CN114610010A - Cleaning robot, control method and device thereof, electronic equipment and storage medium - Google Patents
Cleaning robot, control method and device thereof, electronic equipment and storage medium Download PDFInfo
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- CN114610010A CN114610010A CN202110009046.XA CN202110009046A CN114610010A CN 114610010 A CN114610010 A CN 114610010A CN 202110009046 A CN202110009046 A CN 202110009046A CN 114610010 A CN114610010 A CN 114610010A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 283
- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000003860 storage Methods 0.000 title claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims abstract description 52
- 230000000750 progressive effect Effects 0.000 claims abstract description 35
- 230000008569 process Effects 0.000 claims abstract description 25
- 238000010408 sweeping Methods 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 52
- 238000005507 spraying Methods 0.000 description 20
- 239000007788 liquid Substances 0.000 description 10
- 239000007921 spray Substances 0.000 description 8
- 238000010521 absorption reaction Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 239000004744 fabric Substances 0.000 description 4
- 239000010865 sewage Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 229920000742 Cotton Polymers 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
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- 239000000203 mixture Substances 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Automation & Control Theory (AREA)
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Abstract
The embodiment of the invention discloses a cleaning robot and a control method, a control device, electronic equipment and a storage medium thereof, wherein the control method comprises the steps of firstly acquiring a traveling route; and then controlling the walking component of the cleaning robot to perform reciprocating progressive movement based on the traveling route, and controlling the cleaning component wheel of the cleaning robot to rotate at different speeds in the reciprocating progressive movement process of the walking component of the cleaning robot. Therefore, the method can control the cleaning assembly to clean the same cleaning area for multiple times through different rotating speeds in the reciprocating progressive movement process of the robot, so that dirty or stubborn stains on the ground can be cleaned, and the cleaning effect is improved.
Description
Technical Field
The invention relates to the field of robot control, in particular to a cleaning robot, a control method and a control device thereof, electronic equipment and a storage medium.
Background
In recent years, with the development of social economy and the improvement of the domestic living standard, home cleaning gradually enters an intelligent and mechanized era, and the cleaning robot produced by transportation can release people from home cleaning work, effectively reduce the workload of people in the aspect of home cleaning, and relieve the fatigue degree of people in the process of home cleaning.
The mopping scheme that current cleaning machines people adopted is for directly installing a clean water tank in the robot bottom to paste a clean rag in the water tank bottom, in the robot process of marcing water in the water tank constantly permeates the rag, clean ground, thereby realize wet the mopping. However, the cleaning effect is poor when some dirtier or stubborn stains are present on the floor.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In a first aspect, an embodiment of the present invention provides a control method for a cleaning robot, including:
acquiring a traveling route;
and controlling a walking component of the cleaning robot to perform reciprocating progressive movement based on the traveling route, and controlling the cleaning component of the cleaning robot to rotate at different rotating speeds in the reciprocating progressive movement process of the walking component of the cleaning robot.
In some possible implementations, the travel route includes at least one travel segment, and the controlling the walking assembly of the cleaning robot to perform reciprocating progressive movements based on the travel route includes:
controlling a walking assembly of the cleaning robot to perform at least one reciprocating motion from a starting point to a turning point on the basis of the traveling section;
controlling a walking component of the cleaning robot to move from the starting point to the turning point again based on the traveling road section;
and determining the turn-back point as a new start point, determining any point between the new start point and a target point on the traveling section as a new turn-back point, and repeating the steps until no new turn-back point exists, wherein the target point is an end point or a turn-around point of the cleaning robot traveling on the traveling section in the same posture.
In some possible implementations, after determining the turning point as a new starting point and determining any point between the new starting point and a target point on the travel route section as a new turning point, repeating the above steps until there is no new turning point, the method includes:
and judging whether the target point is a U-turn point, if so, controlling the cleaning robot to turn around to a new starting point, and repeating the step of turning back from the starting point to the target point until all the traveling road sections are finished.
In some possible implementations, the controlling the cleaning robot to turn around to the new starting point includes:
determining the turning point of the travel road section as a new starting point, and determining the starting point of the travel road section as a new target point;
turning the advancing direction of the cleaning robot to a direction opposite to the original advancing direction;
alternatively, the first and second electrodes may be,
controlling a walking assembly of the cleaning robot to move from the turning point to a starting point of a new traveling road section by a preset distance, wherein the preset distance is not more than the width of the cleaning assembly;
and turning the advancing direction of the cleaning robot to the direction opposite to the original advancing direction.
In some possible implementations, the controlling the cleaning assembly of the cleaning robot to rotate at different speeds during the reciprocating progressive movement of the walking assembly of the cleaning robot includes:
controlling a cleaning component of the cleaning robot to rotate at a first preset speed or alternatively rotate at the first preset speed and a second preset speed in the process of performing at least one reciprocating motion between a starting point and a turning point of the walking component of the cleaning robot, wherein the second preset speed is less than the first preset speed;
and controlling the cleaning assembly of the cleaning robot to rotate at the second preset speed in the process that the walking assembly of the cleaning robot moves from the starting point to the turning point again.
In some possible implementations, the cleaning assembly of the cleaning robot includes a rotatable brush roller and a water spraying assembly for spraying water to the brush roller, and the controlling the cleaning assembly of the cleaning robot to throw water includes:
controlling the water spraying assembly to spray water to the brush roll;
and after the water spraying assembly is controlled to stop spraying water, the brush roller is controlled to rotate at a first preset speed so that the brush roller can throw water.
In some possible implementations, the controlling the cleaning component of the cleaning robot to absorb water includes:
and controlling the brush roller to rotate at a second preset speed, wherein the second preset speed is less than the first preset speed.
In a second aspect, an embodiment of the present invention provides a control device for a cleaning robot, including:
the acquisition module is used for acquiring a traveling route;
and the control module is used for controlling the walking component of the cleaning robot to perform reciprocating progressive movement based on the traveling route and controlling the cleaning component of the cleaning robot to rotate at different speeds in the reciprocating progressive movement process of the walking component of the cleaning robot.
In a third aspect, an embodiment of the present invention provides a cleaning robot, including a walking assembly, a cleaning assembly, and a controller;
the controller configured to execute the control method of the cleaning robot of any one of the first aspect.
In some possible implementations, the cleaning robot is a mopping robot or a sweeping and mopping integrated robot.
In a fourth aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory, where the memory is used to store at least one executable instruction, and the executable instruction causes the processor to execute the steps of the control method for a cleaning robot according to any one of the first aspect.
In a fifth aspect, the present invention provides a computer-readable storage medium storing computer program instructions, which when invoked and executed by a processor, implement the steps of the control method for a cleaning robot according to any one of the first aspect.
According to the cleaning robot and the control method, the control device, the electronic equipment and the storage medium thereof provided by the embodiment of the invention, the control method firstly obtains a traveling route; and then controlling the walking component of the cleaning robot to perform reciprocating progressive movement based on the traveling route, and controlling the cleaning component of the cleaning robot to rotate at different speeds in the reciprocating progressive movement process of the walking component of the cleaning robot. Therefore, the method can control the cleaning assembly to clean the same cleaning area for multiple times through different rotating speeds in the reciprocating progressive movement process of the robot, so that dirty or stubborn stains on the ground can be cleaned, and the cleaning effect is improved.
Drawings
The following drawings of the invention are included to provide a further understanding of the invention as a part of the examples. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.
In the drawings:
FIG. 1 is a perspective view of a cleaning robot according to an alternative embodiment of the present invention;
FIG. 2 is a schematic bottom view of FIG. 1;
fig. 3 is a perspective view illustrating a control method of a cleaning robot according to an alternative embodiment of the present invention;
FIG. 4 is a schematic representation of a trip route in an alternative embodiment of the present invention;
FIG. 5 is a schematic representation of a trip route in another alternative embodiment of the present invention;
fig. 6 is a flowchart for controlling the traveling assembly of the cleaning robot to perform reciprocating progressive movement based on the travel route in step S302;
FIG. 7 is a path diagram of a reciprocating progressive movement of a cleaning robot in accordance with an alternate embodiment of the present invention;
FIG. 8 is a path diagram of a reciprocating progressive movement of a cleaning robot in accordance with another alternative embodiment of the present invention;
fig. 9 is a flowchart for controlling the cleaning components of the cleaning robot to rotate at different speeds during the reciprocating progressive movement of the walking components of the cleaning robot in step S302;
FIG. 10 is a schematic view of a path of rotation at a first preset speed in a reciprocating progressive movement of a cleaning robot according to an alternative embodiment of the present invention;
fig. 11 is a schematic view showing a path of alternate rotation of a first preset speed and a second preset speed in the reciprocating progressive movement of the cleaning robot according to an alternative embodiment of the present invention;
fig. 12 is a schematic view showing a path of alternate rotation of a first preset speed and a second preset speed in a reciprocating progressive movement of a cleaning robot according to another alternative embodiment of the present invention;
fig. 13 is a block diagram of a control method of a cleaning robot according to an alternative embodiment of the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.
Fig. 1 and 2 are schematic views of a cleaning robot according to exemplary embodiments of the present disclosure. As shown in fig. 1 and 2, the cleaning robot includes a body 1, a sensing assembly 2, a walking assembly 3, a controller, a storage assembly, a cleaning assembly 4, and a battery assembly.
The body 1 forms a housing of the cleaning robot and accommodates other components. In some embodiments, the body 1 may be a flat cylinder.
The detection component 2 is used for detecting the ambient environment of the cleaning robot, so that the obstacles, the wall surfaces and the steps can be found, and the environment objects such as the charging pile and the like can be used for charging the floor sweeping robot.
The traveling assembly 3 is used to drive the cleaning robot to move forward or backward. In some embodiments, the traveling assembly 3 includes a pair of driving wheels 31 installed at both sides of the middle of the bottom of the body, and the driving wheels 31 are used to drive the cleaning robot to move forward or backward. In some embodiments, the traveling assembly further includes a guide wheel 32 provided at the front of the body, the guide wheel 32 being used to change the traveling direction of the cleaning robot during traveling.
The controller is arranged on a circuit board in the machine body and can draw an instant map of the environment where the cleaning robot is located according to the information of the surrounding environment objects fed back by the detection assembly and a preset algorithm. The controller can also control the cleaning robot to perform a cleaning task according to a certain path.
The storage component is arranged on a circuit board in the machine body and comprises a memory, and the memory can store the position information and the speed information of the cleaning robot and an instant map drawn by the processor.
The cleaning assembly 4 includes a water spraying assembly provided in the body and including a tank storing the cleaning solution and a spraying line connected between the tank and the brush roller, and a brush roller provided at a bottom of the body, so that the cleaning solution can flow to the brush roller during use of the cleaning apparatus. And a valve is also arranged on the spraying pipeline to control whether the cleaning liquid in the box body flows onto the brush roller or not.
The brush roller comprises a roller and a driving part connected with the roller, and the driving part can drive the roller to rotate. The material of the rolling brush is not limited, and the rolling brush can be cotton cloth, fiber cloth and the like.
The battery component comprises a rechargeable battery, a charging circuit connected with the rechargeable battery and a charging electrode arranged on the side surface of the cleaning robot body. In some embodiments, the charging circuit includes a charging control circuit, a charging temperature detection circuit, a charging voltage detection circuit. In some embodiments, the charging electrodes are stripe-shaped, and there are two charging electrodes.
It should be noted that the cleaning robot may further include other modules or components not shown in fig. 1 and fig. 2, or may include only some of the modules or components described above, which is not limited in this embodiment of the present invention, and the description is only given by taking the sweeping robot as an example.
In a first aspect, as shown in fig. 3, an embodiment of the present invention provides a control method of a cleaning robot, including:
step S301: a travel route is obtained.
The traveling path of the cleaning robot is planned according to an instant map drawn by a controller or is obtained by detecting a cleaning area by the cleaning robot, the planned traveling path can be a straight line, a curve or a combination of the straight line and the curve, and the shape of the traveling path is not strictly limited in the application.
Step S302: and controlling the walking component of the cleaning robot to perform reciprocating progressive movement based on the traveling route, and controlling the cleaning component of the cleaning robot to rotate at different speeds in the reciprocating progressive movement process of the walking component of the cleaning robot.
The cleaning effect of the cleaning robot is different along with different rotating speeds of the cleaning components of the cleaning robot. When the cleaning assembly rotates at a first preset speed, the cleaning assembly performs water throwing operation, namely the cleaning assembly rotates at a higher speed, so that the cleaning liquid soaked on the cleaning assembly is thrown to the ground to soak stains on the ground; when the cleaning assembly rotates at a second preset speed (the second preset speed is smaller than the first preset speed), the cleaning assembly performs water absorption operation to recover the sewage soaked by the dirt on the ground, so that the condition that the pedestrian slips and falls due to wet and slippery ground can be effectively avoided, and the dirt adsorbed due to wet ground is greatly reduced. At the reciprocal in-process that progressively removed of cleaning machines people, can make cleaning machines people carry out the removal of relapse many times in same cleaning region, and at the in-process that removes relapse many times, control cleaning assembly carries out the operation with the speed of difference, it directly drags the wiping of rag that will soak the cleaning fluid among the prior art and compares, the cleaning fluid of getting rid of ground can soak the spot on ground earlier, so that the easier removal of spot, later retrieve by the sewage that cleaning assembly will soak the spot, improve clean effect.
In the control method of the cleaning robot provided by the embodiment, a travel route is firstly acquired; and then controlling the walking component of the cleaning robot to perform reciprocating progressive movement based on the traveling route, and controlling the cleaning component of the cleaning robot to rotate at different speeds in the reciprocating progressive movement process of the walking component of the cleaning robot. Therefore, the method can control the cleaning assembly to clean the same cleaning area for multiple times through different rotating speeds in the reciprocating progressive movement process of the robot, so that dirty or stubborn stains on the ground can be cleaned, and the cleaning effect is improved.
In some possible implementations, the travel route includes at least one travel section, that is, the travel route may include only one straight or curved travel section, and may also include a detour route formed by two or more travel sections, for example, as shown in fig. 4, when the cleaning robot encounters an obstacle such as a wall, the cleaning robot may turn around to travel and travel according to the original travel section, so that the travel route includes one travel section, that is, the travel section 1; in another case, as shown in fig. 5, the whole cleaning area is divided into a plurality of sub-areas, for example, the whole cleaning area includes sub-areas a-I, and the cleaning robot needs to turn around and continue cleaning when moving to the boundary of the sub-areas, for example, the sub-area a includes travel sections 1-11, so that the travel route also includes a detour route formed by all the travel sections in all the sub-areas. Specifically, as shown in fig. 6, the step S302 of controlling the walking assembly of the cleaning robot to perform reciprocating progressive movement based on the travel route specifically includes the following steps:
step S601: and controlling a walking assembly of the cleaning robot to perform at least one reciprocating motion from the starting point to the turning point based on the traveling section.
The starting point may be a starting point of the travel section, or may be any point on the travel section other than the target point. The turning point may be any point on the travel route except for the starting point, wherein the target point is a termination point or a turning point at which the cleaning robot travels on the travel section in the same posture.
The one-time reciprocating motion is that the cleaning robot moves from a starting point to a returning point and then moves from the returning point to the starting point. For example, as shown in fig. 7, the starting point is point a, the turning point is point B, and the cleaning robot moves from point a to point B and then from point B to point a in one reciprocating motion. It can be seen that the cleaning robot eventually returns to the starting point after at least one round trip. The number of the reciprocating motions can be preset by a worker, for example, the number of the reciprocating motions can be set to be more than two times for a dirty ground, and the number of the reciprocating motions is not strictly limited in the present application.
Step S602: and controlling the walking assembly of the cleaning robot to move from the starting point to the turning point again based on the traveling road section.
And the control robot moves from the starting point to the turning point again to prepare for controlling the robot to advance.
Step S603: and determining the turn-back point as a new start point, determining any point between the new start point and a target point on the traveling route as a new turn-back point, and repeating the steps until no new turn-back point exists, wherein the target point is an end point or a turn-around point of the cleaning robot traveling on the traveling section in the same posture.
The target point is a termination point or a turning point of the cleaning robot travelling on the travelling road section in the same posture. When the cleaning robot does not perform cleaning operation after moving to the target point, the target point is a termination point; and when the cleaning robot turns around after moving to the target point and continues cleaning operation, the target point is the turning point.
The distance from the starting point to the turning point and the distance from the new starting point to the new turning point can be the same or different; the number of round trips of the cleaning robot between the starting point and the turning point may be the same as or different from the number of round trips between the new starting point and the new turning point, and the application is not strictly limited.
Illustratively, continuing with fig. 7 as an example, in one travel route segment, the starting point is point a, the returning point is point B, after the steps of steps S401 and S402, the cleaning robot moves to the returning point B, then the returning point B is determined as a new starting point a1, and after any point between a new starting point a1 and a new target point C on the travel route is determined as a new returning point B1, the steps S401 and S402 are repeated, that is, the cleaning robot is controlled to move from the new starting point a1 to a new returning point B1 after at least one round-trip movement between the new starting point a1 and the new returning point B1, and so on, until there is no new returning point, that is, the new starting point coincides with the target point C of the travel route, and the reciprocating progressive movement is completed. The distance between the starting point a and the turning point B may be the same as or different from the distance between the new starting point a1 and the new turning point B1. The number of round trips of the cleaning robot between the starting point a and the turning point B may be the same as or different from the number of round trips between the new starting point a1 and the new turning point B1, for example, the number of round trips between the starting point a and the turning point B may be set to 3 if the area between the starting point a and the turning point B is dirty, and the number of round trips between the new starting point a1 and the new turning point B1 may be set to 1 if the area between the new starting point a1 and the new turning point B1 is clean.
Step S604: whether the target point is a u-turn point is determined, and if the target point is the u-turn point, step S405 is executed.
Step S605: and controlling the cleaning robot to turn around to a new starting point, and repeating the step of turning back from the starting point to the target point until all the traveling sections are completed.
Wherein the turning point may be a position where the cleaning robot meets an obstacle or a boundary of a cleaning sub-area. And under the condition that the target point is the turning point, controlling the cleaning robot to turn around to a new starting point to move.
Specifically, the cleaning robot is controlled to turn around to a new starting point in different ways according to different traveling routes, and the details of the different control ways are described.
The first control mode is as follows: when the traveling route is that the cleaning robot encounters an obstacle such as a wall, the cleaning robot needs to be controlled to turn around and travel along the original traveling section, and specifically, controlling the cleaning robot to turn around to a new starting point includes:
step S6051 a: and determining the turning point of the travel section as a new starting point, and determining the starting point of the travel section as a new target point.
As shown in fig. 4, when the cleaning robot travels to the u-turn point C of the travel section 1, that is, when the cleaning robot encounters an obstacle while traveling to C, the cleaning robot is controlled to return along the travel section 1, so that the u-turn point C of the travel section 1 is set as a new starting point a1, and the original starting point a of the travel section is determined as a new target point C1.
Step S6052 a: the forward direction of the cleaning robot is turned to the direction opposite to the original forward direction.
For example, as shown in fig. 4, assuming that the cleaning robot encounters a wall, the original traveling direction of the cleaning robot is a direction close to the wall, and the direction away from the wall is a direction opposite to the original traveling direction, and the cleaning robot can travel along the original traveling road section by turning the direction to avoid the obstacle.
The second control mode is as follows: the whole cleaning area is divided into a plurality of sub-areas which are spliced, for each cleaning sub-area, the cleaning robot needs to be controlled to turn around to move to a new travel section, and specifically, the step of controlling the cleaning robot to turn around to a new starting point comprises the step of controlling the cleaning robot to turn around to the new starting point
And step S6051b, controlling the walking component of the cleaning robot to move from the turning point to the starting point of a new traveling road section, wherein the preset distance is not more than the width of the cleaning component.
Wherein, the distance between the turning point and the starting point of the new traveling road section is less than or equal to the width of the cleaning assembly, thereby avoiding leaving an uncleaned area.
For example, as shown in fig. 8, the cleaning robot travels to a target point C1 of the travel section 1, and when the target point C1 is a turning point, the cleaning robot turns around to a starting point a2 of the travel section 2, then the steps of the steps S601-603 are repeated to clean the travel section 2, and then it is determined whether the target point C2 of the travel section 2 is a turning point, and if so, the cleaning robot turns around again to a starting point of the travel section 3, and so on until all the travel sections are completed.
Step S6052b, the forward direction of the cleaning robot is turned to the direction opposite to the original forward direction.
Taking the route shown in fig. 8 as an example, the original traveling direction is a direction approaching the target point C1, and the direction away from the target point C1 is a direction opposite to the original traveling direction, so that the cleaning robot can travel along a new administrative section.
In some possible implementations, as shown in fig. 9, the controlling the cleaning assembly of the cleaning robot to rotate at different speeds during the reciprocating progressive movement of the walking assembly of the cleaning robot in step S302 includes:
step S901: the cleaning method comprises the steps of controlling a cleaning component of the cleaning robot to rotate at a first preset speed or alternatively rotate at the first preset speed and a second preset speed in the process of carrying out at least one reciprocating motion between a starting point and a turning point of the walking component of the cleaning robot, wherein the second preset speed is smaller than the first preset speed.
Specifically, the cleaning assembly of the cleaning robot comprises a rotatable brush roller and a water spraying assembly for spraying water to the brush roller, wherein the brush roller comprises a roller and a driving part connected with the roller, and the driving part can drive the roller to rotate. The material of the rolling brush is not limited, and can be cotton cloth, fiber cloth and the like. The water spray assembly includes a tank for storing the cleaning liquid and a spray line connected between the tank and the brush roller to allow the cleaning liquid to flow to the drum during use of the cleaning apparatus. The spraying pipeline is also provided with a valve to control whether the cleaning liquid in the box body flows onto the roller or not.
Before the cleaning component rotates at a first preset speed, the water spraying component is controlled to spray water to the brush roller, so that the brush roller can suck sufficient cleaning liquid. In particular, the valve on the spray line can be controlled to open, so that the cleaning solution in the tank flows onto the brush roll by means of the action of gravity. After the water spraying component is controlled to stop spraying water, the brush roller is controlled to rotate at a first preset speed, so that the brush roller can throw away water.
After the brush roller is fully soaked with the cleaning liquid, the water spraying assembly is controlled to stop spraying water, namely, a valve on the spraying pipeline is controlled to be closed. And then controlling the brush roll to rotate at a first preset speed so as to throw the cleaning solution out of the brush roll by utilizing centrifugal force, wherein the first preset speed can be preset by a worker, and the first preset speed can be a higher rotating speed in order to ensure that the cleaning solution is quickly and fully thrown out.
The brush roller becomes drier after throwing away water, and the brush roller recovers to have stronger water absorption capacity, so that the brush roller is controlled to rotate at a second preset speed, sewage on the ground can be communicated with stains and sucked into the dust box by utilizing the water absorption capacity recovered by the brush roller, the stains can be conveniently collected and treated, and the water absorption operation is completed. The second preset speed can be preset by a worker, and can be a slower rotating speed in order to ensure that the cleaning solution and the stains are sufficiently adsorbed.
The operation of throwing away water and absorbing water can be realized by utilizing different rotating speeds of the brush roll, a water absorbing assembly is not required to be additionally arranged, and the composition structure of the cleaning robot can be reduced, so that the manufacturing cost of the cleaning robot is reduced, the manufacturing process of the cleaning robot is simplified, and the production efficiency is improved.
In the process that the cleaning robot carries out at least one reciprocating motion between the starting point and the turning-back point, the cleaning assembly of the cleaning robot is controlled to rotate at a first preset speed, or alternatively rotate at the first preset speed and a second preset speed, namely the cleaning assembly carries out water throwing operation, or alternatively throws water and absorbs water, so that the cleaning assembly can be ensured to carry out repeated cleaning operation on the same area, and the cleaning effect is further improved. Specifically, whether the cleaning assembly performs water throwing operation or alternately water throwing and absorbing operation in the reciprocating process can be preset by a worker.
For example, as shown in fig. 7, the starting point is point a, the turning point is point B, and assuming that the cleaning robot moves back and forth 1 time between point a and point B, the cleaning assembly rotates at the first predetermined speed during the back and forth movement to perform the water throwing operation, so that more cleaning liquid on the floor soaks the dirt, and the dirt is removed more easily.
In another example, if there is stubborn dirt in the area between points a and B, the cleaning robot can move back and forth 3 times between points a and B as shown in fig. 10, and the cleaning assembly can rotate at the first preset speed to throw the cleaning liquid out during 3 times of back and forth, i.e. to throw the cleaning liquid, or, as shown in fig. 11 (where the solid line is the path of rotation at the first preset speed and the dotted line is the path of rotation at the second preset speed), can rotate at the first preset speed during the first two times of back and forth and rotate at the second preset speed during the last back and forth, or, as shown in fig. 12 (where the solid line is the path of rotation at the first preset speed and the dotted line is the path of rotation at the second preset speed), or can rotate at the first preset speed during the first two times of back and forth and the last time of movement from point a to point B, in the process of moving from the point B to the point a for the last time, the rotation at the second preset speed is performed, and similarly, in the back-and-forth movement between the point a and the point B, the combination of the rotation at the first preset speed and the rotation at the second preset speed can be freely performed, which is not listed in the application.
Step S602: and controlling the cleaning component of the cleaning robot to rotate at a second preset speed in the process that the walking component of the cleaning robot moves from the starting point to the turning-back point again.
The cleaning assembly of the cleaning robot is controlled to rotate at a second preset speed in the process that the cleaning robot moves to a turning-back point again from the starting point, so that the sewage on the ground is absorbed, the water absorption operation is carried out on the area at least once, the water stain on the ground is reduced, the condition that a pedestrian slips and falls into a hurry due to the fact that the ground is wet and slippery can be effectively avoided, the adsorbed dirty objects are greatly reduced, and the cleaning effect is improved.
In a second aspect, as shown in fig. 13, an embodiment of the present invention provides a control apparatus of a cleaning robot, including:
an obtaining module 1301, configured to obtain a travel route;
and the control module 1302 is used for controlling the walking component of the cleaning robot to perform reciprocating progressive movement based on the traveling route and controlling the cleaning component of the cleaning robot to rotate at different speeds in the reciprocating progressive movement process of the walking component of the cleaning robot.
In some possible implementations, the control module 1102 is further configured to control the cleaning assembly of the cleaning robot to throw water or alternately throw water and absorb water during at least one reciprocating motion of the walking assembly of the cleaning robot from the starting point to the turning point;
and controlling the cleaning component of the cleaning robot to absorb water in the process that the walking component of the cleaning robot moves from the starting point to the turning point again.
In some possible implementations, the cleaning assembly of the cleaning robot includes a rotatable brush roll and a water spray assembly for spraying water to the brush roll, and the control module 1102 is further configured to control the water spray assembly to spray water to the brush roll;
and after the water spraying assembly is controlled to stop spraying water, the brush roller is controlled to rotate at a first preset speed so that the brush roller can throw water.
In some possible implementations, the control module 1102 is further configured to control the brushroll to rotate at a second preset speed, where the second preset speed is less than the first preset speed.
In a third aspect, an embodiment of the present invention provides a cleaning robot, including a walking assembly 3, a cleaning assembly 4, and a controller;
a controller configured to execute the control method of the cleaning robot of any one of the first aspect.
In some possible implementations, the cleaning robot is a mopping robot or a sweeping and mopping integrated robot.
In a fourth aspect, an embodiment of the present invention provides an electronic device, which includes a processor and a memory, where the memory is used to store at least one executable instruction, and the executable instruction causes the processor to execute the steps of the control method for a cleaning robot in any one of the first aspect.
In a fifth aspect, embodiments of the present invention provide a computer-readable storage medium storing computer program instructions, which, when invoked and executed by a processor, implement the steps of the control method of the cleaning robot of any one of the first aspects.
The present invention has been illustrated by the above embodiments, but it should be understood that the above embodiments are for illustrative and descriptive purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, all of which fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A control method of a cleaning robot, characterized by comprising:
acquiring a traveling route;
and controlling a walking component of the cleaning robot to perform reciprocating progressive movement based on the traveling route, and controlling the cleaning component of the cleaning robot to rotate at different speeds in the reciprocating progressive movement process of the walking component of the cleaning robot.
2. The method of claim 1, wherein the travel route includes at least one travel segment based on which the controlling a walking assembly of the cleaning robot makes reciprocating progressive movements, comprising:
controlling a walking assembly of the cleaning robot to perform at least one reciprocating motion from a starting point to a turning point on the basis of the traveling section;
controlling a walking component of the cleaning robot to move from the starting point to the turning point again based on the traveling road section;
and determining the turn-back point as a new start point, determining any point between the new start point and a target point on the traveling section as a new turn-back point, and repeating the steps until no new turn-back point exists, wherein the target point is an end point or a turn-around point of the cleaning robot traveling on the traveling section in the same posture.
3. The method of claim 2, wherein determining the turn-around point as a new starting point and any point on the travel segment between the new starting point and a target point is determined as a new turn-around point, and wherein repeating the steps until there are no new turn-around points comprises:
and judging whether the target point is a U-turn point, if so, controlling the cleaning robot to turn around to a new starting point, and repeating the step of turning back from the starting point to the target point until all the traveling road sections are finished.
4. The method of claim 3, wherein the controlling the cleaning robot to turn around to a new starting point comprises:
determining the turning point of the travel road section as a new starting point, and determining the starting point of the travel road section as a new target point;
turning the advancing direction of the cleaning robot to a direction opposite to the original advancing direction;
alternatively, the first and second electrodes may be,
controlling a walking assembly of the cleaning robot to move from the turning point to a starting point of a new traveling road section by a preset distance, wherein the preset distance is not more than the width of the cleaning assembly;
and turning the advancing direction of the cleaning robot to the direction opposite to the original advancing direction.
5. The method of claim 2, wherein controlling the cleaning assembly of the cleaning robot to rotate at different speeds during the reciprocating progressive movement of the walking assembly of the cleaning robot comprises:
controlling a cleaning component of the cleaning robot to rotate at a first preset speed or alternatively rotate at the first preset speed and a second preset speed in the process of performing at least one reciprocating motion between a starting point and a turning point of the walking component of the cleaning robot, wherein the second preset speed is less than the first preset speed;
and controlling the cleaning assembly of the cleaning robot to rotate at the second preset speed in the process that the walking assembly of the cleaning robot moves from the starting point to the turning point again.
6. A control device of a cleaning robot, characterized by comprising:
the acquisition module is used for acquiring a traveling route;
and the control module is used for controlling the walking component of the cleaning robot to perform reciprocating progressive movement based on the traveling route and controlling the cleaning component of the cleaning robot to rotate at different speeds in the reciprocating progressive movement process of the walking component of the cleaning robot.
7. A cleaning robot is characterized by comprising a walking component, a cleaning component and a controller;
the controller configured to perform the control method of the cleaning robot of any one of claims 1 to 5.
8. The cleaning robot of claim 7, wherein the cleaning robot is a mopping robot or a sweeping and mopping integrated robot.
9. An electronic device comprising a processor and a memory for storing at least one executable instruction that causes the processor to perform the steps of the method of controlling a cleaning robot according to any one of claims 1-5.
10. A computer-readable storage medium, characterized in that computer program instructions are stored which, when invoked and executed by a processor, implement the steps of a control method of a cleaning robot according to any one of claims 1-5.
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| CN202110009046.XA CN114610010A (en) | 2021-01-05 | 2021-01-05 | Cleaning robot, control method and device thereof, electronic equipment and storage medium |
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| CN202110009046.XA CN114610010A (en) | 2021-01-05 | 2021-01-05 | Cleaning robot, control method and device thereof, electronic equipment and storage medium |
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