Judging that the front of the cleaning robot is an obstacle and the cleaning robot cannot pass through the obstacle;
(3) When the detection result of any one of the ultrasonic sensors satisfies: l is a radical of an alcohol 1 -L 2 ≤L≤L 1 +L 2 And H is less than or equal to H 0 Judging that the floor where the cleaning robot is currently located is a carpet;
wherein when the control unit judges that the conditions of the three ultrasonic sensors satisfy at least two of the above (1) to (3) at the same time according to the detection results of the three ultrasonic sensors, the priority of the judgment is sequentially decreased from the above (1) to (3).
As an improvement of the above scheme, the electric push rod lifting assembly comprises a motor, an electric push rod upper fixing plate, an electric push rod lower fixing plate, an electric push rod fixing column, an electric push rod telescopic rod, an electric push rod connecting column, a rolling-dragging fixing plate and a rolling-dragging connecting column, the electric push rod telescopic rod is connected with the motor and then connected between the electric push rod upper fixing plate and the electric push rod lower fixing plate, the rolling-dragging assembly is connected with the rolling-dragging fixing plate through the rolling-dragging connecting column, the electric push rod lower fixing plate is connected with the rolling-dragging fixing plate through the electric push rod connecting column, linear bearings are respectively arranged on the rolling-dragging connecting column and the electric push rod connecting column, and the electric push rod upper fixing plate is fixed on a base of the cleaning robot through the electric push rod fixing column; under the action of the motor, the telescopic rod of the electric push rod makes up-and-down telescopic motion, so that the rolling and dragging assembly is driven to move up and down integrally.
As an improvement of the above scheme, the roll-dragging assembly comprises a housing, a roll-dragging device, a roller, a clean water tank, a sewage tank and a motor assembly, the housing of the roll-dragging assembly is fixedly connected with the electric push rod lifting assembly, an accommodating cavity and a bottom opening communicated with the accommodating cavity are formed in the housing, the roll-dragging device, the roller, the clean water tank and the sewage tank are arranged in the accommodating cavity, the roll-dragging device extends out of the bottom opening to contact the ground, the clean water tank is arranged above the roll-dragging device, a plurality of water outlet holes are formed in the bottom of the clean water tank, a water filling port is formed in the housing at a position right above the clean water tank, and clean water added through the water filling port flows into the roll-dragging device from the water outlet holes of the clean water tank; one end of the roller tractor is connected with a motor of the motor component and drives the roller tractor to rotate in a first direction under the driving of the motor so as to mop the floor; the roller is arranged on the rear side of the roller tractor and is matched with the roller tractor in a penetrating manner so as to be pressed on the roller tractor, the sewage tank is arranged on the rear side of the roller tractor and is positioned below the roller, and the roller tractor drives the roller to rotate in a second direction opposite to the first direction in the rotating process, so that sewage after being dragged by the roller is extruded out and flows into the sewage tank.
As an improvement of the above scheme, the cleaning robot further comprises a dust collecting box, a clean water tank, a sewage tank, a rolling brush assembly and a connecting panel, wherein the connecting panel is provided with a clean water butt joint port, a dust collecting butt joint port and a sewage butt joint port; the clean water inlet of the clean water tank is connected with the clean water butt joint port through a clean water inlet pipe; a sewage outlet of the sewage tank is connected with the sewage butt joint through a sewage outlet pipe, and a second sewage pump is arranged on the sewage outlet pipe; the dust inlet of the dust collecting box is connected with the dust collecting port of the rolling brush component through a dust collecting pipe; when the cleaning robot is in butt joint with the clear water butt joint piece, the dust collection butt joint piece and the sewage butt joint piece on the connecting panel of the base station through the clear water butt joint port, the dust collection butt joint port and the sewage butt joint port of the connecting panel, the base station performs corresponding clear water adding, dust collection and sewage discharge operations on the cleaning robot.
As an improvement of the above scheme, an infrared charging seeking port and a charging docking port are further arranged on a connecting panel of the cleaning robot, the infrared charging seeking port is provided with an infrared receiver, and the cleaning robot is provided with a battery electrically connected with the charging docking port; the cleaning robot searches for a base station through infrared induction of the infrared receiver to realize butt joint; when the cleaning robot is in butt joint with the base station, the charging butt joint port on the connecting panel of the cleaning robot is correspondingly in butt joint with the charging butt joint piece on the connecting panel of the base station, and the cleaning robot is charged through the base station.
As an improvement of the above scheme, the cleaning robot is further provided with a battery power detection component, a dust collection box full detection component, a clean water tank low water level detection component and/or a sewage tank high water level detection component which are connected with the control unit, and when any one of the following conditions occurs in the current state of the cleaning robot, the control unit controls the cleaning robot to search the base station to realize docking:
(1) Detecting that the cleaning robot finishes cleaning work of an area to be cleaned;
(2) Receiving a detection result that the battery electric quantity sent by the battery electric quantity detection part is lower than a threshold value;
(3) Receiving a detection result of full dust collection of the dust collection box sent by the full dust collection box detection component; and
(4) And receiving a detection result that the water level of the clean water tank sent by the clean water tank low water level detection part is lower than a threshold value or the water level of the sewage tank sent by the sewage tank high water level detection part is higher than the threshold value.
The embodiment of the invention correspondingly provides a control method of a cleaning robot, which is applied to the cleaning robot in any embodiment, and the control method comprises the following steps:
driving the cleaning robot to move to the area to be cleaned from the base station to execute cleaning work;
when the cleaning robot is judged to leave the base station and reach the area to be cleaned, the electric push rod lifting assembly drives the rolling and dragging assembly to move so that the rolling and dragging assembly is located at the avoidance mode position;
when the cleaning robot is judged to be positioned in the area to be cleaned and the current cleaning mode does not include the mopping mode, the electric push rod lifting assembly drives the rolling and mopping assembly to move so as to enable the rolling and mopping assembly to be positioned at the avoidance mode position;
when the cleaning robot is judged to be located in an area to be cleaned and the current cleaning mode comprises a floor mopping mode, judging whether the floor where the cleaning robot is located is a floor or a carpet according to a detection result sent by the ultrasonic sensor, if the floor is judged to be the floor, driving the rolling and dragging assembly to move through the electric push rod lifting assembly to enable the rolling and dragging assembly to be located at the floor mopping mode position, and if the floor is judged to be the carpet, driving the rolling and dragging assembly to move through the electric push rod lifting assembly to enable the rolling and dragging assembly to be located at the avoiding mode position;
when the current state of the cleaning robot needs to return to the base station, the power-on push rod lifting assembly drives the rolling and dragging assembly to move so that the rolling and dragging assembly is located at the avoidance mode position;
when the control unit judges that the front of the cleaning robot is an obstacle/suspended object and the cleaning robot cannot pass through according to the detection result sent by the ultrasonic sensor, the control unit drives the rolling and dragging component to move through the electric push rod lifting component so that the rolling and dragging component is positioned at the avoidance mode position and controls the cleaning robot to avoid the obstacle/suspended object to walk;
when an instruction for stopping the cleaning robot at the current position to wait for notification is received, the rolling and dragging assembly is driven to move to be at the stopping mode position through the electric push rod lifting assembly.
The embodiment of the invention also provides a cleaning robot system which comprises the cleaning robot and the base station, wherein the cleaning robot and the base station are in butt joint through the connecting panel.
Compared with the prior art, the cleaning robot, the control method and the control system of the cleaning robot provided by the embodiment of the invention have at least the following technical effects: the cleaning robot rolls and drags the subassembly and can remove three kinds of different positions relative ground at least under electric push rod lifting unit, ultrasonic sensor and the cooperation of the control unit to correspond and realize different mode and function: when the cleaning robot is judged to leave the base station and reach the area to be cleaned, the electric push rod lifting assembly drives the rolling and dragging assembly to move so that the rolling and dragging assembly is located at the avoidance mode position; when the cleaning robot is judged to be positioned in the area to be cleaned and the current cleaning mode does not include the mopping mode, the electric push rod lifting assembly drives the rolling and mopping assembly to move so as to enable the rolling and mopping assembly to be positioned at the avoidance mode position; when the cleaning robot is judged to be located in an area to be cleaned and the current cleaning mode comprises a floor mopping mode, judging whether the floor where the cleaning robot is located is a floor or a carpet according to a detection result sent by the ultrasonic sensor, if the floor is judged to be the floor, driving the rolling and dragging assembly to move through the electric push rod lifting assembly to enable the rolling and dragging assembly to be located at the floor mopping mode position, and if the floor is judged to be the carpet, driving the rolling and dragging assembly to move through the electric push rod lifting assembly to enable the rolling and dragging assembly to be located at the avoiding mode position; when the current state of the cleaning robot needs to return to the base station, the electric push rod lifting assembly drives the rolling and dragging assembly to move so that the rolling and dragging assembly is located at the avoidance mode position; when the front of the cleaning robot is judged to be an obstacle/suspended object and the cleaning robot cannot pass through the obstacle/suspended object, the electric push rod lifting assembly drives the rolling and dragging assembly to move so as to enable the rolling and dragging assembly to be located at the avoidance mode position and control the cleaning robot to avoid the obstacle/suspended object to walk; when an instruction for stopping the cleaning robot at the current position to wait for notification is received, the rolling and dragging assembly is driven to move to be at the stopping mode position through the electric push rod lifting assembly. Therefore, the cleaning robot and the control method thereof provided by the embodiment of the invention can reasonably plan the action through the detection result of the ultrasonic sensor, so that the rolling and dragging functions are maximized.
Drawings
Fig. 1a is a schematic structural diagram of a cleaning robot system according to an embodiment of the present invention, which shows a state after a cleaning robot is docked with a base station. Is a schematic structural diagram of a sweeping robot adopted in the prior art.
Fig. 1b is a schematic structural diagram of a cleaning robot system according to an embodiment of the present invention, which shows a state before the cleaning robot and a base station are docked.
Fig. 2 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention.
Fig. 3a is a schematic structural diagram of the roller-dragging assembly and the electric push rod lifting assembly provided in the embodiment of the present invention after being connected.
Fig. 3b is a schematic cross-sectional view of the roller-dragging assembly and the electric push rod lifting assembly according to the embodiment of the present invention.
Fig. 4 is a schematic overall structure diagram of a roller assembly according to an embodiment of the present invention.
Fig. 5 is a schematic view of another angle of the overall structure of a roller assembly according to an embodiment of the present invention.
Fig. 6 is an exploded schematic view of a roller assembly according to an embodiment of the present invention.
Fig. 7 is a schematic cross-sectional view of a roller assembly according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a roller assembly according to an embodiment of the present invention, showing a state after the roller is drawn out from the housing.
Fig. 9 is an exploded view of an end cap engaging assembly according to an embodiment of the present invention.
Fig. 10a and 10b are two schematic partial sectional views of the roller assembly provided by the embodiment of the invention, wherein the roller assembly is in different directions and in an unlocked state.
Fig. 10c is a schematic partial cross-sectional view of the roller assembly in a locked state according to the embodiment of the present invention.
Fig. 11 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention.
Fig. 12 is a schematic structural diagram of another angle of a cleaning robot according to an embodiment of the present invention.
Fig. 13 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention, which shows a state where a functional component is put into or taken out of a cavity after an upper cover is opened.
Fig. 14 is an exploded view of a cleaning robot according to an embodiment of the present invention, showing the installation positions of respective functional parts.
Fig. 15 is a schematic structural view of a cleaning robot according to an embodiment of the present invention, showing a state in which an edge brush, a roller brush, and a roller blade are directly drawn out from a side of a base.
Fig. 16 is a schematic connection diagram of functional components of a cleaning robot according to an embodiment of the present invention.
Fig. 17a is a partial connection schematic diagram of a cleaning robot provided in an embodiment of the present invention.
Fig. 17b is a partial connection diagram of a cleaning robot according to an embodiment of the present invention.
Fig. 18 is a partial connection view of a cleaning robot according to an embodiment of the present invention.
Fig. 19a is a partial structural schematic view of a cleaning robot according to an embodiment of the present invention, showing a connection relationship between a first connection panel and a shielding plate.
Fig. 19b is a partial exploded view of fig. 19 a.
Fig. 20 is a schematic structural diagram of a base station according to an embodiment of the present invention.
Fig. 21 is a schematic structural diagram of another angle of a base station according to an embodiment of the present invention.
Fig. 22 is a schematic diagram of connections between functional components of a base station according to an embodiment of the present invention.
Fig. 23 is a flowchart illustrating a control method of a cleaning robot according to an embodiment of the present invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the 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, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically connected, electrically connected or can communicate with each other; 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 according to specific situations by those of ordinary skill in the art.
Referring to fig. 1a to 1b, an embodiment of the present invention provides a cleaning robot system 100. This cleaning machines people system 100 includes cleaning machines people 1 and basic station 2, wherein, cleaning machines people 1 is last to be equipped with first connection panel 10, be equipped with first infrared on the first connection panel 10 and seek to fill mouth 101, charge to interface 102, clear water to interface 103, collect dirt to interface 104 and sewage to interface 105, be equipped with second connection panel 20 on the basic station 2, be equipped with the second on the second connection panel 20 and seek to fill mouth 201, charge to interface 202, clear water to interface 203, collect dirt to interface 204 and sewage to interface 205. The cleaning robot 1 performs infrared induction to find a base station through the first infrared search charging port 101 and the second infrared search charging port 201 of the base station 2, and makes the first connection panel 10 and the second connection panel 20 butt jointed, and when the first connection panel 10 and the second connection panel 20 butt jointed, the charging butt joint port 102, the clean water butt joint port 103, the dust collection butt joint port 104 and the sewage butt joint port 105 of the cleaning robot 1 respectively realize one-to-one butt joint with the charging butt joint part 202, the clean water butt joint part 203, the dust collection butt joint part 204 and the sewage butt joint part 205 of the base station 2, so that the self-charging, dust collection, clean water addition and sewage discharge of the cleaning robot 1 are realized through the base station 2. Therefore, the cleaning robot system with the multifunctional set provided by the embodiment of the invention has strong functions, and is particularly suitable for being used as a commercial cleaning robot for cleaning.
Referring to fig. 2, the present invention provides a cleaning robot, including a base 111, a rolling and dragging assembly 19, an ultrasonic sensor and a control unit (not shown), wherein the rolling and dragging assembly 19 is connected to the base 111 through an electric push rod lifting assembly 199 and can be integrally moved away from or close to a ground surface by the driving of the electric push rod lifting assembly 199, wherein a position where a rolling and dragging 191 of the rolling and dragging assembly 19 contacts the ground surface to generate a first friction force to implement a floor dragging is used as a floor dragging mode position of the rolling and dragging assembly 19, a position where the rolling and dragging 191 of the rolling and dragging assembly 19 is away from the ground surface by a certain distance is used as an avoidance mode position of the rolling and dragging assembly, and a position where the rolling and dragging 191 of the rolling and dragging assembly 19 contacts the ground surface to generate a second friction force to hinder the cleaning robot from walking is used as a staying mode position of the rolling and dragging assembly 19, wherein the second friction force is greater than the first friction force. It can be understood that the ultrasonic sensor of the present embodiment is disposed on the lower surface of the base 111 to detect the condition of the floor where the cleaning robot is located. In addition, the cleaning robot of the embodiment may further include an ultrasonic probe 119 disposed around the base of the cleaning robot, and the ultrasonic probe 119 is connected to the control unit for detecting the ground conditions around the cleaning robot, so as to expand the detection range of the cleaning robot.
The control unit is connected with the ultrasonic sensor to control the ultrasonic sensor to detect and receive a detection result of the ultrasonic sensor; the control unit is also connected to the motor of the electrical push rod assembly 199 to control the operation of the motor. When the control unit judges that the cleaning robot leaves the base station and reaches the area to be cleaned, the control unit drives the rolling and dragging assembly to move through the electric push rod lifting assembly 199 so that the rolling and dragging assembly is in the avoidance mode position; when the control unit judges that the cleaning robot is positioned in the area to be cleaned and the current cleaning mode does not comprise a mopping mode, the control unit drives the rolling and dragging component to move through the electric push rod lifting component 199 so as to enable the rolling and dragging component to be positioned at the avoiding mode position; when the control unit judges that the cleaning robot is positioned in an area to be cleaned and the current cleaning mode comprises a floor mopping mode, the control unit judges whether the floor where the cleaning robot is positioned is a floor or a carpet according to a detection result sent by the ultrasonic sensor, if the floor is judged to be the floor, the control unit drives the rolling and dragging component to move through the electric push rod lifting component 199 so that the rolling and dragging component is positioned at the floor mopping mode position, and if the floor is judged to be the carpet, the control unit drives the rolling and dragging component to move through the electric push rod lifting component 199 so that the rolling and dragging component is positioned at the avoidance mode position; when the control unit judges that the current state of the cleaning robot needs to return to the base station, the control unit drives the rolling and dragging component to move through the electric push rod lifting component 199 so as to enable the rolling and dragging component to be in the avoidance mode position; when the control unit judges that the front of the cleaning robot is an obstacle/is suspended and the cleaning robot cannot pass through according to the detection result sent by the ultrasonic sensor, the control unit drives the rolling and dragging component to move through the electric push rod lifting component so that the rolling and dragging component is located at the avoidance mode position and controls the cleaning robot to avoid the obstacle/be suspended to walk; when the control unit receives an instruction to stop the cleaning robot at the current position to wait for a notification, the control unit drives the rolling and dragging assembly to move to the stop mode position through the electric push rod lifting assembly 199.
It should be noted that, for the stay mode position of the roller-dragging assembly 19, the roller-dragging 191 of the roller-dragging assembly 19 is in contact with the ground to generate a large friction force, in order to prevent the cleaning robot from automatically sliding (for example, when the cleaning robot stays on the ground with an up-down slope), so that when the cleaning robot receives an instruction to stay at the current position to wait for a next notification, the cleaning robot lowers the roller-dragging assembly to perform a braking function.
Specifically, in this embodiment, the ultrasonic sensor is disposed on the lower surface of the base and has a distance L from the ground 1 The obstacle crossing height of the cleaning robot is L 2 According to intensity H and the distance L that ultrasonic sensor detected ground signal judge that the current ground that locates of cleaning machines people is floor or carpet, and cleaning machines people the place ahead is the barrier or unsettled:
when L is 1 -L 2 ≤L≤L 1 +L 2 And H is less than or equal to H 0 And judging that the floor where the cleaning robot is currently located is a carpet:
when L is 1 -L 2 ≤L≤L 1 +L 2 And H > H 0 Judging that the ground where the cleaning robot is currently located is a floor;
when L < L 1 -L 2 When the robot cleaner is used, judging that the front of the robot cleaner is an obstacle, and the robot cleaner cannot pass through the obstacle;
when L > L 1 +L 2 When the cleaning robot is in the air, the front part of the cleaning robot is judged to be suspended and the cleaning robot cannot pass through;
wherein H 0 Is a preset intensity threshold.
For example, when the ultrasonic sensor is arranged on the lower surface of the base and the distance from the ground is 60mm, and the obstacle crossing height of the cleaning robot is 15mm, then, when the distance from the ground detected by the ultrasonic sensor satisfies the following conditions: when L is less than 45mm, judging that the front of the cleaning robot is an obstacle and the cleaning robot cannot pass through; when L is larger than 75mm, judging that the front of the cleaning robot is suspended and the cleaning robot cannot pass through; and when L is more than or equal to 45mm and less than or equal to 75mm, further judging the signal intensity H detected by the ultrasonic sensor: if H is less than or equal to H 0 Judging that the floor where the cleaning robot is currently located is a carpet; if H > H 0 And judging that the floor where the cleaning robot is currently located is the floor.
It can be understood that, when the ground condition is detected by the ultrasonic sensor, the ground distance L is obtained by the time from the ultrasonic sensor transmitting the ultrasonic wave to the time of receiving the echo, and the signal strength H is obtained according to the amplitude of the received echo.
Further, in this embodiment, the ultrasonic sensors are provided in at least three numbers, and when three ultrasonic sensors are adopted, the ultrasonic sensors are respectively provided on the left and right driving wheels of the cleaning robot and on the front side of the universal wheel (as can be understood, all of the front side, the front left side, or the front right side can be implemented), and the control unit determines the following according to the detection results of the three ultrasonic sensors:
(1) When the detection result of any one of the ultrasonic sensors satisfies the following conditions: l > L 1 +L 2 In the meantime, it is judged that the front of the cleaning robot is suspended and the cleaning robot cannotPassing;
(2) When the detection result of any one of the ultrasonic sensors satisfies: l < L 1 -L 2 Judging that the front of the cleaning robot is an obstacle and the cleaning robot cannot pass through;
(3) When the detection result of any one of the ultrasonic sensors satisfies: l is 1 -L 2 ≤L≤L 1 +L 2 And H is less than or equal to H 0 Judging that the floor where the cleaning robot is currently located is a carpet;
wherein, when the control unit judges that the conditions of the three ultrasonic sensors simultaneously satisfy at least two of the above (1) to (3), the judged priority is sequentially decreased from the above (1) to (3).
For example, the distance L between the three ultrasonic sensors and the ground 1 =60mm, obstacle crossing height L of the cleaning robot 2 The description is given below by way of example of =15 mm:
when the control unit receives the detection results of the three ultrasonic sensors, if the ground distance L obtained from the retrieval result of any one ultrasonic sensor is more than 75mm, the front of the cleaning robot is judged to be suspended and the cleaning robot cannot pass through;
when the control unit receives the detection results of the three ultrasonic sensors, the ground distance L obtained in the retrieval result of none of the ultrasonic sensors is more than 75mm, and as long as the ground distance L obtained in the retrieval result of any one of the ultrasonic sensors is less than 45mm, the control unit judges that the front of the cleaning robot is an obstacle and the cleaning robot cannot pass through the obstacle;
when the control unit receives the detection results of the three ultrasonic sensors, the ground distances L obtained from the detection results of the three ultrasonic sensors all satisfy the following conditions: l is more than or equal to 45mm and less than or equal to 75mm, then, as long as the signal intensity H obtained from the search result of any ultrasonic sensor is less than or equal to H 0 And judging that the floor where the cleaning robot is currently located is a carpet.
As a modification of the above, in another preferred embodiment, the cleaning robot is further provided with an infrared ranging sensor/laser ranging sensor connected with the control unit,the infrared distance measuring sensor/laser distance measuring sensor is arranged on the lower surface of the base, and the distance between the infrared distance measuring sensor/laser distance measuring sensor and the ground is also L 1 . When the control unit cannot acquire a detection result through the ultrasonic sensor, for example, in general, when the front of the cleaning robot is suspended (or a pit exists on the ground and the depth of the pit is large), the ultrasonic sensor cannot detect an echo or an echo signal is very weak so as to be negligible; in addition, for some carpets, due to the reason that the material is too soft, etc., the echo can not be detected by the ultrasonic sensor or the echo signal is very weak so as to be ignored. In this case, the control unit further determines, from the detection result of the infrared ranging sensor/laser ranging sensor:
when L is 1 -L 2 ≤P≤L 1 +L 2 Judging that the floor where the cleaning robot is currently located is a carpet;
when P > L 1 +L 2 Judging that the front of the cleaning robot is suspended and the cleaning robot cannot pass through;
and P is the ground distance detected by the infrared distance measuring sensor/laser distance measuring sensor.
For example, when the infrared distance measuring sensor/laser distance measuring sensor is arranged on the lower surface of the base and has a distance of 60mm from the ground, and the obstacle crossing height of the cleaning robot is 15mm, then, when the control unit cannot acquire a detection result through the ultrasonic sensor (no echo signal or the echo signal is very weak so that the echo signal can be ignored), it is necessary to further judge whether the detection result is caused by suspension or some carpet materials through the detection result of the infrared distance measuring sensor/laser distance measuring sensor, and when the ground distance P detected by the infrared distance measuring sensor/laser distance measuring sensor is greater than 75mm, it is judged that the front of the cleaning robot is suspended and the cleaning robot cannot pass through; and when P is more than or equal to 45mm and less than or equal to 75mm, judging that the floor where the cleaning robot is located is a carpet.
It can be seen that, in this embodiment, through increasing infrared distance measurement sensor/laser rangefinder sensor as supplementary detection instrument, when the control unit passes through ultrasonic sensor can't acquire the testing result, can further judge through infrared distance measurement sensor/laser rangefinder sensor's testing result whether because unsettled or the reason of some carpet material leads to can make the testing result more accurate and correspond the action of carrying out more reasonable.
Preferably, referring to fig. 3 to 4, the electric push rod lifting assembly 199 provided in this embodiment includes a motor 1991, an electric push rod upper fixing plate 1992, an electric push rod lower fixing plate 1993, an electric push rod fixing column 1994, an electric push rod telescopic rod 1995, an electric push rod connecting column 1996, a roller pulling fixing plate 1997 and a roller pulling connecting column 1998, wherein the electric push rod telescopic rod 1995 is connected with the motor 1991 and then fixed between the electric push rod upper fixing plate 1992 and the electric push rod lower fixing plate 1993 through an upper bracket and a lower bracket. The roller assembly 19 is connected to the roller fixing plate 1997 through the roller connecting column 1998 (the base 111 of the cleaning robot is provided with a through hole penetrating the upper and lower surfaces of the base, the roller connecting column 1998 penetrates the through hole), the electric push rod lower fixing plate 1993 is connected to the roller fixing plate 1997 through the electric push rod connecting column 1995, the electric push rod connecting column 1995 is provided with a linear bearing 19950 and is sleeved with a spring 19951, and the roller connecting column 1998 is also provided with a linear bearing 19980. Wherein, both ends of the electric push rod upper fixing plate 1992 are fixedly connected to a base 111 (refer to fig. 2) of the cleaning robot through the electric push rod fixing column 1994. Thus, under the action of the motor, the electric push rod telescopic rod 1995 makes an up-and-down telescopic motion, so as to drive the whole rolling and dragging assembly 19 to move up and down, thereby moving the rolling and dragging 191 of the rolling and dragging assembly 19 away from or close to the ground.
It can be seen that the rolling and dragging assembly 19 provided in this embodiment is connected to the base of the cleaning robot through the electric push rod lifting assembly 199 and can be driven by the electric push rod lifting assembly 199 to move away from or close to the floor as a whole, so that the rolling and dragging assembly 19 can be lifted at the place (such as a carpet) where the cleaning robot finishes cleaning or does not need to drag the floor, thereby preventing the floor from being damaged and reducing the resistance. In addition, when the cleaning robot needs to stay in place to wait for a specific cleaning instruction, in order to avoid the movement or sliding of the cleaning robot (especially when the cleaning robot is currently located on a landslide), the electric push rod lifting assembly 199 can further push the rolling and dragging assembly 19, so that the rolling and dragging 191 of the rolling and dragging assembly 19 moves close to the ground, so as to increase the friction force between the rolling and dragging 191 of the rolling and dragging assembly 19 and the ground, thereby effectively preventing the cleaning robot from moving or sliding.
Referring to fig. 4 to 6, a preferred structure of the roller dragging assembly 19 is provided according to the embodiment of the present invention. The roll brush assembly 19 provided by the present embodiment includes a housing 192 (including an upper cover 192a and a lower cover 192b which are fixedly connected by engagement), a roll 191, a roller 193, a clean water tank 195, a dirty water tank 196 and a motor assembly 194. Wherein the roller assembly 19 is fixedly connected to the electrical push rod lifting assembly 199 via the housing 192 (particularly, the upper cover). The housing 192 is provided with a receiving cavity 1928 and a bottom opening 1922 communicating with the receiving cavity 1928, the roller bracket 191, the drum 193, the clean water tank 195 and the sewage tank 196 are disposed in the receiving cavity 1928, and the roller bracket 191 protrudes from the bottom opening 1922 to contact the ground. The clean water tank 195 is connected to the inner surface of the upper cover 192a and is located above the roller 191, a plurality of water outlet holes 1950 are formed in the bottom of the clean water tank 195, a water filling port 190a is formed in the upper cover 192a at a position directly above the clean water tank 195, and clean water filled through the water filling port 190a flows into the roller 191 from the water outlet holes 1950 of the clean water tank 195 (the path of the water filled through the water filling port 190a flowing into the roller 191 is shown by an arrow A1 in fig. 7). One end of the roller mop 191 is connected to the motor of the motor assembly 194 and is driven by the motor to drive the roller mop 191 to rotate in a first direction (the direction is shown by an arrow B1 in fig. 7, and the rotation direction is consistent with the rotation direction of a driving wheel driving the cleaning robot provided with the roller mop assembly to move forward) so as to mop the floor. The two ends of the roller 193 are fixedly connected to the inner surface of the upper cover 192a by a connecting member and are positioned at the rear side of the roller 191 (as shown in fig. 7, the roller 193 is preferably positioned at the oblique rear side of the roller 191, the central line of the roller 193 and the roller 191 is about 45 degrees with respect to the ground, and the roller 193 and the roller 191 are in interference fit to press against the roller 191. The sewage groove is positioned at the rear side of the roller 191 and is positioned below the roller 193. Thus, the roller 191 drags the floor by being driven by the motor (the clean water flowing into the roller 191 is changed into sewage in the process of dragging the floor along with the rotation of the roller 191), and the roller 193 is driven to rotate in a second direction (the direction is shown by an arrow B2 in fig. 7) opposite to the first direction during the rotation, the roller 193 extrudes the sewage dragged by the roller mop 191 into the sewage tank 196 in the rotating process, so that the roller mop assembly 19 provided by the embodiment extrudes and discharges the sewage dragged by the roller mop 191 in the rotating process of the roller mop 191, thereby timely discharging the sewage on the roller mop 191 and avoiding secondary pollution to the ground in the subsequent ground cleaning process, therefore, the roller mop assembly 19 provided by the embodiment has a self-cleaning function, does not need to be frequently disassembled by a user for manual cleaning, saves time and labor, is sanitary and improves user experience.
Further, as shown in fig. 4 and 6, a drain outlet 190b is disposed at the bottom of the sewage tank 196, a filter screen (not shown) is disposed in front of the drain outlet 190b of the sewage tank 196, and sewage in the sewage tank 196 is filtered by the filter screen and then discharged from the drain outlet 190 b. In this embodiment, the water inlet 190a is connected with a clean water tank of the cleaning robot through a water inlet pipe to add clean water, and the drain outlet 190b is connected with a sewage tank of the cleaning robot through a sewage discharge pipe to discharge sewage.
Preferably, as shown in fig. 5 to 7, the roll mop assembly 19 of this embodiment further includes a water adding wiper 1951, wherein the water adding wiper 1951 is fixedly connected to the inner surface of the upper cover 192a by a connector and is located right below the clean water trough 195 (as an advantage, the clean water trough 195 and the water adding wiper 1951 may be integrally connected and then fixedly connected to the inner surface of the upper cover 192a by a connector). The watering wiper 1951 is integrally in an inverted triangle structure, an opening of the watering wiper 1951 is gradually narrowed from top to bottom, and a tip of the bottom of the watering wiper 1951 is in contact with the roller support 191. Thus, the clear water flows into the watering blade 1951 through the water outlet hole 1950 at the bottom of the clear water tank 195, flows down along the inclined surface inside the watering blade 1951 and flows onto the roll mop through the opening at the tip of the bottom, and thus uniformly flows onto the roll mop 191. It can be seen that the mop assembly 19 of this embodiment can more uniformly apply the fresh water to the surface of the mop 191 by adding the wiper 1951, and the wiper 1951 is configured such that the bottom tip portion does not interfere with the rotation of the mop 191.
Preferably, as shown in fig. 6 and 7, the roller-dragging assembly 19 further includes a water receiving sheet 1961, the water receiving sheet 1961 is connected to the upper surface of the side wall of the sewage tank 196 adjacent to the roller-dragging 191, the top tip of the water receiving sheet 1961 contacts the roller-dragging 191, and the drum 193 presses out the sewage after the roller-dragging 191 drags the floor and flows into the sewage tank 196 through the water receiving sheet 1961. It can be seen that the roll-dragging assembly 19 of the present embodiment can facilitate the sewage generated after the roller 193 is squeezed by the roll-dragging 191 to drag the floor to enter the sewage tank by adding the water-receiving sheet 1961, so as to prevent the sewage from flowing into the floor, and the structural design of the water-receiving sheet 1961 makes the top tip portion not affect the rotation of the roll-dragging 191.
Preferably, as shown in fig. 5 to 7, an air inlet 190c is disposed at the top of the rear side of the housing 192 of the roller assembly 19, a plurality of air outlet holes 1929 (at least one row is disposed in parallel to the axial direction of the roller 191) are disposed at the bottom of the rear side of the housing 192, the air inlet 190c is connected to an air outlet of a dust box of the cleaning robot through an air outlet pipe, and hot air passing through a blower of the dust box enters the accommodating cavity from the air inlet 190c and is discharged through the air outlet holes 1929 to dry the floor dragged by the roller 191. It can be seen that, the rolling and dragging assembly 19 of the embodiment is provided with the air inlet 190c and the air outlet 1929 on the housing, the air inlet 190c is connected with the air outlet of the dust collecting box of the cleaning robot through the air pipe, so as to introduce the hot air passing through the fan of the dust collecting box into the cavity of the rolling and dragging assembly 19 and blow out through the air outlet 1929 to blow dry the ground dragged by the rolling and dragging assembly 19, so that the hot air passing through the fan in the dust collecting box can be recycled, and the waste caused by directly discharging the hot air into the environment is avoided.
Preferably, referring to fig. 6 and 8, the roller assembly 19 of the present embodiment further includes an end cap engaging assembly 198, and the roller 191 is driven by the end cap engaging assembly 198 to be integrally withdrawn from the side end of the housing 192. Specifically, the motor assembly 194 of this embodiment is disposed at one end of the housing 192 and connected to a first end of the roller bracket 191. The other end of the housing 192 is open, and the end cover clamping assembly 198 is disposed at the other end of the housing 192, and is configured to close the other end opening of the housing 192 and connect with the second end of the roller bracket 191. The inner wall of the housing 192 is provided with a locking groove 1920, and the end cover locking component 198 is provided with an end cover locking member 1981 matched with the locking groove 1920 and an end cover driving member for driving the end cover locking member 1981 to be locked with or separated from the locking groove. The end cap retaining member 1981 is driven by the end cap driver to disengage from the locking slot 1920, which then drives the end cap retaining member 198 to integrally withdraw the roller 191 from the opening at one end of the housing 192.
Specifically, the roller mop 191 includes a roller 1911, a mop cloth 1912 sleeved on the roller 1911, a first roller connecting member 1913 and a second roller connecting member 1914, wherein the roller 1911 is connected between the first roller connecting member 1913 and the second roller connecting member 1914 and can rotate relative to the first roller connecting member 1913 and the second roller connecting member 1914. The roller puller 191 is coupled to the motor assembly 19 via the first roller linkage 1913, and the roller puller is coupled to the end cap engagement assembly 198 via the second roller linkage 1914. The first roller link 1913 and the second roller link 1914 are further provided with a sewage tank connecting portion connected to the sewage tank 19, respectively, and the sewage tank 196 is connected between the first roller link 1913 and the second roller link 1914 to form a whole with the roller puller 191, so that the roller puller 191 and the sewage tank 196 can be integrally pulled out from an opening at one end of the housing 192 by the end cap engaging set 198.
It will be appreciated that, in order to facilitate the integral extraction of the roller puller 191 from the side end of the housing 192, the roller puller 191 is connected to the motor element 194 through the first roller link 1913, so that the roller puller 191 is connected to the motor and driven by the motor to rotate, i.e., the roller puller 191 is easily separated from the motor element 194 through the first roller link 1913. The roller puller 191 is firmly connected or even fixedly connected with the end cover clamping component 198 through the second roller connecting piece 1914, so that the roller puller 191 can be driven to be integrally pulled out through the end cover clamping component 198.
Referring to fig. 8, 9, and 10a to 10c, a preferred structure of an end cap engaging assembly 198 according to an embodiment of the present invention is shown. Specifically, the end cover clamping assembly 198 includes an end cover inner casing 1981, an end cover outer casing 1982 fixedly connected to the end cover inner casing 1981, an end cover key 1983, an elastic element 1984, and an end cover fastener 1985. Wherein the end cap key 1983 and the resilient member 1984 comprise the end cap driver. The elastic element 1984 and the end cover fastener 1985 are accommodated in the cavity 1980 formed after the end cover inner shell 1981 and the end cover outer shell 1982 are connected. Preferably, the end cap latch 1985 provided in this embodiment includes a first end cap latch 1985a and a second end cap latch 1985b, the elastic element 1984 includes a first elastic element 1984a and a second elastic element 1984b, the card slot 1920 provided on the inner wall of the housing 192 includes a first card slot 1920a and a second card slot 1920b, and the first card slot 1920a and the second card slot 1920b are provided on the inner walls of the front and rear ends of the housing 192, respectively (refer to fig. 10b and 10 c). The first and second elastic elements 1984a and 1984b are preferably springs. Spring columns are arranged inside the first end cover buckle 1985a and the second end cover buckle 1985b, a first elastic element 1984a and a second elastic element 1984b are respectively sleeved on the spring columns of the first end cover buckle 1985a and the second end cover buckle 1985b, one ends of the first elastic element 1984a and the second elastic element 1984b respectively and correspondingly abut against the inner walls of the first end cover buckle 1985a and the second end cover buckle 1985b, and the other ends of the first elastic element 1984a and the second elastic element 1984b abut against an abutting piece fixedly arranged in the cavity 1980, so that the first elastic element 1984a and the second elastic element 1984b are respectively compressed under the action of an abutting part (described later) at the front end of the end cover key 1983 in the moving process. Two side walls of the end cover inner shell 1981 are provided with openings 19810a, 19810b communicating the inside and the outside of the cavity, one ends of the first end cover buckle 1985a and the second end cover buckle 1985b are respectively driven to integrally move by the action of the abutting part of the end cover key 1983, and the other ends of the first end cover buckle 1985a and the second end cover buckle 1985b respectively extend out of the openings 19810a, 19810b in the moving process to be clamped with the first clamping groove 1920a and the second clamping groove 1920 b.
The end cap snap assembly 198 is fixedly attached to the second roller linkage 1914 via the end cap inner housing 1981. The end cover shell 1982 is provided with a key hole 19821, and the inner wall of the end cover shell 1982 is provided with a ring-shaped clamping groove 19822 at the position of the key hole 19821.
The end cap key 1983 is a cylinder, the outer surface of the middle front part (close to the front end for a certain distance) of the end cap key 1983 is provided with a clamping protrusion 19831 clamped with the annular clamping groove 19822, the clamping protrusion 19831 comprises two clamping protrusions which are respectively and oppositely arranged on the upper surface and the lower surface of the end cap key 1983, two sides between the front end of the end cap key 1983 and the two clamping protrusions 19831 are inclined planes 19832, and two cylindrical surfaces between the two inclined planes 19832 form the abutting part 19833. The rear end of the end cap key 1983 is provided with a pull ring 19834. Thus, the end cap key 1983 is adjusted to be inserted into the cavity 1980 through the key hole 19821 on the end cap housing 1982, the position of the clamping protrusion 19831 is adjusted to be above and below, the front end of the end cap key 1983 can facilitate driving the two clamping protrusions 19831 to pass through the key holes 19821 to be clamped with the annular clamping groove 19822 due to the arrangement of the two inclined surfaces 19832 on the end cap housing 1982 when the end cap key 1983 is inserted into the key hole 19821. It can be understood that the engagement of the annular groove 19822 with the two locking protrusions 19831 is used to restrict the end cap key 1983 from moving outward (i.e. not being able to be removed from the cavity) but not to restrict the end cap key 1983 from moving inward, i.e. the end cap key 1983 can move forward and backward in the cavity 1980 after being inserted into the cavity 1980 through the keyhole 19821.
For convenience of description, a first position (a state where the end cover key 1983 is in the first position is shown in fig. 10a and 10 b) is defined as a position where the two locking protrusions 19831 of the end cover key 1983 are locked with the annular locking groove 19822, and a second position is defined as a position where the end cover key 1983 is inserted to the deepest position in the cavity 1980. With the end cap key 1983 in the first position, the end cap key 1982 is forcibly inserted into the second position with the front end of the end cap key 1983 between the first and second end cap snaps 1985a, 1985b and with the two inclined surfaces 19832 of the end cap key 1983 opposite the first and second end cap snaps 1985a, 1985b, respectively (due to the inclined surface design, the end cap key 1983 now does not interfere with the first and second end cap snaps 1985a, 1985 b). Then, the end cap key 1983 is rotated 90 ° clockwise or counterclockwise, so that the two inclined surfaces 19832 are inverted to a top-bottom position, and the two cylindrical surfaces between the two inclined surfaces 19832 (against the top 19833) are inverted to be respectively opposite to the first end cap latch 1985a and the second end cap latch 1985b, and the two cylindrical surfaces (against the top 19833) are respectively pressed against the first end cap latch 1985a and the second end cap latch 1985b during the inversion process (the distance between the two cylindrical surfaces is greater than the distance between the two inclined surfaces), so as to push the first end cap latch 1985a and the second end cap latch 1985b to move to be respectively latched with the first latch 1920a and the second latch 1920b (the state of the end cap key 1983 is shown in fig. 10 c). At this time, if the end cap key 1983 is turned 90 ° clockwise or counterclockwise, the two cylindrical surfaces (abutting portions 19833) no longer abut against the first end cap snap 1985a and the second end cap snap 1985b during the turning process, and the first end cap snap 1985a and the second end cap snap 1985b automatically return to the original positions under the action of the first elastic element 1984a and the second elastic element 1984b, respectively, so as to be disengaged from the first locking groove 1920a and the second locking groove 1920 b.
As a modification of this embodiment, the end cover inner housing 1981 is provided with a spring post 1986 between the first end cover latch 1985a and the second end cover latch 1985b, the spring post 1986 is sleeved with a third elastic member 1987, the end cover key 1983 is provided with a hollow cavity, and when the end cover key 1983 is forcibly inserted into the second position, the spring post 1986 and the third elastic member 1987 enter the hollow cavity of the end cover key 1983 and the third elastic member 1987 is compressed. With the first and second end cap snaps 1985a, 1985b engaged with the first and second detents 1920a, 1920b, respectively, the end cap key 1983 may be returned to the position where the snap projection 19831 is snapped into the annular snap groove 19822 (i.e., the first position) by the third resilient element 1987 by releasing the end cap key 1983 clockwise or counterclockwise by 90 degrees (i.e., removing the force). Preferably, the third elastic element 1987 is a spring.
Further, with reference to fig. 8, positioning ribs 19130 and 19140 are respectively disposed on two sides of the first roller connecting member 1913 and the second roller connecting member 1914 of the roller pad 191, positioning slots 1925 are further disposed on inner walls of the front end and the rear end of the housing 192, the positioning slots 1925 extend from one end to the other end of the housing 192, each positioning slot 1925 is respectively communicated with the first card slot 1920a and the second card slot 1920b, and each positioning slot matches with the shape of the positioning rib 19130 and the positioning rib 19140. Thus, the roller bracket 191 is received in the receiving cavity of the housing 192 by aligning the positioning ribs 19130, 19140 of the roller bracket 191 with the positioning slots 1925 of the housing 192 to push the roller bracket 191 to the bottom, and the roller bracket 191 is correspondingly connected to the motor of the motor assembly. It can be seen that, the positioning rib and the positioning groove provided in this embodiment can not only guide the roller puller 191 into the accommodating cavity of the housing 192, but also position the roller puller 191 in the accommodating cavity of the housing 192, and then the end cover key 1983 of the end cover clamping assembly 198 is rotated to clamp the end cover clamping piece of the end cover clamping assembly 198 with the clamping groove in the housing, so that the roller puller 191 is fixed in the accommodating cavity of the housing 192, and the roller puller 191 is prevented from being separated from the housing 192 in the floor mopping process.
Next, the operation of the roller assembly 19 according to the present embodiment will be described in detail with reference to fig. 2, fig. 7, fig. 8, fig. 10b, and fig. 10 c. First, the rolling and dragging assembly 19 provided in this embodiment is connected to the lower base surface (the surface opposite to the ground) of the cleaning robot through the electric push rod lifting assembly 199, and specifically, the lower base surface of the cleaning robot is provided with a corresponding mounting groove, and the rolling and dragging assembly 19 is matched to the mounting groove through the electric push rod lifting assembly 199. It will be appreciated that the mounting slot is of a depth to facilitate the up and down movement of the roller assembly 19 driven by the electrical ram lift assembly 199. In addition, the roller puller 191 of the roller puller assembly 19 provided by the embodiment of the invention can be easily pulled out from the side end of the shell 192 under the action of the end cover clamping assembly 198, so that the roller puller can be conveniently taken out for replacement after being used for a period of time.
In particular, when the roller bracket 191 is required to be placed into the housing 192 for mopping, first, the positioning ribs 19130 and 19140 of the roller bracket 191 are aligned with the positioning slots 1925 of the housing 192 to push the roller bracket 191 to the bottom, so that the roller bracket 191 is received in the receiving cavity of the housing 192 and the roller bracket 191 is correspondingly connected to the motor of the motor assembly, and then, after the end cap key 1983 is inserted into the position (the second position), the end cap key 1983 is inserted 90 ° clockwise or counterclockwise, so that the first end cap latch 1985a and the second end cap latch 1985b are moved to respectively engage with the first latch slot 1920a and the second latch slot 1920b of the housing 192, so that the roller bracket 191 is kept fixed (locked) in the receiving cavity of the housing 192. Thus, the motor can be started to drive the roller mop 191 to rotate for cleaning (mopping). In operation, clean water added through the water adding port 190a flows into the mop of the rolling mop 191 from the water outlet 1950 of the clean water tank 195 along the water adding scraping blade 1951, the rolling mop 191 rotates under the driving of the motor to rub the mop with the ground, so as to achieve the effect of cleaning the ground, the clean water flowing into the mop becomes sewage in the process of mopping the ground along with the rotation of the rolling mop 191, the rolling mop 191 drives the roller 193 to rotate in the opposite direction in the rotating process, the roller 193 simultaneously extrudes the sewage mopped by the rolling mop 191 and flows into the sewage tank 196 along the water receiving sheet 1961, and the sewage in the sewage tank 196 is discharged into the sewage tank of the cleaning robot through the sewage discharge port 190 b. In addition, the air inlet 190c is connected to an air outlet of a dust collecting box of the cleaning robot through an air duct, so as to introduce hot air passing through a blower of the dust collecting box into the cavity of the rolling and dragging assembly 19 and blow out through the air outlet 1929 to dry the floor dragged by the rolling and dragging assembly 19. Therefore, the roller assembly 19 of the present embodiment can clean the floor and dry the floor after mopping while cleaning the floor (mopping).
When the roller puller needs to be taken out for replacement after a period of use, the end cap key 1983 is rotated clockwise or counterclockwise by 90 °, the first end cap latch 1985a and the second end cap latch 1985b are automatically returned to the original positions (i.e., disengaged from the first latch groove 1920a and the second latch groove 1920 b) under the action of the first elastic element 1984a and the second elastic element 1984b, respectively, and at this time, the end cap latch assembly 198 can be driven to integrally withdraw the roller puller 191 from the housing 192 only by slightly pulling the pull ring 19834 on the end cap key 1983.
As shown in fig. 11 to 16, in a preferred embodiment of a cleaning robot 1 according to the present invention, in the embodiment, the cleaning robot 1 includes a housing portion and a functional component, the housing portion includes a base 111, a housing 112, and an upper cover 113, the housing 112 is disposed on the base 111, and the upper cover 113 is hinged to the housing 112 to implement an opening or closing function. Some functional components are accommodated in a cavity formed by the connection of the base 111, the housing 112, and the upper cover 113, and are positioned (fixed) and shielded by the housing. The functional components contained in the cavity include a main board 12 (provided with the control unit), a battery 13, a dust collecting box 14, a clean water tank 15, a sewage tank 16 and a first connecting panel 10. Specifically, the upper surface 1111 of the base 111 is provided with corresponding mounting locations for the main board 12, the battery 13, the dust box 14, the clean water tank 15, the foul water tank 16 and the first connection panel 10. Wherein, the dust collecting box 14 is disposed in the middle of the base 111, and the battery 13 provided in this embodiment includes two batteries respectively disposed at the left and right sides of the dust collecting box 14. The clean water tank 15 and the dirty water tank 16 are provided at the front of the base 111 and in front of the dust box 14, the main board 12 is provided at the rear of the dust box 14, and the first connection panel 10 is provided at the rear of the main board 12 (the first connection panel 10 is close to the rear end face 1122 of the housing 112, i.e., the end face facing the base station when connected to the base station 2). It is to be understood that the description of the orientations of "front" and "rear" in the embodiment of the present invention is made with reference to the forward direction of the cleaning robot 1 during the cleaning operation.
In the cleaning robot 1 provided in this embodiment, the functional components further include a cleaning component, and the cleaning component mainly includes a side brush assembly 17, a rolling brush assembly 18, and the rolling and dragging assembly 19. Two sets of side brush assemblies 17 are provided, each of the two sets being connected to a front portion of the lower surface 1112 (surface opposite to the floor) of the base 111 at a left corner and a right corner, the rolling brush assembly 18 being connected to a middle front portion of the lower surface 1112 of the base 111 and being located behind the side brush assembly 17, and the rolling and dragging assembly 19 being connected to a rear portion of the lower surface 1112 of the base 111. Wherein the rolling brush 181 of the rolling brush assembly 18 and the rolling mop 191 of the rolling mop assembly 19 protrude downward to contact the ground for sweeping and mopping functions, respectively. Each set of side brush assemblies 17 includes side brushes 171 and side brush attachment members 172, with side brushes 171 being attached to a lower surface 1112 of base 111 by side brush attachment members 172. In which the two side brushes 171 are rotated in opposite directions to sweep, so that the dust and dirt on both sides of the front end of the cleaning robot 1 are collected toward the roll brush assembly 18 positioned at the rear between the two side brushes 171, thereby facilitating the collection of the dust and dirt. In the present embodiment, the side brush 171 of the side brush assembly 17 and the side brush attachment 172 are connected to each other in a quick-detachable manner, and the side brush 171 of the side brush assembly 17 can be quickly detached from the two sides of the base 111 by bare hands for the purposes of cleaning up the hair, cleaning, replacement, and the like (the side brush 171 is quickly detached from the two sides of the base 111 as shown in fig. 15). In addition, the roller brush 181 of the roller brush assembly 18 and the roller holder 191 of the roller holder assembly 19 according to the present invention can be easily drawn out from the side of the base 111 for the purpose of cleaning or replacing the yarns (fig. 15 shows a state where the roller brush 181 and the roller holder 191 are directly drawn out from the side of the base). Preferably, as shown in fig. 15, the cleaning robot of the present embodiment may be provided with a camera 116 and a laser radar 117 on the front end surface of the housing 112, a bumper 118 on the front end surface of the base 111, and ultrasonic probes 119 unevenly distributed around the housing 112 and the base 111 to assist the cleaning robot in walking to perform cleaning. It is understood that the cleaning robot of the present embodiment is further provided with conventional components capable of ensuring the cleaning robot to work normally, such as driving wheels and driven wheels, and since these components are familiar to those skilled in the art, they will not be described herein.
Referring to fig. 1b and 12, the cleaning robot 1 provided in this embodiment is provided with a first connection panel 10, and the cleaning robot 1 is docked with (the second connection panel 20 of) the base station 2 through the first connection panel 10. The outer surface 1001 of the first connection panel 10 (the surface facing the base station when connected with the base station 2) is sequentially provided with a first infrared search charging port 101, a charging docking port 102, a clear water docking port 103, a dust collection docking port 104 and a sewage docking port 105 from top to bottom, which are communicated with the inner and outer surfaces of the first connection panel 10, wherein the second connection panel 20 of the base station 2 is correspondingly provided with a second infrared search charging port 201, a charging docking member 202, a clear water docking member 203, a dust collection docking member 204 and a sewage docking member 205, and when the cleaning robot 1 is docked with the second connection panel 20 of the base station 2 through the first connection panel 10, the charging docking port 102, the clear water docking port 103, the dust collection docking port 104 and the sewage docking port 105 are respectively docked with the charging docking member 202, the clear water docking member 203, the dust collection docking member 204 and the sewage docking member 205 one by one. Specifically, the rear end 1122 of the housing 112 is provided with an opening 1120 to expose the first infrared charging port 101, the charging docking port 102, the fresh water docking port 103, the dust collecting docking port 104 and the sewage docking port 105 of the first connection panel 10, so as to facilitate docking of the cleaning robot 1 and the base station 2.
Referring to fig. 1b and 16, the specific connection relationship between the respective functional components in the cleaning robot 1 provided in the present embodiment is further described below. The cleaning robot 1 is provided with an infrared receiver (not shown) corresponding to the first infrared searching port 101 (an infrared transmitter is correspondingly provided on the charging docking port 102 of the base station 2), and the cleaning robot 1 accurately searches the base station 2 through infrared induction of the infrared receiver and enables the first connection panel 10 and the second connection panel 20 to be docked. Wherein, the infrared receiver is electrically connected with the mainboard 12 to receive the mainboard control work. The battery 13 is connected to the main board 12 (not shown) by a wire, and the main board 12 is electrically connected to the charging interface 102 of the first connection panel 10 by a wire 120, that is, the battery 13 is electrically connected to the charging interface 102 of the first connection panel by the main board 12. In specific implementation, the inner surface 1002 of the first connection panel 10 is provided with a charging connector at the position of the charging interface 102 to connect with the conducting wire 120, and when the charging interface 202 of the second connection panel 20 of the base station 2 is connected with the charging interface 102, the charging interface 202 is inserted into the charging interface 102 to be capable of being connected with the charging connector in a matching manner, so as to be electrically connected with the conducting wire 120.
The clean water inlet 150a of the clean water tank 15 is connected with the clean water butt joint port 103 of the first connection panel 10 through a clean water inlet pipe 151, the clean water outlet 150b of the clean water tank 15 is connected with the water filling port 190a of the rolling and dragging assembly 19 through a clean water outlet pipe 152, the clean water outlet pipe 152 is provided with a clean water pump 1520, and the clean water of the clean water tank 15 flows into the rolling and dragging 191 of the rolling and dragging assembly 19 through the clean water outlet 150b, the clean water outlet pipe 152 and the water filling port 190a under the action of the clean water pump so as to be used for dragging the ground and cleaning the rolling and dragging. In specific implementation, the clean water internal connection member is disposed on the inner surface 1002 of the first connection panel 10 at the position of the clean water docking port 103 to connect with the clean water inlet pipe 151, and when the clean water docking member 203 of the second connection panel 20 of the base station 2 is docked with the clean water docking port 103, the clean water docking member 203 is inserted into the clean water docking port 103 and can be connected with the clean water internal connection member in a matching manner, so as to communicate with the clean water inlet pipe 151.
As a preferred embodiment, as shown in fig. 16, the cleaning robot 1 is provided with a clean water buffer tank 153, the clean water inlet pipe 151 includes a first clean water inlet pipe 151a and a second clean water inlet pipe 151b, an inlet 1530a of the clean water buffer tank 153 is connected to the clean water docking port 103 through the first clean water inlet pipe 151a, an outlet 1530b of the clean water buffer tank 153 is connected to the clean water inlet 150a of the clean water tank 15 through the second clean water inlet pipe 151b, and the second clean water inlet pipe 151b is provided with a clean water buffer pump 154. Thus, when the cleaning robot 1 finds the base station 2 and realizes docking, that is, when the clean water docking port 103 docks with the clean water docking member 203 of the base station 2, the clean water in the clean water tank of the base station flows into the clean water buffer tank 153 through the clean water docking port 103, and the clean water in the clean water buffer tank 153 flows into the clean water tank 15 under the action of the clean water buffer pump 154. It is understood that the fresh water buffer tank 153 and the fresh water buffer pump 154 added in the present embodiment are preferably designed to buffer the fresh water to be added into the fresh water tank, without affecting the implementation of the present invention.
The sewage inlet 160a of the sewage tank 16 is connected with the sewage outlet 190b of the rolling and dragging assembly 19 through a sewage inlet pipe 161, the sewage inlet pipe 161 is provided with a first sewage pump 1610, and the rolling and dragging assembly 19 washes sewage after the rolling and dragging 191 enters the sewage tank 16 under the action of the first sewage pump 1610. The sewage outlet 160b of the sewage tank 16 is connected to the sewage interface 105 of the first connection panel 10 through a sewage outlet pipe 162, and a second sewage pump 1620 is disposed on the sewage outlet pipe 162. In specific implementation, when the inner surface 1002 of the first connection panel 10 is provided with a sewage interconnecting piece at the position of the sewage docking interface 105 to connect with the sewage outlet pipe 162, and the sewage docking piece 205 of the second connection panel 20 of the base station 2 is docked with the sewage docking interface 105, the sewage docking piece 205 is inserted into the sewage docking interface 105 to be capable of being connected with the sewage interconnecting piece in a matching manner, so as to communicate with the sewage outlet pipe 162, so that the sewage in the sewage tank 16 flows into the base station sewage tank of the base station 2 through the sewage outlet pipe 162 and the sewage docking interface 105 under the action of the second sewage pump 1620.
Referring to fig. 16, 17a and 17b, the dust inlet 140a of the dust collection box 14 is connected to the dust collection port 180 of the roller brush assembly 18 through a dust collection pipe 141, the dust outlet 140b of the dust collection box 14 is connected to the dust collection docking port 104 of the first connection panel 10 through a dust collection pipe 142, a first fan 143 is disposed in the dust collection box 14, and the air outlet 140c of the dust collection box 14 is connected to the air inlet 190c of the roller assembly 19 through an air outlet pipe 144. Under the action of the first fan 143, dust and garbage raised by the rolling brush assembly 18 through the rolling brush 181 are sucked into the dust box 14 through the dust collecting opening 180, the dust suction pipe 141 and the dust inlet 140a, and hot air passing through the first fan 143 is blown into the rolling assembly 19 through the air outlet 140c, the air outlet pipe 144 and the air inlet 190c to dry the dragged floor. In specific implementation, the inner surface 1002 of the first connection panel 10 is provided with a dust collection connector at the position of the dust collection interface 104 to connect with the dust collection pipe 142, and when the dust collection interface 204 of the second connection panel 20 of the base station 2 is connected with the dust collection interface 104, the dust collection interface 204 is inserted into the dust collection interface 104 to be capable of matching and connecting with the dust collection connector, so as to communicate with the dust collection pipe 142, so that the dust and garbage in the dust collection box 14 can be collected into the dust collection box of the base station 2 through the dust outlet 140b, the dust collection pipe 142 and the dust collection interface 104 under the action of the fan suction force of the base station 2. As a modification, a dust outlet one-way door (not shown) is provided on the dust outlet 140b of the dust box 14, and when the dust collection docking port 104 is docked with the dust collection docking member 204 of the base station, the dust outlet one-way door is opened by the suction force of the fan of the base station 2, so that the dust and garbage in the dust box 14 of the cleaning robot are collected in the dust box of the base station 2.
Accordingly, the main board 12 provided in this embodiment is correspondingly electrically connected to the clean water pump 1520, the first sewage pump 1610, the second sewage pump 1620, the clean water buffer pump 154 and the first fan 143, and is used for controlling the on/off operations of these components.
Preferably, in this embodiment, the cleaning robot 1 may work in cooperation with a plurality of base stations 2, and one base station 2 may be installed at a certain distance, so that when the cleaning robot 1 needs to search for a return base station 2, and a plurality of base stations 2 in the sensing area are sensed by the infrared receiving element on the first infrared searching port 101, the cleaning robot 1 is controlled to search for the nearest base station to realize docking.
Preferably, as shown in fig. 18, the cleaning robot 1 further includes a battery level detecting member 121, a dust box full-collecting detecting member 122, a clean water tank low water level detecting member 123 and/or a dirty water tank high water level detecting member 124 electrically connected to the control unit of the main board 12. The battery power detecting means 121, the dust box full-collection detecting means 122, the clean water tank low level detecting means 123 and/or the dirty water tank high level detecting means 124 are used to detect the battery power of the battery 13, the full collection state of the dust box 14, the water level of the clean water tank 15 and the water level of the dirty water tank 16, respectively. The control unit of the main board 12 controls the battery level detecting part 121, the dust box full-collecting detecting part 122, the clean water tank low water level detecting part 123 and/or the sewage tank high water level detecting part 124 to perform real-time detection and receive the detection result sent by them, and then determines whether to return to the base station 2 according to the detection result. Specifically, the control unit of the main board 12 controls the cleaning robot 1 to search the base station 2 to realize docking when any one of the following conditions occurs in the current state of the cleaning robot 1:
(1) Detecting that the cleaning robot completes cleaning work of a set area (an area to be cleaned);
(2) Receiving a detection result that the battery power sent by the battery power detection part 121 is lower than a threshold;
(3) Receiving a detection result of the dust-collecting box full dust sent by the dust-collecting box full detection part 122; and
(4) A detection result that the clean water tank water level sent from the clean water tank low water level detection part 123 is lower than a threshold value or the sewage tank water level sent from the sewage tank high water level detection part 124 is higher than the threshold value is received.
That is, when the cleaning robot 1 completes the cleaning operation, the battery is out of charge, the clean water tank is out of water (or the sewage tank is full), and the dust collecting box is full, it is possible to seek to return to the base station 2 for the operations of self-charging, dust collection, clean water addition, sewage discharge, and the like.
Referring to fig. 19a and 19b, as a modified solution of the embodiment of the present invention, a shielding plate 114 is disposed in the cavity of the cleaning robot 1 at the back of the first connection panel 10 to shield the first infrared search port 101, the charging docking port 102, the clean water docking port 103, the dust collection docking port 104, and the sewage docking port 105 of the first connection panel 10, and the shielding plate 114 is connected to the screw rod assembly 115 and controlled by the screw rod assembly 115 to move left and right. When the cleaning robot 1 searches for the base station 2, the shielding plate 114 needs to be controlled to move through the screw rod assembly 115 to expose the first infrared search charging port 101, the charging docking port 102, the clear water docking port 103, the dust collection docking port 104 and the sewage docking port 105, so that the base station 2 is found through the infrared receiver on the first infrared search charging port 101 in an induction manner, and after the base station 2 is found, the charging docking port 102, the clear water docking port 103, the dust collection docking port 104 and the sewage docking port 105 are used. Therefore, the shielding plate 114 provided in this embodiment can shield and shield the first infrared charging port 101, the charging docking port 102, the clear water docking port 103, the dust collecting docking port 104, and the sewage docking port 105 of the first connection panel 10, so as to prevent the cleaning robot from being affected by the leakage.
In which figures 19a and 19b show an alternative construction of the shutter 114 and screw assembly 115. Specifically, the left side of the outer surface of the shielding plate 114 is sequentially provided with openings from top to bottom, the openings are communicated with the inner surface and the outer surface of the shielding plate 114, so as to correspondingly expose the first infrared charging port 101, the charging docking port 102, the clear water docking port 103, the dust collection docking port 104 and the sewage docking port 105 of the first connection panel 10, and the right side of the outer surface of the shielding plate 114 is not provided with any opening. The screw rod assembly 115 comprises a motor 1151, a screw rod 1152, a nut sleeve 1153 and a screw rod fixing piece 1154, the motor 1151 is fixed on the base 111, the screw rod 1152 is connected with the motor 1151, and the motor 1151 is electrified to drive the screw rod 1152 to rotate forwards and reversely. The nut sleeve 1153 is fixedly connected with the shielding plate 114, the lead screw fixing member 1154 is fixedly connected with the first connection panel 10, and both the nut sleeve 1153 and the lead screw fixing member 1154 are sleeved on the lead screw 1152, so that the shielding plate 114 and the first connection panel 10 are formed into a whole through the lead screw 1152. The motor 1151 drives the screw rod 1152 to rotate and drive the nut sleeve 1153 to make a linear reciprocating motion, so as to drive the shielding plate 114 to slide left and right to close and open the first infrared charging port 101, the charging docking port 102, the clean water docking port 103, the dust collection docking port 104 and the sewage docking port 105 of the first connection panel 10. It can be understood that the motor 1151 of the lead screw assembly 115 is connected to the main board 12 of the cleaning robot 1, and the main board 12 controls the operation of the lead screw assembly 115 to drive the shutter 114 to slide left and right to close and open the docking port on the first connection panel 10.
Referring to fig. 20 to 22, a preferred embodiment of a base station 2 according to the present invention is provided, in which the base station 2 includes a housing portion and a functional component, the housing portion includes a base 211, a top cover 212, and a housing 213 disposed between the base 211 and the top cover 212. The functional components of the base station 2 include a main control board 22, a power supply 23, a base station dust collecting box 24, a base station clean water tank 25, a base station sewage tank 26 and a second connection panel 20, wherein the power supply 23, the main control board 22, the base station dust collecting box 24, the base station clean water tank 25, the base station sewage tank 26 and the second connection panel 20 are contained in a cavity formed by the connection among the base 211, the housing 213 and the top cover plate 212. Specifically, the base station 2 is further provided with a top seat 214, the top seat 214 is disposed in the cavity of the base station 2 and connected to the top of the housing 213, the top seat 214 is used for installing and fixing the power supply 23 and the main control board 22, and the upper surface 2111 of the base 211 is provided with a corresponding installation position for placing other functional components. Wherein the second connection panel 20 is close to the front end face 2131 of the housing 213 (i.e., the end face facing the cleaning robot 1 when connected to the cleaning robot 1). A second infrared charging port 201, a charging docking member 202, a clean water docking member 203, a dust collecting docking member 204, and a sewage docking member 205, which penetrate through the inner and outer surfaces of the second connection panel 20, are sequentially provided on the outer surface 2001 (the surface facing the cleaning robot 1 when connected to the cleaning robot 1) of the second connection panel 20 from top to bottom. It can be understood that the charging docking member 202, the fresh water docking member 203, the dust collection docking member 204 and the sewage docking member 205 respectively have an internal connection end for connecting functional components in the cavity of the base station and an external connection end for docking (plugging) with a docking port on the first connection panel 10 of the cleaning robot 1. The front end surface 2131 of the housing 213 is provided with an opening 2130 to expose the second infrared search charging port 201 of the second connection panel 20 and protrude out of the charging docking piece 202, the fresh water docking piece 203, the dust collection docking piece 204 and the sewage docking piece 205, that is, (the external ends of) the charging docking piece 202, the fresh water docking piece 203, the dust collection docking piece 204 and the sewage docking piece 205 of the second connection panel 20 pass through the opening 2130 of the front end surface 2131 of the housing 213 and protrude out to facilitate docking with the corresponding docking port of the cleaning robot 1.
Specifically, with reference to fig. 1b, 16 and 22, the base station 2 is provided with an infrared transmitter (not shown) corresponding to the second infrared searching and charging port 201, and is configured to implement infrared sensing with an infrared receiver on the first infrared searching and charging port of the cleaning robot. The power supply 23 of the base station 2 is connected to the charging interface 202 of the second connection panel 20 through the main control panel 22, specifically, the power supply 23 is connected to the main control panel 22, and the main control panel 22 is connected to the charging interface 202 through a wire 220. When the charging dock 102 of the cleaning robot 1 docks with the charging dock 202, the power supply 23 of the base station 2 charges the battery 13 of the cleaning robot 1. The dust collection inlet 240 of the base station dust collection bin 24 is connected to the dust collection docking piece 204 of the second connection panel 20 by a dust collection duct 241. The base station dust collecting box 24 is provided with a second fan 242, and when the dust collecting interface 104 of the cleaning robot 1 is in butt joint with the dust collecting butt joint piece 204, dust and garbage in the dust collecting box of the cleaning robot 1 are collected into the base station dust collecting box 24 through the dust collecting butt joint interface 104 under the action of the second fan 242. The clean water outlet 250 of the base station clean water tank 25 is connected with the clean water butt joint part 203 of the second connection panel 20 through a clean water pipeline 251, a base station clean water pump 2510 is arranged on the clean water pipeline 251, and when the clean water butt joint part 203 is butted with the clean water butt joint part 103 of the cleaning robot 1, the clean water of the base station clean water tank 25 flows into the clean water tank 15 (or the clean water buffer tank 153) of the cleaning robot through the clean water butt joint part 103 under the action of the base station clean water pump 2510. The sewage inlet 260 of the base station sewage tank 26 is connected to the sewage docking member 205 of the second connection panel 20 through a sewage pipe 261, and when the sewage docking port 105 of the cleaning robot 1 is docked to the sewage docking member 205, the sewage of the sewage tank 16 of the cleaning robot 1 flows into the base station sewage tank 26 through the sewage docking port 105 by the second sewage pump 1620.
As a preferred embodiment, as shown in fig. 22, the base station 2 is provided with a sewage buffer tank 263, the sewage conduit 261 comprises a first sewage conduit 261a and a second sewage conduit 261b, the sewage inlet 2601 of the sewage buffer tank 260 is connected with the sewage interface unit 205 through the first sewage conduit 261a, the sewage outlet 2602 of the sewage buffer tank 260 is connected with the base station sewage tank 26 through the second sewage conduit 261b, and the second sewage conduit 261b is provided with a sewage buffer pump 264. Thus, when the sewage docking port 105 of the cleaning robot 1 is docked with the sewage docking member 205, the sewage of the sewage tank 16 of the cleaning robot 1 is first flowed into the sewage buffer tank 260 by the second sewage pump 1620, and the sewage in the sewage buffer tank 260 is flowed into the base station sewage tank 26 by the sewage buffer pump 264. It is understood that the addition of the sewage buffer tank 263 and the sewage buffer pump 264 in this embodiment is a preferred design to buffer the sewage discharge into the base station sewage tank 26 without affecting the practice of the present invention.
It can be understood that the main control board 22 of the base station 2 is connected to the infrared transmitter, the second fan 242, the base station clean water pump 2510, and the sewage buffer pump 264 to control the on/off operations of these functional components.
Next, the working process of the cleaning robot 1 for finding the base station 2 and performing docking will be described in detail by combining fig. 1a to 1b, fig. 16, and fig. 22. In which fig. 1b shows a state before the cleaning robot 1 is docked with the base station 2, and fig. 1a shows a state after the cleaning robot 1 is docked with the base station 2. As described above, specifically, when the cleaning robot 1 has any one of the above four situations (i.e., the cleaning operation is completed, the battery is out of charge, the clean water tank is out of water (or the dirty water tank is full), and the dust box is full), the cleaning robot 1 needs to search to return to the base station 2 for docking. First, the shutter 114 is driven by the lead screw assembly 115 to move to open the first infrared searching and charging port 101, the charging and docking port 102, the fresh water docking port 103, the dust collecting and docking port 104, and the sewage docking port 105 of the first connection panel 10, and then the nearest base station 2 is searched by the sensing of the infrared receiving part on the first infrared searching and charging port 101, and the cleaning robot 1 is driven to move to the nearest base station 2. When the cleaning robot 1 arrives at the base station 2, the charging docking interface 102, the fresh water docking interface 103, the dust collection docking interface 104, the sewage docking interface 105, the charging docking piece 202, the fresh water docking piece 203, the dust collection docking piece 204, and the sewage docking piece 205 are docked one by docking the infrared receiving piece on the first infrared charging port 101 of the first connection panel 10 with the infrared emitting piece on the second infrared charging port 201 of the second connection panel 20, that is, the docking of the cleaning robot 1 and the base station 2 is achieved.
After docking, corresponding operations are performed according to the above four situations (i.e. the purpose of returning to the base station 2) of the cleaning robot 1:
(1) The first condition is as follows: the cleaning work is completed. In this case, since the cleaning robot 1 just completes the cleaning work to return to the base station to wait for the arrival of the next cleaning work, it is possible to perform no operation or only the charging operation, i.e., the charging of the battery 13 of the cleaning robot 1 by the power supply 23 of the base station 2.
(2) Case two: the battery is dead (needs to be charged). In this case, the battery 13 of the cleaning robot 1 is charged by the power supply 23 of the base station 2.
(3) Case three: the clear water tank is lack of water or the sewage tank is full (clear water or sewage needs to be added). In this case, the base station clean water pump 2510 is started, so that the clean water in the base station clean water tank 25 flows into the clean water buffer tank 153 of the cleaning robot through the clean water docking port 103 under the action of the base station clean water pump 2510, and then the clean water in the clean water buffer tank 153 flows into the clean water tank 15 under the action of the clean water buffer pump 154, thereby realizing the automatic clean water adding process of the cleaning robot 1. In addition, the second sewage pump 1620 of the cleaning robot is started, the sewage of the sewage tank 16 flows into the sewage buffer tank 260 of the base station 2 through the sewage docking port 105 by the second sewage pump 1620, and the sewage in the sewage buffer tank 260 flows into the base station sewage tank 26 by the sewage buffer pump 264, thereby implementing the automatic sewage discharge process of the cleaning robot 1.
(4) Case four: the dust box is full (dust collection is required-i.e. dust in the dust box is collected). In this case, the second fan 242 of the base station 2 is activated, so that the dust and garbage in the dust box 14 of the cleaning robot 1 are collected into the base station dust box 24 through the dust collection docking port 104 by the second fan 242, thereby implementing an automatic dust collection process of the cleaning robot 1.
It can be understood that when the cleaning robot 1 simultaneously occurs in a plurality of the above four cases, a plurality of operations are simultaneously correspondingly performed.
In summary, in the cleaning robot system 100 according to the embodiment of the present invention, the cleaning robot 1 can simultaneously have the functions of automatic cleaning, dust collection, mopping (rolling mopping has an automatic cleaning function), blow-drying, and the like during cleaning, and the cleaning robot 1 can automatically find the base station 2, and after docking with the base station 2, the base station 2 can automatically charge, collect dust, add clean water, and discharge sewage for the cleaning robot 1.
Referring to fig. 23, an embodiment of the present invention provides a control method of a cleaning robot, which is applied to the cleaning robot according to any one of the above embodiments, and the control method includes the following steps:
s101, driving the cleaning robot to move to a region to be cleaned from a base station to execute cleaning work;
s102, when the cleaning robot is judged to leave the base station and reach an area to be cleaned, the electric push rod lifting assembly drives the rolling and dragging assembly to move so that the rolling and dragging assembly is located at the avoidance mode position;
s103, when the cleaning robot is judged to be located in the area to be cleaned and the current cleaning mode does not include the mopping mode, the electric push rod lifting assembly drives the rolling and dragging assembly to move so that the rolling and dragging assembly is located at the avoidance mode position;
s104, when the cleaning robot is judged to be located in an area to be cleaned and the current cleaning mode comprises a floor mopping mode, judging whether the floor where the cleaning robot is located is a floor or a carpet according to a detection result sent by the ultrasonic sensor, if the floor is judged to be the floor, driving the rolling and dragging component to move through the electric push rod lifting component to enable the rolling and dragging component to be located at the floor mopping mode position, and if the floor is judged to be the carpet, driving the rolling and dragging component to move through the electric push rod lifting component to enable the rolling and dragging component to be located at the avoidance mode position;
s105, when the current state of the cleaning robot needs to return to the base station, the power-on push rod lifting assembly drives the rolling and dragging assembly to move so that the rolling and dragging assembly is located at the avoidance mode position;
s106, when the control unit judges that the front of the cleaning robot is an obstacle/suspension and the cleaning robot cannot pass through according to the detection result sent by the ultrasonic sensor, the control unit drives the rolling and dragging component to move through the electric push rod lifting component so that the rolling and dragging component is located at the avoidance mode position and controls the cleaning robot to avoid the obstacle/suspension to walk;
and S107, when receiving an instruction for stopping the cleaning robot at the current position to wait for notification, driving the rolling and dragging assembly to move to be in the stopping mode position through the electric push rod lifting assembly.
It can be understood that the detailed procedures and principles of the control method of the cleaning robot according to the embodiment of the present invention may be described in relation to the cleaning robot in the foregoing implementation, and will not be described herein again. Therefore, the cleaning robot, the control method and the control system of the cleaning robot provided by the embodiment of the invention have at least the following technical effects: the cleaning robot rolls and drags the subassembly and can remove three kinds of different positions relative ground at least under electric push rod lifting unit, ultrasonic sensor and the cooperation of the control unit to correspond and realize different mode and function: when the cleaning robot is judged to leave the base station and reach the area to be cleaned, the electric push rod lifting assembly drives the rolling and dragging assembly to move so that the rolling and dragging assembly is located at the avoidance mode position; when the cleaning robot is judged to be positioned in the area to be cleaned and the current cleaning mode does not include the mopping mode, the electric push rod lifting assembly drives the rolling and mopping assembly to move so as to enable the rolling and mopping assembly to be positioned at the avoidance mode position; when the cleaning robot is judged to be located in an area to be cleaned and the current cleaning mode comprises a floor mopping mode, judging whether the floor where the cleaning robot is located is a floor or a carpet according to a detection result sent by the ultrasonic sensor, if the floor is judged to be the floor, driving the rolling and dragging assembly to move through the electric push rod lifting assembly to enable the rolling and dragging assembly to be located at the floor mopping mode position, and if the floor is judged to be the carpet, driving the rolling and dragging assembly to move through the electric push rod lifting assembly to enable the rolling and dragging assembly to be located at the avoiding mode position; when the current state of the cleaning robot needs to return to the base station, the power-on push rod lifting assembly drives the rolling and dragging assembly to move so that the rolling and dragging assembly is located at the avoidance mode position; when the control unit judges that the front of the cleaning robot is an obstacle/is suspended and the cleaning robot cannot pass through according to the detection result sent by the ultrasonic sensor, the control unit drives the rolling and dragging component to move through the electric push rod lifting component so that the rolling and dragging component is located at the avoidance mode position and controls the cleaning robot to avoid the obstacle/be suspended to walk; when an instruction for stopping the cleaning robot at the current position to wait for notification is received, the rolling and dragging assembly is driven to move to be at the stopping mode position through the electric push rod lifting assembly. Therefore, the cleaning robot and the control method thereof provided by the embodiment of the invention can maximize the function of rolling and dragging through reasonably planning the action.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims (9)

1. A cleaning robot is characterized by comprising a base, a rolling and dragging assembly, an ultrasonic sensor and a control unit, wherein the rolling and dragging assembly is connected to the base through an electric push rod lifting assembly and can integrally move away from or close to the ground under the driving of the electric push rod lifting assembly, the position of the rolling and dragging assembly, which is in contact with the ground, generates a first friction force to realize the dragging, is taken as the dragging mode position of the rolling and dragging assembly, the position of the rolling and dragging assembly, which is away from the ground by a certain distance, is taken as the avoiding mode position of the rolling and dragging assembly, the position of the rolling and dragging assembly, which is in contact with the ground, generates a second friction force to block the cleaning robot to walk, is taken as the stopping mode position of the rolling and dragging assembly, and the second friction force is greater than the first friction force; the control unit is connected with the ultrasonic sensor to control the ultrasonic sensor to detect and receive a detection result of the ultrasonic sensor; the control unit is also connected with a motor of the electric push rod lifting assembly to control the motor to work;
when the control unit judges that the cleaning robot leaves the base station and reaches the area to be cleaned, the control unit drives the rolling and dragging component to move through the electric push rod lifting component so that the rolling and dragging component is located at the avoidance mode position;
when the control unit judges that the cleaning robot is positioned in the area to be cleaned and the current cleaning mode does not include a mopping mode, the control unit drives the rolling and dragging assembly to move through the electric push rod lifting assembly so that the rolling and dragging assembly is positioned at the avoidance mode position;
when the control unit judges that the cleaning robot is located in an area to be cleaned and the current cleaning mode comprises a floor mopping mode, the control unit judges whether the floor where the cleaning robot is located is a floor or a carpet according to a detection result sent by the ultrasonic sensor, if the floor is judged to be the floor, the control unit drives the rolling and dragging component to move through the electric push rod lifting component so that the rolling and dragging component is located at the floor mopping mode position, and if the floor is judged to be the carpet, the control unit drives the rolling and dragging component to move through the electric push rod lifting component so that the rolling and dragging component is located at the avoidance mode position;
when the control unit judges that the current state of the cleaning robot needs to return to the base station, the control unit drives the rolling and dragging assembly to move through the electric push rod lifting assembly so that the rolling and dragging assembly is located at the avoidance mode position;
when the control unit judges that the front of the cleaning robot is an obstacle/is suspended and the cleaning robot cannot pass through according to the detection result sent by the ultrasonic sensor, the control unit drives the rolling and dragging component to move through the electric push rod lifting component so that the rolling and dragging component is located at the avoidance mode position and controls the cleaning robot to avoid the obstacle/be suspended to walk;
when the control unit receives an instruction of stopping the cleaning robot at the current position to wait for notification, the control unit drives the rolling and dragging assembly to move to be in the stopping mode position through the electric push rod lifting assembly;
the ultrasonic sensor is arranged on the lower surface of the base and has a distance L from the ground 1 The obstacle crossing height of the cleaning robot is L 2 According to intensity H and the distance L that ultrasonic sensor detected ground signal judge that the current ground that locates of cleaning machines people is floor or carpet, and cleaning machines people the place ahead is the barrier or unsettled:
when L is 1 -L 2 ≤L≤L 1 +L 2 And H is less than or equal to H 0 Judging that the floor where the cleaning robot is currently located is a carpet;
when L is 1 -L 2 ≤L≤L 1 +L 2 And H > H 0 Judging that the ground where the cleaning robot is currently located is a floor;
when L < L 1 -L 2 Judging that the front of the cleaning robot is an obstacle and the cleaning robot cannot pass through the obstacle;
when L > L 1 +L 2 When the cleaning robot is in the air, the front part of the cleaning robot is judged to be suspended and the cleaning robot cannot pass through;
wherein H 0 Is a preset intensity threshold。
2. The cleaning robot as claimed in claim 1, wherein the cleaning robot is further provided with an infrared distance measuring sensor/laser distance measuring sensor connected to the control unit, the infrared distance measuring sensor/laser distance measuring sensor is arranged on the lower surface of the base and is also at a distance L from the ground 1 (ii) a When the control unit passes through the ultrasonic sensor can not obtain the detection result, the control unit further judges through the detection result of the infrared distance measuring sensor/the laser distance measuring sensor:
when L is 1 -L 2 ≤P≤L 1 +L 2 Judging that the floor where the cleaning robot is currently located is a carpet;
when P > L 1 +L 2 Judging that the front of the cleaning robot is suspended and the cleaning robot cannot pass through;
and P is the ground distance detected by the infrared distance measuring sensor/laser distance measuring sensor.
3. The cleaning robot of claim 1, wherein the ultrasonic sensors include at least three ultrasonic sensors, the three ultrasonic sensors are respectively disposed at front sides of left and right driving wheels and universal wheels of the cleaning robot, and the control unit determines the following according to detection results of the three ultrasonic sensors:
(1) When the detection result of any one of the ultrasonic sensors satisfies: l > L 1 +L 2 Judging that the front of the cleaning robot is suspended and the cleaning robot cannot pass through;
(2) When the detection result of any one of the ultrasonic sensors satisfies: l < L 1 -L 2 Judging that the front of the cleaning robot is an obstacle and the cleaning robot cannot pass through the obstacle;
(3) When the detection result of any one of the ultrasonic sensors satisfies: l is 1 -L 2 ≤L≤L 1 +L 2 And H is less than or equal to H 0 Judging that the floor where the cleaning robot is currently located is a carpet;
wherein, when the control unit judges that the conditions of the three ultrasonic sensors simultaneously satisfy at least two of the above (1) to (3), the judged priority is sequentially decreased from the above (1) to (3).
4. The cleaning robot as claimed in any one of claims 1 to 3, wherein the electric push rod lifting assembly includes a motor, an electric push rod upper fixing plate, an electric push rod lower fixing plate, an electric push rod fixing column, an electric push rod telescopic link, an electric push rod connecting column, a roll-dragging fixing plate and a roll-dragging connecting column, the electric push rod telescopic link is connected between the electric push rod upper fixing plate and the electric push rod lower fixing plate after being connected with the motor, the roll-dragging assembly is connected with the roll-dragging fixing plate through the roll-dragging connecting column, the electric push rod lower fixing plate is connected with the roll-dragging fixing plate through the electric push rod connecting column, linear bearings are respectively arranged on the roll-dragging connecting column and the electric push rod connecting column, and the electric push rod upper fixing plate is fixed on a base of the cleaning robot through the electric push rod fixing column; under the action of the motor, the telescopic rod of the electric push rod makes up-and-down telescopic motion, so that the rolling and dragging assembly is driven to integrally move up and down.
5. The cleaning robot as claimed in any one of claims 1 to 3, wherein the roller assembly includes a housing, a roller, a drum, a clean water tank, a sewage tank and a motor assembly, the housing of the roller assembly is fixedly connected to the electric push rod lifting assembly, the housing has an accommodating cavity and a bottom opening communicated with the accommodating cavity, the roller, the clean water tank and the sewage tank are disposed in the accommodating cavity, the roller extends out of the bottom opening to contact the ground, the clean water tank is disposed above the roller, the bottom of the clean water tank has a plurality of water outlet holes, the housing has a water filling port directly above the clean water tank, and clean water filled through the water filling port flows into the roller from the water outlet holes of the clean water tank; one end of the roller tractor is connected with a motor of the motor assembly and is driven by the motor to drive the roller tractor to rotate in a first direction so as to mop the floor; the roller is arranged on the rear side of the roller mop and is matched with the roller mop in an interference manner so as to be pressed on the roller mop, the sewage tank is arranged on the rear side of the roller mop and is positioned below the roller, and the roller mop drives the roller to rotate in a second direction opposite to the first direction in the rotating process, so that sewage after being mopped by the roller mop is extruded out and flows into the sewage tank.
6. The cleaning robot according to any one of claims 1 to 3, further comprising a dust collecting box, a clean water tank, a sewage tank, a rolling brush assembly and a connection panel, wherein the connection panel is provided with a clean water docking port, a dust collecting docking port and a sewage docking port; the clean water inlet of the clean water tank is connected with the clean water butt joint port through a clean water inlet pipe; a sewage outlet of the sewage tank is connected with the sewage butt joint through a sewage outlet pipe, and a second sewage pump is arranged on the sewage outlet pipe; the dust inlet of the dust collecting box is connected with the dust collecting port of the rolling brush component through a dust collecting pipe; when the cleaning robot is in butt joint with the clear water butt joint piece, the dust collection butt joint piece and the sewage butt joint piece on the connecting panel of the base station through the clear water butt joint port, the dust collection butt joint port and the sewage butt joint port of the connecting panel, the base station performs corresponding operations of adding clear water, collecting dust and discharging sewage on the cleaning robot;
the cleaning robot is characterized in that an infrared charging seeking port and a charging butt joint port are further arranged on a connecting panel of the cleaning robot, an infrared receiver is arranged at the infrared charging seeking port, and a battery electrically connected with the charging butt joint port is arranged on the cleaning robot; the cleaning robot searches for a base station through infrared induction of the infrared receiver to realize butt joint; when the cleaning robot is in butt joint with the base station, the charging butt joint port on the connecting panel of the cleaning robot is correspondingly in butt joint with the charging butt joint piece on the connecting panel of the base station, and the cleaning robot is charged through the base station.
7. The cleaning robot as claimed in claim 6, further comprising a battery level detecting part, a dust box full detecting part, a clean water tank low level detecting part and/or a sewage tank high level detecting part connected to the control unit, wherein the control unit controls the cleaning robot to search the base station for docking when any one of the following occurs in a current state of the cleaning robot:
(1) Detecting that the cleaning robot finishes cleaning work of an area to be cleaned;
(2) Receiving a detection result that the battery electric quantity sent by the battery electric quantity detection part is lower than a threshold value;
(3) Receiving a detection result of full dust collection of the dust collection box sent by the full dust collection box detection component; and
(4) And receiving a detection result that the water level of the clean water tank sent by the clean water tank low water level detection part is lower than a threshold value or the water level of the sewage tank sent by the sewage tank high water level detection part is higher than the threshold value.
8. A control method of a cleaning robot, applied to the cleaning robot according to any one of claims 1 to 7, comprising the steps of:
driving the cleaning robot to move to the area to be cleaned from the base station to execute cleaning work;
when the cleaning robot is judged to leave the base station and reach the area to be cleaned, the electric push rod lifting assembly drives the rolling and dragging assembly to move so that the rolling and dragging assembly is located at the avoidance mode position;
when the cleaning robot is judged to be positioned in the area to be cleaned and the current cleaning mode does not include the mopping mode, the electric push rod lifting assembly drives the rolling and mopping assembly to move so as to enable the rolling and mopping assembly to be positioned at the avoidance mode position;
when the cleaning robot is judged to be located in an area to be cleaned and the current cleaning mode comprises a floor mopping mode, judging whether the floor where the cleaning robot is located is a floor or a carpet according to a detection result sent by the ultrasonic sensor, if the floor is judged to be the floor, driving the rolling and dragging assembly to move through the electric push rod lifting assembly to enable the rolling and dragging assembly to be located at the floor mopping mode position, and if the floor is judged to be the carpet, driving the rolling and dragging assembly to move through the electric push rod lifting assembly to enable the rolling and dragging assembly to be located at the avoiding mode position;
when the current state of the cleaning robot needs to return to the base station, the powered push rod lifting assembly drives the rolling and dragging assembly to move so that the rolling and dragging assembly is located at the avoidance mode position;
when the control unit judges that the front of the cleaning robot is an obstacle/is suspended and the cleaning robot cannot pass through according to the detection result sent by the ultrasonic sensor, the control unit drives the rolling and dragging component to move through the electric push rod lifting component so that the rolling and dragging component is located at the avoidance mode position and controls the cleaning robot to avoid the obstacle/be suspended to walk;
when an instruction for stopping the cleaning robot at the current position to wait for notification is received, the rolling and dragging assembly is driven to move to be at the stopping mode position through the electric push rod lifting assembly.
9. A cleaning robot system comprising the cleaning robot according to any one of claims 1 to 7 and a base station, wherein the cleaning robot and the base station are docked by a connection panel.
CN202111329497.8A 2021-11-10 2021-11-10 Cleaning robot, and control method and system of cleaning robot Active CN113974498B (en)

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