WO2022237587A1 - Cleaning device control method and cleaning device - Google Patents

Cleaning device control method and cleaning device Download PDF

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Publication number
WO2022237587A1
WO2022237587A1 PCT/CN2022/090349 CN2022090349W WO2022237587A1 WO 2022237587 A1 WO2022237587 A1 WO 2022237587A1 CN 2022090349 W CN2022090349 W CN 2022090349W WO 2022237587 A1 WO2022237587 A1 WO 2022237587A1
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WO
WIPO (PCT)
Prior art keywords
crawler
cleaning
mop
type
type mop
Prior art date
Application number
PCT/CN2022/090349
Other languages
French (fr)
Chinese (zh)
Inventor
郑权
陈爱雄
钟智渊
Original Assignee
深圳甲壳虫智能有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202110501250.3A external-priority patent/CN113208507B/en
Priority claimed from CN202111343423.XA external-priority patent/CN114027748B/en
Application filed by 深圳甲壳虫智能有限公司 filed Critical 深圳甲壳虫智能有限公司
Priority to EP22806555.3A priority Critical patent/EP4335344A1/en
Priority to CN202280001551.2A priority patent/CN115087383A/en
Priority to JP2023568416A priority patent/JP2024516314A/en
Publication of WO2022237587A1 publication Critical patent/WO2022237587A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • the present application relates to the technical field of smart devices, in particular to a cleaning device control method and a cleaning device.
  • sweeping robots are used in many occasions as products that can replace manual cleaning.
  • people have a higher pursuit of cleaning effect, and the existing sweeping robots are difficult to meet the demand.
  • the embodiment of the present application provides a cleaning device control method
  • the cleaning device includes a driving assembly and a crawler mop
  • the driving assembly is used to move the cleaning device on the cleaning surface
  • the crawler mop is used to The cleaning surface is cleaned
  • the method includes providing independent power parts for the drive assembly and the crawler-type mop, and during normal walking, the corresponding power part drives the rotation direction of the drive assembly and the crawler-type mop in the opposite direction , to improve cleaning efficiency.
  • the movement mode of the drive assembly or the crawler-type mop is changed to increase the effect of the drive assembly and the crawler-type mop on the cleaning surface force vector.
  • the cleaning device is about to run abnormally or is running abnormally, including being blocked by an obstacle, the driving assembly is stuck, the driving assembly is suspended, and the driving assembly is slipping.
  • the first abnormal level and the second abnormal level are preset according to the obstacle height, wherein the obstacle height under the first abnormal level is lower than the obstacle height under the second abnormal level, when the cleaning equipment is detected When it is about to be at the first abnormal level, change the motion mode of the driving assembly or the tracked mop to provide the first force vector to the cleaning surface, and when it is detected that the cleaning device is about to be at the second abnormal level, change the driving assembly Or the motion pattern of the crawler mop to provide a second force vector to the cleaning surface, wherein the first force vector is smaller than the second force vector.
  • the crawler-type mop stops autonomous rotation.
  • the rotation direction of the driving assembly is the same as that of the crawler-type mop.
  • the crawler-type mop is liftable, and when it is detected that the cleaning equipment is about to or is running abnormally, the crawler-type mop is lifted to separate from the cleaning surface.
  • the cleaning device further includes a scraper that is telescopically arranged relative to the crawler-type rag. During normal walking, the scraper is extended to scrape the crawler-type rag. When it is detected that the cleaning device is about to When walking abnormally or is running abnormally, the scraping bar retracts and separates from the crawler-type mop.
  • the cleaning equipment further includes a housing and a cleaning pump, the crawler-type rag and the cleaning pump are installed in the housing, and the housing is provided with a spray port that communicates with the cleaning pump.
  • the cleaning pump When running normally, the cleaning pump is turned on to spray cleaning liquid to the cleaning surface through the injection port, and when it is detected that the cleaning device is about to run abnormally or is running abnormally, the cleaning pump is turned off.
  • the driving assembly can deflect within a preset range of deflection angles, and when it is detected that the cleaning device is about to walk abnormally or is walking abnormally, the deflection angle is reduced to Increase the force vector provided by the driving assembly and the crawler-type mop to the cleaning surface.
  • the cleaning device includes a power component, a first crawler-type mop and a second crawler-type mop, and the power component drives the first crawler-type mop and the second crawler
  • the type rag rotates in the opposite direction to clean the cleaning surface.
  • the power element includes a first power element and a second power element, the first power element drives the first crawler-type mop to rotate forward, and the second power element drives the second crawler-type mop to rotate backward Rotate to improve cleaning efficiency.
  • a cleaning device provided in an embodiment of the present application includes a detection component, a drive component, and a crawler-type mop, and the detection component is used to provide detection information for determining the movement mode of the drive component and the crawler-type mop, and then implement any of the above-mentioned cleanings Device control method.
  • a control component is also included, the control component is used to receive the detection information provided by the detection component and then control the driving component and the movement mode of the crawler-type mop.
  • Figure 1 is a schematic perspective view of a cleaning device provided by an embodiment, and is shown from a perspective showing the bottom structure of the cleaning device;
  • Fig. 2 is a schematic structural view of a crawler-type rag in a cleaning device provided by an embodiment
  • Fig. 3, Fig. 4, Fig. 5 are the side view structural schematic diagrams of cleaning equipment provided by different embodiments;
  • Fig. 6 is a planar projection view of the cleaning device shown in Fig. 1, to show the bottom structure of the cleaning device;
  • Fig. 7 is another perspective view of the cleaning device shown in Fig. 1, wherein part of the top structure of the cleaning device is hidden to show the internal structure;
  • Fig. 8 is another perspective view of the cleaning device shown in Fig. 1, wherein part of the structure of the bottom of the cleaning device is hidden to show the internal structure;
  • Fig. 9 is a structural block diagram of a cleaning device provided by an embodiment
  • 10 to 15 are schematic diagrams of the running states of the cleaning equipment under the cleaning equipment control methods provided in different embodiments.
  • the cleaning equipment provided by an embodiment of the present application can autonomously clean cleaning surfaces such as floors and carpets.
  • the cleaning device includes a housing 100 , a drive assembly 200 and a crawler mop 300 .
  • the housing 100 is an installation carrier for various components of the cleaning equipment. Unless otherwise specified, all components of the cleaning equipment mentioned below are directly or indirectly installed on the housing 100, such as the drive assembly 200 and the crawler-type mop 300. installed on the housing 100.
  • the drive assembly 200 is used to drive the cleaning device to move on the cleaning surface.
  • the crawler mop 300 is used to clean the cleaning surface.
  • the crawler mop 300 includes a first transmission shaft 301 , a second transmission shaft 302 , a first power element 303 and a cleaning element 304 .
  • the first transmission shaft 301 and the second transmission shaft 302 are arranged in parallel.
  • the cleaning element 304 is arranged in an endless belt shape to wind around the first transmission shaft 301 and the second transmission shaft 302 .
  • the first power part 303 may include elements such as an electric motor and a gearbox, and the first power part 303 is connected to the first transmission shaft 301 and/or the second transmission shaft 302 in transmission, and is the rotation of the first transmission shaft 301 and the second transmission shaft 302 Provide power.
  • the cleaning member 304 can be driven to operate to clean the cleaning surface.
  • the cleaning piece 304 is a flexible material, which can be a sponge or a mop made of cloth or silicone or rubber, or a material layer with adsorption properties.
  • the cleaning member 304 is a mop or a sponge
  • the mop or sponge is in contact with the cleaning surface to remove stains or debris on the cleaning surface.
  • the cleaning member 304 is made of a material layer with adsorption properties
  • the material layer is in contact with the cleaning surface, thereby absorbing dirt or debris on the cleaning surface.
  • Stains include but are not limited to traces of various liquid substances left on the cleaning surface, such as oil stains, etc.
  • Debris includes all kinds of solid dirt, such as paper scraps, hair or dust.
  • the cleaning piece 304 contacts with the cleaning surface and generates relative sliding, so frictional force will be generated between the cleaning piece 304 and the cleaning surface.
  • the cleaning element 304 exerts a force on the cleaning surface, and the force can generate a traction effect on the cleaning device itself.
  • the material of the cleaning element 304 and the arrangement of the contact area with the cleaning surface and the like affect the magnitude of the above-mentioned acting force.
  • the driving assembly 200 is a wheel-type traveling mechanism, including a first driving wheel 201 , a second driving wheel 203 and a second power member 205 .
  • both the first driving wheel 201 and the second driving wheel 203 can be coaxially arranged, one of which is used as a driving wheel to obtain the power of the second power member 205 to generate rotation, and the other is used as a driven wheel to follow the driving wheel.
  • the wheel turns and turns.
  • the axial line connecting the first driving wheel 201 and the second driving wheel 203 is parallel to the first transmission shaft 301 and the second transmission shaft 302 in the crawler-type mop 300 .
  • the first driving wheel 201 and the second driving wheel 203 can also be set separately and respectively connected in transmission with a second power member 205 so as to obtain rotational power.
  • the second power member 205 may include elements such as an electric motor and a gearbox, and may provide power for the rotation of the first driving wheel 201 and the second driving wheel 203 .
  • Friction is generated between the first driving wheel 201, the second driving wheel 203 and the cleaning surface, that is, the first driving wheel 201 and the second driving wheel 203 produce a force on the cleaning surface, and the force produces traction on the cleaning device itself .
  • the cleaning equipment uses the sum of the force vectors generated by the drive assembly 200 and the crawler-type mop 300 on the cleaning surface as the driving force to drive the cleaning equipment to move relative to the cleaning surface to determine the cleaning surface.
  • the movement direction of the equipment relative to the cleaning surface such as moving forward, stationary, and backward relative to the cleaning surface.
  • the positive direction of the Y-axis is the forward direction, and the forward direction points to the front of the cleaning device, and the negative direction of the Y-axis is the backward direction, and the backward direction points to the rear of the cleaning device.
  • the cleaning surface provides a reaction force in the positive direction of the Y axis to the cleaning equipment to make the cleaning equipment move forward relative to the cleaning surface.
  • the cleaning surface provides a reaction force in the negative direction of the Y-axis to the cleaning device, so that the cleaning device moves back relative to the cleaning surface.
  • the force vector provided by the cleaning device to the cleaning surface is approximately zero, the cleaning device is stationary relative to the cleaning surface.
  • FIG. 3 shows a cleaning device provided by an embodiment, which includes two sets of drive assemblies 200 located on the front and rear sides of a crawler mop 300 . It can be understood that each group of driving assemblies 200 has an independent power element.
  • FIG. 4 shows a cleaning device provided by an embodiment, wherein a set of driving assemblies 200 is a crawler-type traveling mechanism, that is, the driving assembly 200 is a combination of a wheel-type traveling mechanism and a crawler-type traveling mechanism.
  • the specific structure of the crawler-type traveling mechanism can be set with reference to the crawler-type rag 300 in the above-mentioned embodiment, but the difference from the cleaning part 304 in the crawler-type rag 300 is that the corresponding components in the crawler-type traveling mechanism are mainly used for walking. Rather than being mainly used for cleaning, a structure more suitable for realizing this walking function can be adopted.
  • the cleaning device includes two sets of crawler-type mop 300 , and the two sets of crawler-type mop 300 are arranged adjacent to each other, and the driving assembly 200 is arranged on the front side or the rear side of the crawler-type mop 300 . It can be understood that each set of crawler mop 300 has independent power components.
  • the crawler wipes 300 may also be configured to be liftable relative to the housing 100 .
  • the lifting mechanism may include a motor, and a transmission mechanism such as a gear or a slide rail.
  • the motor is arranged on the housing 100, and the transmission mechanism is connected to the motor and the crawler-type mop 300, and the motor can be used to lift the crawler-type mop 300 relative to the housing 100, that is, relative to the cleaning surface. With such setting, the crawler-type mop 300 can be separated from the cleaning surface, so as to meet the needs of specific usage scenarios.
  • the driving assembly 200 is disposed in the middle of the bottom of the housing 100 in the Y-axis direction.
  • the location of the drive assembly 200 in the middle can make the drive assembly 200 provide better driving force for the cleaning equipment, and improve the ability of the cleaning equipment to overcome obstacles and get out of trouble.
  • the crawler mop 330 is disposed adjacent to one side of the driving assembly 200 . Compared with the setting with a large distance, this kind of adjacent setting can make the cleaning equipment have a larger continuous contact area with the cleaning surface, so that the cleaning equipment has better ability to overcome obstacles and escape when facing obstacles such as depressions.
  • the tracked mop 300 has a larger ground contact area, and when the cleaning equipment faces obstacles such as depressions, it has greater power to assist in overcoming obstacles and getting out of trouble.
  • the tracked mop 300 is located behind the drive assembly 200 and the projection of the tracked mop 300 on the horizontal plane is at least partially outside the projection of the housing 100 on the horizontal plane.
  • the crawler-type mop 300 extends beyond the range covered by the casing 100, so that the crawler-type mop 330 has a larger cleaning area, thereby improving cleaning efficiency. Large power assists obstacle surmounting and escape.
  • the outer end of the first driving wheel 201 is coplanar with the left end of the caterpillar mop 300 , more specifically, the left end of the cleaning element 304 .
  • the outer end of the second driving wheel 203 is coplanar with the right end surface of the crawler-type mop 300 , more specifically, the right end surface of the cleaning element 304 .
  • the distance between the outer end of the first driving wheel 201 and the outer end of the second driving wheel 203 is equal to the distance between the two ends of the cleaning element 304 .
  • the driving assembly 200 can deflect within a preset range of deflection angles relative to the Y-axis direction, so as to change the traveling direction of the cleaning device. Therefore, the driving assembly 200 also includes a power element for deflecting the first driving wheel 201 and the second driving wheel 203 . At the positions where the first driving wheel 201 and the second driving wheel 203 are arranged in the housing 100, larger openings are provided to provide enough space for the deflection of the first driving wheel 201 and the second driving wheel 203, so as to avoid deflection. interfere with the housing 100 .
  • a cleaning pump 101 and a fresh water tank 105 are installed on the housing 100 , and a spray port 103 is provided at the bottom of the housing 100 .
  • the water inlet of the cleaning pump 101 communicates with the clean water tank 105
  • the water outlet of the cleaning pump 101 communicates with the injection port 103 .
  • the injection port 103 is disposed adjacent to the tracked mop 300 .
  • there may be a plurality of injection ports 103 and they are uniformly arranged at equal intervals along the axial direction parallel to the crawler-type mop 300 .
  • the cleaning pump 101 can pump the cleaning liquid from the clean water tank 105 and spray the cleaning liquid to the cleaning surface through the injection port 103. Cleaning, to improve the cleaning effect of the crawler-type rag 300 on the cleaning surface.
  • the cleaning device is further equipped with a sewage tank 107 on the casing 100 , and a scraper 305 is provided toward the crawler-type mop 300 .
  • the crawler-type rag 300 will mix the cleaning liquid with the dirt and debris on the cleaning surface to form sewage.
  • the scraper strip 305 the sewage scraper attached to the crawler-type mop 300 can be separated to the sewage tank 107 to be collected and temporarily stored.
  • the sewage in the sewage tank 107 can be treated periodically.
  • both the dirty water tank 107 and the fresh water tank 105 can be detachably installed on the housing 100, so as to facilitate replenishment of cleaning liquid and treatment of sewage.
  • the scraping bar 305 is also configured to be controllable and stretchable relative to the crawler-type mop 300 . Therefore, when it is necessary to scrape the crawler-type rag 300, then stretch out the scraper 305 to abut and scrape the crawler-type rag 300, and when it is not necessary to scrape the crawler-type rag 300, then retract the scraper 305 to match the crawler-type rag 300.
  • the rag 300 separates.
  • Fig. 9 shows a structural block diagram of a cleaning device provided by an embodiment, the cleaning device includes a detection component 400 for detecting environmental information or its own operation information, and is connected to the drive component 200, the crawler-type mop 300 and the detection component 400 in communication The control assembly 500.
  • the detection component 400 may include one of an infrared sensor, an inertial sensor (IMU), an angle sensor, an optical flow sensor, a camera, a laser radar, a wheel odometer, a visual odometer, and a laser odometer, which are arranged at a suitable position of the housing 100. one or more species.
  • the environmental information detected by the detection component 400 includes, but is not limited to, the distance between the cleaning device and the object in the working environment, the movement state of the object, and the three-dimensional data of the shape of the object. Environmental information can be presented as static pictures or dynamic videos.
  • the self-running information detected by the detection assembly 400 includes, but is not limited to, the rotational speed of the drive assembly 200 of the cleaning device, the deflection angle of the drive assembly 200, the rotational speed of the crawler-type mop 300, the lifting state of the crawler-type mop 300 relative to the housing 100, the scraping bar 305 telescopic state, etc.
  • the information acquired by the detection component 400 can be used to directly or indirectly characterize whether the cleaning device is running normally. It can be understood that during normal walking, the cleaning device can be maintained in a cleaning state, so as to continuously and effectively clean the cleaning surface. And if it is walking abnormally, or is about to walk abnormally, it may affect the continuity and stability of the cleaning state of the cleaning equipment, so that the expected cleaning effect cannot be achieved.
  • Abnormal walking may include the walking state of the cleaning device under the following circumstances: the cleaning device is blocked by obstacles, the driving assembly 200 is stuck, the driving assembly 200 is suspended, and the driving assembly 200 is slipping.
  • the cleaning equipment is blocked by obstacles and includes three situations.
  • the first situation is that the impact of the obstacle on the walking of the cleaning equipment can be basically ignored.
  • the obstacle-surmounting ability of the cleaning equipment during normal walking can overcome the obstacle, and the walking state may be slightly affected during the obstacle-crossing process. It is different from normal walking, but after overcoming the obstacle, it can return to normal walking state by itself to maintain the normal cleaning state. It can be understood that, in this case, if the movement mode of the driving assembly 200 and the crawler mop 300 of the cleaning device is changed, the cleaning device has a better obstacle-surmounting ability than normal walking, and the obstacle can also be crossed naturally.
  • the second situation is that the impact of obstacles on the walking of the cleaning equipment is controllable, and it is necessary to change the movement patterns of the driving assembly 200 and the crawler-type mop 300 of the cleaning equipment so that the cleaning equipment has a better ability to overcome obstacles than normal walking. The ability to overcome this obstacle, so as to finally restore normal walking and maintain a normal cleaning state.
  • the third situation is that the obstacle has exceeded the ability of the cleaning equipment to overcome obstacles, and eventually the cleaning equipment is in a trapped state. Unless it chooses to avoid or manually intervene, the cleaning equipment cannot autonomously get out of trouble.
  • the obstacle height thresholds in the three situations can be represented by A0 and A1, where A0 is smaller than A1.
  • A0 is smaller than A1.
  • the obstacle height is less than or equal to A0, it belongs to the first case above.
  • the obstacle height is between A0 and A1, it belongs to the second situation above.
  • the obstacle height is greater than or equal to A1, it belongs to the third situation above.
  • the driving assembly 200 is stuck, the driving assembly 200 is suspended, and the driving assembly 200 is slipping because various abnormal factors cause the driving assembly 200 to fail to provide normal driving force, thereby failing to drive the cleaning device to move relative to the cleaning surface.
  • the drive assembly 200 may typically become stuck when there is a gap in the obstacle of a certain height through which the cleaning device cannot pass and becomes trapped.
  • the obstacle is a depression with a certain depth and area
  • the cleaning device cannot pass through the depression and the driving assembly 200 may be suspended in the depression.
  • the cleaning device may not be able to run normally because the driving assembly 200 slips on the oil stains.
  • Control component 500 is used to receive the detection information provided by the detection component 400, and then control the operation of related components of the cleaning device according to a preset algorithm, for example, control the driving component 200 and the crawler mop 300 to operate in a corresponding motion mode.
  • Control component 500 may include a processor, memory, and the like.
  • a processor may include one or more processing cores.
  • the processor uses various interfaces and lines to connect various components in the cleaning device, and executes various functions of the cleaning device by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. functions and processing data.
  • the processor can use at least one of Digital Signal Processing (Digital Signal Processing, DSP), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), and Programmable Logic Array (Programmable Logic Array, PLA). implemented in the form of hardware.
  • the processor can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU) and a modem.
  • the central processing unit mainly handles the operating system, user interface and application programs, etc.; the image processor is used to render and draw the displayed content; the modem is used to handle wireless communication. It can be understood that, the above-mentioned modem may not be integrated into the processor, but may be realized by a communication chip alone.
  • the control assembly 500 can be integrated in the casing 100 .
  • the control component 500 can also be set at the server side, and the server side remotely receives the detection information provided by the detection component 400, processes the detection information and makes corresponding responses and executions.
  • the cleaning device control method provided by the present application will be exemplarily described below in conjunction with FIG. 10 to FIG. 15 . It can be understood that the cleaning devices shown in Fig. 10 to Fig. 15 are only examples of structures, and it does not mean that the control method provided in this application can only be limited to the cleaning devices with these structures.
  • the rotation directions of the driving assembly 200 and the crawler mop 300 are opposite.
  • the drive assembly 200 and the crawler mop 300 are powered by their respective power components to rotate.
  • the arrow located in the upper left corner of the cleaning device indicates the moving direction of the cleaning device, and the direction pointing to the left is defined as the forward direction, that is, the cleaning device moves forward relative to the cleaning surface.
  • Arrows on the drive assembly 200 indicate the direction of rotation of the drive assembly 200 .
  • Arrows located on the tracked mop 300 indicate the direction of rotation of the tracked mop 300 .
  • the arrow F1 between the driving assembly 200 and the cleaning surface indicates the forward force exerted on the driving assembly 200 by the cleaning surface.
  • the arrow F2 between the crawler-type mop 300 and the cleaning surface indicates the backward force exerted on the crawler-type mop 300 by the cleaning surface.
  • the meanings of the arrows in the following figures are the same as those described above. It can be understood that at this time, the forward force F1 given to the drive assembly 200 by the cleaning surface is greater than the backward force F2 given to the crawler-type mop 300 by the cleaning surface, that is, the force provided by the drive assembly 200 and the crawler-type mop 300 to the cleaning surface
  • the sum of the vectors points forward so that the cleaning device can advance relative to the cleaning surface.
  • the crawler-type mop 300 Compared with the driving assembly 200 and the crawler-type mop 300 rotating in the same direction, the crawler-type mop 300 has a stronger cleaning ability on the cleaning surface when the two are running in opposite directions.
  • the driving assembly 200 drives the cleaning device to move relative to the cleaning surface at a speed of V1
  • the crawler-type mop 300 rotates autonomously and the side that fits the cleaning surface has a moving speed of V0 relative to the cleaning surface. Since the crawler-type mop 300 moves relative to the cleaning surface following the cleaning equipment, the moving speed of the side of the crawler-type mop 300 attached to the cleaning surface relative to the cleaning surface is V0+V1.
  • the reverse rotation of the two improves the speed of the crawler-type mop 300 relative to the cleaning surface, thereby making the cleaning effect better.
  • the directions of rotation of the two tracked mops 300 may be reversed.
  • the front and rear two crawler-type mop 300 rotate in opposite directions.
  • the two crawler-type mop 300 are powered by their respective power components to produce independent rotation in opposite directions.
  • the cleaning surface gives a rearward force F2 to the crawler-type mop 300 located at the rear, and a forward force F3 to the crawler-type mop 300 located in the front. Under the resultant force of the three vectors of the forward force F3, it advances relative to the cleaning surface.
  • the control assembly 500 receives the detection information and controls the driving assembly 200 or the crawler-type mop 300 to change the motion pattern to increase The force vector provided by the drive assembly 200 and the crawler mop 300 to the cleaning surface. Since the action of force is mutual, the force vector provided by the cleaning surface to the cleaning equipment is also increased.
  • the cleaning equipment can have a greater ability to overcome obstacles, or have a changed walking strategy, so that the cleaning equipment can autonomously get rid of abnormalities Walk or avoid the factors that will cause abnormal walking, and provide convenience for restoring or maintaining the normal walking state, so as to produce the expected cleaning effect on the cleaning surface.
  • the automatic rotation of the tracked mop 300 is stopped to increase the force vector between the drive assembly 200 , the tracked mop 300 , and the cleaning surface. Since the crawler-type mop 300 stops rotating, the rearward force F2 given to the crawler-type mop 300 by the cleaning surface disappears, so the force vector between the drive assembly 200, the crawler-type mop 300 and the cleaning surface is the forward force F1 , the forward force F1 is larger than the resultant force of the forward force F1 and the rearward force F2 in the operation mode shown in FIG. 10 .
  • the detection component 400 When the detection component 400 detects that there is an obstacle on the path of the cleaning equipment, and it belongs to the first and second situations mentioned above being hindered by an obstacle, it can stop the crawler-type mop 300 from rotating autonomously to overcome the obstacle. Obstacles, when the obstacles disappear, can return to the normal walking state, and the rotation directions of the drive assembly 200 and the crawler-type mop 300 are reversed again.
  • the stop of autonomous rotation of the crawler-type mop 300 means that the first power member 303 in the crawler-type mop 300 stops outputting power. Whether the crawler-type rag 300 still rotates relative to the cleaning surface is determined by the resultant force between the cleaning surface and the crawler-type rag 300. This force at least includes the static friction force and the crawler-type rag 300 between the cleaning surface and the crawler-type rag 300. Rag 300 braking power. For example, if the crawler-type mop 300 adopts the braking mode, the crawler-type mop 300 itself has a braking force to restrain rotation, and the crawler-type mop 300 does not rotate, but moves in translation relative to the cleaning surface as the cleaning equipment continues to move forward.
  • the crawler-type rag 300 When the crawler-type rag 300 itself is not braked, if the static friction between the cleaning surface and the crawler-type rag 300 is not large enough, the crawler-type rag 300 will also stop rotating, and the relative cleaning surface will move as the cleaning equipment continues to move forward; if The static friction force between the cleaning surface and the crawler-type mop 300 is large enough, and the cleaning device will passively follow the driving assembly 200 to rotate in the same direction while continuing to move forward.
  • the crawler-type rag 300 stops rotating autonomously, no matter whether the crawler-type rag 300 translates relative to the cleaning surface, or the crawler-type rag 300 passively follows the drive assembly 200 to rotate in the same direction, it will be different than when the drive assembly 200 and the crawler-type rag 300 rotate in the opposite direction.
  • the force vector between the cleaning surfaces should be large.
  • the tracked mop 300 can also be lifted away from the cleaning surface to increase the force vector between both the drive assembly 200 , the tracked mop 300 and the cleaning surface. Since the crawler-type rag 300 is separated from the cleaning surface, the backward force F2 given to the crawler-type rag 300 by the cleaning surface disappears, so the force vector between the drive assembly 200, the crawler-type rag 300 and the cleaning surface is forward acting. The force F1, the forward force F1 is greater than the resultant force of the forward force F1 and the rearward force F2 in the operation mode shown in FIG. 10 . In this case, whether the crawler-type mop 300 still rotates autonomously can be flexibly determined according to other factors.
  • the crawler-type mop 300 can be lifted to separate from the cleaning surface, To get over the obstacle, when the obstacle disappears, it can return to the normal walking state, and let the crawler-type mop 300 contact the cleaning surface again.
  • the rotation direction of the drive assembly 200 can also be made to be the same as that of the crawler-type mop 300 to increase the distance between the drive assembly 200, the crawler-type mop 300 and the cleaning surface. force vector of .
  • the rotation direction of the crawler mop 300 is changed so that the rotation direction of the driving assembly 200 is the same as that of the crawler mop 300 .
  • the backward force F2 given to the crawler-type mop 300 by the cleaning surface becomes the forward force F2, so the interaction between the drive assembly 200, the crawler-type mop 300 and the cleaning surface
  • the force vector is the sum of the forward force F1 and the forward force F2, which becomes larger compared to the operating mode in FIG. 10 .
  • the detection component 400 detects that there is an obstacle on the travel path of the cleaning device, and it belongs to the above-mentioned first and second situations of being blocked by an obstacle, or it detects that the driving component 200 is about to or has been stuck,
  • the driving assembly 200 is about to or has been in the air, or when the driving assembly 200 is about to or has slipped, the crawler-type mop 300 can be changed to rotate in the same direction as the driving assembly 200, so that the cleaning equipment can get rid of or avoid abnormal walking.
  • the forward force F1 given to the driving assembly 200 by the cleaning surface becomes a backward force F1, so the force vector between the driving assembly 200, the crawler-type mop 300 and the cleaning surface It is the sum of the backward acting force F1 and the backward acting force F2.
  • the acting force vector becomes larger, and the direction is opposite, so the cleaning device can be moved back relative to the cleaning surface.
  • the detection component 400 detects that there is an obstacle on the travel path of the cleaning device, and it belongs to the third situation mentioned above that is blocked by an obstacle, or it detects that the drive component 200 is about to or has been stuck, the drive component 200 is about to Or when the driving assembly 200 is about to slip or has slipped, the driving assembly 200 can be turned to the same rotation direction as the crawler-type mop 300, so that the cleaning equipment can get rid of or avoid abnormal walking.
  • the deflection can also be reduced Angle to increase the force vector between both the drive assembly 200 and the crawler mop 300 and the cleaning surface. After the deflection angle is reduced, the component force along the front-back direction parallel to the cleaning device housing 100 will become larger, thereby increasing the force vector between the drive assembly 200 and the crawler-type mop 300 and the cleaning surface, to move the cleaning device forward or backward. It can be understood that the way of changing the movement mode of the drive assembly 200 by changing the deflection angle can be combined with other above-mentioned ways of changing the movement mode of the drive assembly 200 or the crawler-type mopping cloth 300 as required.
  • the force vectors between the driving assembly 200 and the crawler mop 300 and the cleaning surface are different.
  • the force vector is smaller than in the motion pattern shown in FIG. 14 . Therefore, in some embodiments, different abnormality levels can also be preset according to the obstacle height, and different abnormality levels require the cleaning equipment to have different obstacle-surmounting capabilities. According to the corresponding abnormal level, the force vector between the cleaning device and the cleaning surface is adjusted by matching the corresponding change of the motion mode of the driving assembly 200 or the crawler-type mop 300, so as to have different obstacle-surmounting capabilities.
  • the first abnormal level and the second abnormal level are preset according to the obstacle height, wherein the obstacle height under the first abnormal level is lower than the obstacle height under the second abnormal level.
  • the motion pattern of the drive assembly or the crawler mop is changed to provide a first force vector to the cleaning surface, such as the force vector of the motion pattern shown in FIG. 12 .
  • the motion pattern of the driving assembly or the crawler mop is changed to provide a second force vector to the cleaning surface, such as the force vector of the motion pattern shown in FIG. 14 .
  • the cleaning pump 101 when walking normally, the cleaning pump 101 sprays the cleaning liquid to the cleaning surface through the injection port 103, and the cleaning surface is first wetted and soaked by the cleaning liquid, and then the crawler-type rag 300 for sweeping.
  • the crawler-type rag 300 mixes the cleaning liquid with the dirt and debris on the cleaning surface to form sewage.
  • the scraper 305 separates the sewage scraper attached to the crawler-type mop 300 to the sewage tank 107 to be collected and temporarily stored.
  • the crawler-type mop 300 needs to turn around in a specific direction, such as the movement mode shown in FIG. 10 , so that the scraper 305 can separate the sewage on the crawler-type mop 300 to the sewage tank 107 .
  • the cleaning pump 101 can be turned off to stop spraying cleaning liquid to the cleaning surface. It should be pointed out that, in other motion modes, if the scraper 305 does not scrape the sewage on the crawler-type mop 300 onto the cleaning surface, the cleaning pump 101 does not need to be turned off. For example, if the crawler-type mop 300 does not rotate in the movement mode shown in FIG.
  • the scraper 305 will not scrape the sewage on the crawler-type mop 300 onto the cleaning surface, and the cleaning pump 101 may not be turned off.
  • the track-type mop 300 does not change due to the steering, and the cleaning pump 101 does not need to be turned off.
  • the scraping bar 305 can also be controlled to retract and separate from the crawler-type mop 300 .
  • the scraping bar 305 can be controlled to extend to scrape the dirty water on the caterpillar mop 300 .
  • the scraper bar 305 can be controlled to retract and separate from the tracked mop 300 .

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Abstract

A cleaning device control method and a cleaning device. The cleaning device comprises a driving assembly (200) and a track-type cleaning cloth (300), and independent power members are provided for the driving assembly (200) and the track-type cleaning cloth (300). During normal walking, the corresponding power members drive rotation directions of the driving assembly (200) and the track-type cleaning cloth (300) to be opposite, so as to improve cleaning efficiency.

Description

清扫设备控制方法及清扫设备Cleaning equipment control method and cleaning equipment 技术领域technical field
本申请涉及智能设备技术领域，特别是涉及一种清扫设备控制方法及清扫设备。The present application relates to the technical field of smart devices, in particular to a cleaning device control method and a cleaning device.
背景技术Background technique
随着科技水平的提高，人们越来越受益于各种智能设备，例如扫地机器人作为能够替代人工清扫的产品被应用在很多场合。然而人们对清洁效果有更高的追求，现有的扫地机器人难以满足需求。With the improvement of science and technology, people are benefiting more and more from various smart devices. For example, sweeping robots are used in many occasions as products that can replace manual cleaning. However, people have a higher pursuit of cleaning effect, and the existing sweeping robots are difficult to meet the demand.
发明内容Contents of the invention
基于此，有必要针对上述技术问题，提供一种清扫设备控制方法及清扫设备。Based on this, it is necessary to provide a cleaning device control method and a cleaning device for the above technical problems.
本申请实施例提供的一种清扫设备控制方法，所述清扫设备包括驱动组件和履带式抹布，所述驱动组件用于使清扫设备在清扫面上移动，所述履带式抹布用于对所述清扫面进行清扫，所述方法包括为所述驱动组件和履带式抹布提供独立的动力件，且在正常行走时，使相应的所述动力件带动所述驱动组件和履带式抹布的转动方向相反，以提升清扫效率。The embodiment of the present application provides a cleaning device control method, the cleaning device includes a driving assembly and a crawler mop, the driving assembly is used to move the cleaning device on the cleaning surface, and the crawler mop is used to The cleaning surface is cleaned, the method includes providing independent power parts for the drive assembly and the crawler-type mop, and during normal walking, the corresponding power part drives the rotation direction of the drive assembly and the crawler-type mop in the opposite direction , to improve cleaning efficiency.
在一实施例中，当检测所述清扫设备即将异常行走或正在异常行走时，改变所述驱动组件或履带式抹布的运动模式以增大所述驱动组件和履带式抹布提供给清扫面的作用力向量。In one embodiment, when it is detected that the cleaning device is about to or is walking abnormally, the movement mode of the drive assembly or the crawler-type mop is changed to increase the effect of the drive assembly and the crawler-type mop on the cleaning surface force vector.
在一实施例中，所述清扫设备即将异常行走或正在异常行走包括被障碍物阻碍、所述驱动组件被卡住、所述驱动组件悬空、所述驱动组件打滑中的任意一种。In an embodiment, the cleaning device is about to run abnormally or is running abnormally, including being blocked by an obstacle, the driving assembly is stuck, the driving assembly is suspended, and the driving assembly is slipping.
在一实施例中，根据障碍物高度预设第一异常等级及第二异常等级，其中第一异常等级下的障碍物高度低于第二异常等级下的障碍物高度，当检测所述清扫设备将要处于第一异常等级时，改变所述驱动组件或履带式抹布的运动模式以向清扫面提供第一作用力向量，当检测所述清扫设备将要处于第二异常等级时，改变所述驱动组件或履带式抹布的运动模式以向清扫面提供第二作用力向量，其中第一作用力向量小于第二作用力向量。In one embodiment, the first abnormal level and the second abnormal level are preset according to the obstacle height, wherein the obstacle height under the first abnormal level is lower than the obstacle height under the second abnormal level, when the cleaning equipment is detected When it is about to be at the first abnormal level, change the motion mode of the driving assembly or the tracked mop to provide the first force vector to the cleaning surface, and when it is detected that the cleaning device is about to be at the second abnormal level, change the driving assembly Or the motion pattern of the crawler mop to provide a second force vector to the cleaning surface, wherein the first force vector is smaller than the second force vector.
在一实施例中，当检测所述清扫设备即将异常行走或正在异常行走时，所述履带式抹布停止自主转动。In one embodiment, when it is detected that the cleaning device is about to or is running abnormally, the crawler-type mop stops autonomous rotation.
在一实施例中，当检测所述清扫设备即将异常行走或正在异常行走时，使所述驱动组件的转动方向与所述履带式抹布的转动方向相同。In one embodiment, when it is detected that the cleaning device is about to or is running abnormally, the rotation direction of the driving assembly is the same as that of the crawler-type mop.
在一实施例中，所述履带式抹布为可升降设置，当检测所述清扫设备即将异常行走或正在异常行走时，抬升所述履带式抹布以与所述清扫面分离。In one embodiment, the crawler-type mop is liftable, and when it is detected that the cleaning equipment is about to or is running abnormally, the crawler-type mop is lifted to separate from the cleaning surface.
在一实施例中，所述清扫设备还包括相对履带式抹布伸缩设置的刮条，在正常行走时，所述刮条伸出用于刮刷所述履带式抹布，当检测所述清扫设备即将异常行走或正在异常行走时，所述刮条缩进而与所述履带式抹布分离。In one embodiment, the cleaning device further includes a scraper that is telescopically arranged relative to the crawler-type rag. During normal walking, the scraper is extended to scrape the crawler-type rag. When it is detected that the cleaning device is about to When walking abnormally or is running abnormally, the scraping bar retracts and separates from the crawler-type mop.
在一实施例中，所述清扫设备还包括壳体及清洁泵，所述履带式抹布及清洁泵均安装于所述壳体，所述壳体上设置与清洁泵相连通的喷射口，在正常行走时，开启所述清洁泵以通过所述喷射口向所述清扫面喷射清洁液，当检测所述清扫设备即将异常行走或正在异常行走时，关闭所述清洁泵。In one embodiment, the cleaning equipment further includes a housing and a cleaning pump, the crawler-type rag and the cleaning pump are installed in the housing, and the housing is provided with a spray port that communicates with the cleaning pump. When running normally, the cleaning pump is turned on to spray cleaning liquid to the cleaning surface through the injection port, and when it is detected that the cleaning device is about to run abnormally or is running abnormally, the cleaning pump is turned off.
在一实施例中，所述驱动组件能够在预设范围的偏转角内偏转，当检测所述清扫设备即将异常行走或正在异常行走时，相较于在正常行走时减小所述偏转角以增大所述驱动组件和履带式抹布提供给清扫面的作用力向量。In one embodiment, the driving assembly can deflect within a preset range of deflection angles, and when it is detected that the cleaning device is about to walk abnormally or is walking abnormally, the deflection angle is reduced to Increase the force vector provided by the driving assembly and the crawler-type mop to the cleaning surface.
本申请实施例提供的另一种清扫设备控制方法，所述清扫设备包括动力件、第一履带式抹布和第二履带式抹布，所述动力件带动所述第一履带式抹布和第二履带式抹布朝着相反的方向转动以对所述清扫面进行清扫。Another cleaning device control method provided in an embodiment of the present application, the cleaning device includes a power component, a first crawler-type mop and a second crawler-type mop, and the power component drives the first crawler-type mop and the second crawler The type rag rotates in the opposite direction to clean the cleaning surface.
在一实施例中，所述动力件包括第一动力件和第二动力件，所述第一动力件驱动第一履带式抹布正向转动，所述第二动力件驱动第二履带式抹布反向转动，以提升清扫效率。In one embodiment, the power element includes a first power element and a second power element, the first power element drives the first crawler-type mop to rotate forward, and the second power element drives the second crawler-type mop to rotate backward Rotate to improve cleaning efficiency.
本申请实施例提供的一种清扫设备，包括检测组件、驱动组件以及履带式抹布，所述检测组件用于提供确定驱动组件以及履带式抹布的运动模式的检测信息进而实施上述的任意一种清扫设备控制方法。A cleaning device provided in an embodiment of the present application includes a detection component, a drive component, and a crawler-type mop, and the detection component is used to provide detection information for determining the movement mode of the drive component and the crawler-type mop, and then implement any of the above-mentioned cleanings Device control method.
在一实施例中，还包括控制组件，所述控制组件用于接收检测组件提供的检测信息进而控制驱动组件以及履带式抹布的运动模式。In one embodiment, a control component is also included, the control component is used to receive the detection information provided by the detection component and then control the driving component and the movement mode of the crawler-type mop.
附图说明Description of drawings
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.
图1为一个实施例提供的清扫设备的立体结构示意图，且以展示出清扫设备的底部构造的视角示出；Figure 1 is a schematic perspective view of a cleaning device provided by an embodiment, and is shown from a perspective showing the bottom structure of the cleaning device;
图2为一个实施例提供的清扫设备中的履带式抹布的结构示意图；Fig. 2 is a schematic structural view of a crawler-type rag in a cleaning device provided by an embodiment;
图3、图4、图5为不同实施例提供的清扫设备的侧视结构示意图；Fig. 3, Fig. 4, Fig. 5 are the side view structural schematic diagrams of cleaning equipment provided by different embodiments;
图6为图1所示清扫设备的平面投影视图，以展示出清扫设备的底部构造；Fig. 6 is a planar projection view of the cleaning device shown in Fig. 1, to show the bottom structure of the cleaning device;
图7为图1所示清扫设备的另一视角视图，其中清扫设备的顶部的部分结构被隐藏以展示出内部构造；Fig. 7 is another perspective view of the cleaning device shown in Fig. 1, wherein part of the top structure of the cleaning device is hidden to show the internal structure;
图8为图1所示清扫设备的另一视角视图，其中清扫设备的底部的部分结构被隐藏以展示出内部构造；Fig. 8 is another perspective view of the cleaning device shown in Fig. 1, wherein part of the structure of the bottom of the cleaning device is hidden to show the internal structure;
图9为一个实施例提供的清扫设备的结构框图；Fig. 9 is a structural block diagram of a cleaning device provided by an embodiment;
图10至图15为不同实施例提供的清扫设备控制方法下清扫设备的运行状态示意图。10 to 15 are schematic diagrams of the running states of the cleaning equipment under the cleaning equipment control methods provided in different embodiments.
具体实施方式Detailed ways
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
如图1所示，本申请一实施例提供的清扫设备可以对地板、地毯等清扫面进行自主清扫。该清扫设备包括壳体100、驱动组件200和履带式抹布300。壳体100是清扫设备的各种元器件的安装载体，除非特别说明，下文中涉及的清扫设备的所有组成元件均直接或间接安装在壳体100上，例如驱动组件200和履带式抹布300均安装在壳体100上。驱动组件200用于带动清扫设备在清扫面上移动。履带式抹布300用于对清扫面进行清扫。As shown in FIG. 1 , the cleaning equipment provided by an embodiment of the present application can autonomously clean cleaning surfaces such as floors and carpets. The cleaning device includes a housing 100 , a drive assembly 200 and a crawler mop 300 . The housing 100 is an installation carrier for various components of the cleaning equipment. Unless otherwise specified, all components of the cleaning equipment mentioned below are directly or indirectly installed on the housing 100, such as the drive assembly 200 and the crawler-type mop 300. installed on the housing 100. The drive assembly 200 is used to drive the cleaning device to move on the cleaning surface. The crawler mop 300 is used to clean the cleaning surface.
驱动组件200和履带式抹布300均具有独立的动力件，用以为各自的自主转动提供动力。请参考图2，在一实施例中，履带式抹布300包括第一传动轴301、第二传动轴302、第一动力件303以及清洁件304。Both the drive assembly 200 and the crawler mop 300 have independent power components for providing power for their own rotation. Please refer to FIG. 2 , in one embodiment, the crawler mop 300 includes a first transmission shaft 301 , a second transmission shaft 302 , a first power element 303 and a cleaning element 304 .
第一传动轴301和第二传动轴302平行设置。清洁件304设置成环带状以绕设在第一传动轴301和第二传动轴302上。第一动力件303可以包括电动机、变速箱等元件，第一动力件303与第一传动轴301和/或第二传动轴302传动连接，为第一传动轴301、第二传动轴302的转动提供动力。当第一传动轴301、第二传动轴302转动时，则可带动清洁件304运转，以对清扫面进行清扫。The first transmission shaft 301 and the second transmission shaft 302 are arranged in parallel. The cleaning element 304 is arranged in an endless belt shape to wind around the first transmission shaft 301 and the second transmission shaft 302 . The first power part 303 may include elements such as an electric motor and a gearbox, and the first power part 303 is connected to the first transmission shaft 301 and/or the second transmission shaft 302 in transmission, and is the rotation of the first transmission shaft 301 and the second transmission shaft 302 Provide power. When the first transmission shaft 301 and the second transmission shaft 302 rotate, the cleaning member 304 can be driven to operate to clean the cleaning surface.
清洁件304为柔性材料，可以是海绵或者布类材质或硅胶、橡胶材质的拖布，亦或者是具有吸附性能的材料层。当清洁件304选用拖布或海绵时，拖布或海绵与清扫面接触，从而清除清扫面上的污渍或残屑。当清洁件304选用具有吸附性能的材料层时，材料层与清扫面接触，从而吸附清扫面上的污渍或残屑。污渍包括但不限于各类液态物质残留在清扫面上的痕迹，例如油污等。残屑包括各类固态污物，例如纸屑、毛发或者灰尘等。The cleaning piece 304 is a flexible material, which can be a sponge or a mop made of cloth or silicone or rubber, or a material layer with adsorption properties. When the cleaning member 304 is a mop or a sponge, the mop or sponge is in contact with the cleaning surface to remove stains or debris on the cleaning surface. When the cleaning member 304 is made of a material layer with adsorption properties, the material layer is in contact with the cleaning surface, thereby absorbing dirt or debris on the cleaning surface. Stains include but are not limited to traces of various liquid substances left on the cleaning surface, such as oil stains, etc. Debris includes all kinds of solid dirt, such as paper scraps, hair or dust.
清洁件304对清扫面进行清扫的过程中，因与清扫面接触并产生相对滑动，从而清洁件304与清扫面之间会产生摩擦力。换言之，清洁件304对清扫面产生作用力，该作用力可对清扫设备本身产生牵引作用。清洁件304的材质及与清扫面的接触面积等的配置对上述作用力的大小具有影响。During the process of cleaning the cleaning surface, the cleaning piece 304 contacts with the cleaning surface and generates relative sliding, so frictional force will be generated between the cleaning piece 304 and the cleaning surface. In other words, the cleaning element 304 exerts a force on the cleaning surface, and the force can generate a traction effect on the cleaning device itself. The material of the cleaning element 304 and the arrangement of the contact area with the cleaning surface and the like affect the magnitude of the above-mentioned acting force.
如图1和图6中所示，驱动组件200选用车轮式行走机构，包括第一驱动轮201、第二驱动轮203和第二动力件205。在一些实施例中，第一驱动轮201和第二驱动轮203两者可以同轴设置，其中一个作为主动轮以获取第二动力件205的动力而产生转动，另一个则作为从动轮跟随主动轮的转动而转动。第一驱动轮201和第二驱动轮203两者的轴向连线，与履带式抹布300中的第一传动轴301、第二传动轴302平行。在另外的一些实施例中，第一驱动轮201和第二驱动轮203还可以是分立设置并分别与一个第二动力件205传动连接从而获取转动的动力。第二动力件205可以包括电动机、变速箱等元件，可为第一驱动轮201、第二驱动轮203的转动提供动力。As shown in FIG. 1 and FIG. 6 , the driving assembly 200 is a wheel-type traveling mechanism, including a first driving wheel 201 , a second driving wheel 203 and a second power member 205 . In some embodiments, both the first driving wheel 201 and the second driving wheel 203 can be coaxially arranged, one of which is used as a driving wheel to obtain the power of the second power member 205 to generate rotation, and the other is used as a driven wheel to follow the driving wheel. The wheel turns and turns. The axial line connecting the first driving wheel 201 and the second driving wheel 203 is parallel to the first transmission shaft 301 and the second transmission shaft 302 in the crawler-type mop 300 . In some other embodiments, the first driving wheel 201 and the second driving wheel 203 can also be set separately and respectively connected in transmission with a second power member 205 so as to obtain rotational power. The second power member 205 may include elements such as an electric motor and a gearbox, and may provide power for the rotation of the first driving wheel 201 and the second driving wheel 203 .
第一驱动轮201、第二驱动轮203与清扫面之间产生摩擦力，也即第一驱动轮201、第二驱动轮203对清扫面产生作用力，该作用力对清扫设备本身产生牵引作用。在清扫面处于基本水平的情形下，清扫设备由驱动组件200、履带式抹布300两者对清扫面所产生的作用力向量之和，作为驱使清扫设备相对清扫面移动的驱动力，以确定清扫设备相对清扫面的运动方向，例如相对清扫面前进、静止、后退等。Friction is generated between the first driving wheel 201, the second driving wheel 203 and the cleaning surface, that is, the first driving wheel 201 and the second driving wheel 203 produce a force on the cleaning surface, and the force produces traction on the cleaning device itself . When the cleaning surface is basically horizontal, the cleaning equipment uses the sum of the force vectors generated by the drive assembly 200 and the crawler-type mop 300 on the cleaning surface as the driving force to drive the cleaning equipment to move relative to the cleaning surface to determine the cleaning surface. The movement direction of the equipment relative to the cleaning surface, such as moving forward, stationary, and backward relative to the cleaning surface.
作为示例的说明，如图6中所示，以Y轴正方向为前进方向，该前进方向指向清扫设备的前方，以Y轴负方向为后退方向，该后退方向指向清扫设备的后方。当清扫设备提供给清扫面的作用力向量指向Y轴负方向时，根据牛顿第三定律，清扫面提供给清扫设备Y轴正方向的反作用力，以使清扫设 备相对清扫面前进。反之，当清扫设备提供给清扫面的作用力向量指向Y轴正方向时，清扫面提供给清扫设备Y轴负方向的反作用力，以使清扫设备相对清扫面后退。当清扫设备提供给清扫面的作用力向量大致为零时，则清扫设备相对清扫面静止。As an example, as shown in FIG. 6 , the positive direction of the Y-axis is the forward direction, and the forward direction points to the front of the cleaning device, and the negative direction of the Y-axis is the backward direction, and the backward direction points to the rear of the cleaning device. When the force vector provided by the cleaning equipment to the cleaning surface points to the negative direction of the Y axis, according to Newton's third law, the cleaning surface provides a reaction force in the positive direction of the Y axis to the cleaning equipment to make the cleaning equipment move forward relative to the cleaning surface. Conversely, when the force vector provided by the cleaning device to the cleaning surface points to the positive direction of the Y-axis, the cleaning surface provides a reaction force in the negative direction of the Y-axis to the cleaning device, so that the cleaning device moves back relative to the cleaning surface. When the force vector provided by the cleaning device to the cleaning surface is approximately zero, the cleaning device is stationary relative to the cleaning surface.
需要说明的是，上述实施例对驱动组件200的数量、类型介绍只是举例，在其他实施例中，驱动组件200的数量、类型可以不同。例如，图3示出了一实施例提供的清扫设备，其包括两组驱动组件200，且分别位于履带式抹布300的前后两侧。可以理解，每组驱动组件200中均具有独立的动力件。再例如，图4示出了一实施例提供的清扫设备，其中一组驱动组件200为履带式行走机构，也即该驱动组件200为车轮式行走机构与履带式行走机构的组合。履带式行走机构的具体结构可参上述实施例中的履带式抹布300设置，只不过与履带式抹布300中的清洁件304不同之处于在于，履带式行走机构中的相应构件主要用于行走，而非主要用于清扫，因而可采用更适于实现该行走功能的结构。It should be noted that the number and types of the driving assemblies 200 introduced in the above embodiments are only examples, and in other embodiments, the number and types of the driving assemblies 200 may be different. For example, FIG. 3 shows a cleaning device provided by an embodiment, which includes two sets of drive assemblies 200 located on the front and rear sides of a crawler mop 300 . It can be understood that each group of driving assemblies 200 has an independent power element. For another example, FIG. 4 shows a cleaning device provided by an embodiment, wherein a set of driving assemblies 200 is a crawler-type traveling mechanism, that is, the driving assembly 200 is a combination of a wheel-type traveling mechanism and a crawler-type traveling mechanism. The specific structure of the crawler-type traveling mechanism can be set with reference to the crawler-type rag 300 in the above-mentioned embodiment, but the difference from the cleaning part 304 in the crawler-type rag 300 is that the corresponding components in the crawler-type traveling mechanism are mainly used for walking. Rather than being mainly used for cleaning, a structure more suitable for realizing this walking function can be adopted.
类似的，本申请对于履带式抹布300的数量也不做限定。参考图5所提供的实施例中，该清扫设备包括两组履带式抹布300，且两组履带式抹布300相邻设置，驱动组件200设置于履带式抹布300的前方一侧或者后方一侧。可以理解，每组履带式抹布300中均具有独立的动力件。Similarly, the present application does not limit the number of crawler-type mop 300 either. In the embodiment provided with reference to FIG. 5 , the cleaning device includes two sets of crawler-type mop 300 , and the two sets of crawler-type mop 300 are arranged adjacent to each other, and the driving assembly 200 is arranged on the front side or the rear side of the crawler-type mop 300 . It can be understood that each set of crawler mop 300 has independent power components.
此外，在具有一组或多于一组履带式抹布300的实施例中，履带式抹布300还可被设置为相对壳体100可升降。例如，升降机构可包括电机，以及齿轮或滑轨等类型的传动机构。电机设置在壳体100上，传动机构传动连接电机和履带式抹布300，可借助电机使履带式抹布300相对壳体100升降，也即相对清扫面升降。如此设置，可以实现履带式抹布300与清扫面的分离，以适应特定使用场景的需要。In addition, in embodiments having one or more than one set of crawler wipes 300 , the crawler wipes 300 may also be configured to be liftable relative to the housing 100 . For example, the lifting mechanism may include a motor, and a transmission mechanism such as a gear or a slide rail. The motor is arranged on the housing 100, and the transmission mechanism is connected to the motor and the crawler-type mop 300, and the motor can be used to lift the crawler-type mop 300 relative to the housing 100, that is, relative to the cleaning surface. With such setting, the crawler-type mop 300 can be separated from the cleaning surface, so as to meet the needs of specific usage scenarios.
如图6中所示，在Y轴方向上，驱动组件200设置在壳体100底部的中部位置。驱动组件200位于中部位置可以使得驱动组件200为清扫设备提供更好的驱动力，提升清扫设备的越障和脱困能力。履带式抹布330紧邻设置在驱动组件200的一侧。相较于间隔较大距离的设置，此种紧邻设置可使清扫设备与清扫面具有更大的连续接触面积，从而使清扫设备在面临凹陷等障 碍时具有更好的越障和脱困能力，同时，履带式抹布300具有较大的触地面积，当清扫设备在面临凹陷等障碍时具有更大的动力辅助越障和脱困。As shown in FIG. 6 , the driving assembly 200 is disposed in the middle of the bottom of the housing 100 in the Y-axis direction. The location of the drive assembly 200 in the middle can make the drive assembly 200 provide better driving force for the cleaning equipment, and improve the ability of the cleaning equipment to overcome obstacles and get out of trouble. The crawler mop 330 is disposed adjacent to one side of the driving assembly 200 . Compared with the setting with a large distance, this kind of adjacent setting can make the cleaning equipment have a larger continuous contact area with the cleaning surface, so that the cleaning equipment has better ability to overcome obstacles and escape when facing obstacles such as depressions. , The tracked mop 300 has a larger ground contact area, and when the cleaning equipment faces obstacles such as depressions, it has greater power to assist in overcoming obstacles and getting out of trouble.
如图6中所示，履带式抹布300位于驱动组件200的后方，且履带式抹布300在水平面上的投影至少部分位于所述壳体100在水平面上的投影之外。直观的来讲，履带式抹布300延展至壳体100覆盖的范围之外，使得履带式抹布330具有更大的清洁面积，从而提升清扫效能，同时，当清扫设备在面临凹陷等障碍时具有更大的动力辅助越障和脱困。As shown in FIG. 6 , the tracked mop 300 is located behind the drive assembly 200 and the projection of the tracked mop 300 on the horizontal plane is at least partially outside the projection of the housing 100 on the horizontal plane. Intuitively speaking, the crawler-type mop 300 extends beyond the range covered by the casing 100, so that the crawler-type mop 330 has a larger cleaning area, thereby improving cleaning efficiency. Large power assists obstacle surmounting and escape.
以图6中的视角而言，第一驱动轮201的外侧端与履带式抹布300的左端共面，更具体的是与清洁件304的左端面共面。第二驱动轮203的外侧端与履带式抹布300的右端共面，更具体的是与清洁件304的右端面共面。换言之，第一驱动轮201的外侧端和第二驱动轮203的外侧端之间的间距等于清洁件304两端之间的间距。此种设置可使清扫设备具有更好的运行稳定性以及越障和脱困能力。From the perspective of FIG. 6 , the outer end of the first driving wheel 201 is coplanar with the left end of the caterpillar mop 300 , more specifically, the left end of the cleaning element 304 . The outer end of the second driving wheel 203 is coplanar with the right end surface of the crawler-type mop 300 , more specifically, the right end surface of the cleaning element 304 . In other words, the distance between the outer end of the first driving wheel 201 and the outer end of the second driving wheel 203 is equal to the distance between the two ends of the cleaning element 304 . This kind of setting can make the cleaning equipment have better running stability and the ability to overcome obstacles and get out of trouble.
如图6中所示，所述驱动组件200能够相对Y轴方向在预设范围的偏转角内偏转，以改变清扫设备的行进方向。因此驱动组件200还包括用于使第一驱动轮201、第二驱动轮203产生偏转的动力件。在壳体100设置第一驱动轮201、第二驱动轮203的位置处，设有较大的开口，以为第一驱动轮201、第二驱动轮203的偏转提供足够的空间，避免在偏转时与壳体100产生干涉。As shown in FIG. 6 , the driving assembly 200 can deflect within a preset range of deflection angles relative to the Y-axis direction, so as to change the traveling direction of the cleaning device. Therefore, the driving assembly 200 also includes a power element for deflecting the first driving wheel 201 and the second driving wheel 203 . At the positions where the first driving wheel 201 and the second driving wheel 203 are arranged in the housing 100, larger openings are provided to provide enough space for the deflection of the first driving wheel 201 and the second driving wheel 203, so as to avoid deflection. interfere with the housing 100 .
同时参考图6和图7，一实施例中，所述壳体100上还装配了清洁泵101和清水箱105，所述壳体100的底部设置喷射口103。清洁泵101的入水口与清水箱105连通，清洁泵101的出水口与喷射口103连通。喷射口103邻近履带式抹布300设置。可选的，喷射口103可为多个，且沿着平行于履带式抹布300的轴向方向等间隔均匀设置。清扫设备在清扫过程中，清洁泵101可从清水箱105中泵出清洁液并通过喷射口103向清扫面喷射清洁液，清扫面先被清洁液润湿、浸渍，而后再由履带式抹布300清扫，以提升履带式抹布300对清扫面的清扫效果。Referring to FIG. 6 and FIG. 7 at the same time, in one embodiment, a cleaning pump 101 and a fresh water tank 105 are installed on the housing 100 , and a spray port 103 is provided at the bottom of the housing 100 . The water inlet of the cleaning pump 101 communicates with the clean water tank 105 , and the water outlet of the cleaning pump 101 communicates with the injection port 103 . The injection port 103 is disposed adjacent to the tracked mop 300 . Optionally, there may be a plurality of injection ports 103 , and they are uniformly arranged at equal intervals along the axial direction parallel to the crawler-type mop 300 . During the cleaning process of the cleaning equipment, the cleaning pump 101 can pump the cleaning liquid from the clean water tank 105 and spray the cleaning liquid to the cleaning surface through the injection port 103. Cleaning, to improve the cleaning effect of the crawler-type rag 300 on the cleaning surface.
如图8所示，一实施例中，所述清扫设备还在壳体100上装配了污水箱107，同时朝向履带式抹布300设置刮条305。清扫设备在清扫过程中，配合清洁泵101喷射的清洁液，履带式抹布300将会混合清洁液与清扫面上的污 渍、残屑而形成污水。通过设置刮条305，可将附着在履带式抹布300上的污水刮刷分离至污水箱107而被收集暂存。污水箱107中的污水可被定期处理。可选的，污水箱107和清水箱105均可拆卸的安装在壳体100上，以方便对清洁液进行补充、对污水进行处理。As shown in FIG. 8 , in an embodiment, the cleaning device is further equipped with a sewage tank 107 on the casing 100 , and a scraper 305 is provided toward the crawler-type mop 300 . During the cleaning process of the cleaning equipment, with the cleaning liquid sprayed by the cleaning pump 101, the crawler-type rag 300 will mix the cleaning liquid with the dirt and debris on the cleaning surface to form sewage. By setting the scraper strip 305 , the sewage scraper attached to the crawler-type mop 300 can be separated to the sewage tank 107 to be collected and temporarily stored. The sewage in the sewage tank 107 can be treated periodically. Optionally, both the dirty water tank 107 and the fresh water tank 105 can be detachably installed on the housing 100, so as to facilitate replenishment of cleaning liquid and treatment of sewage.
进一步地，刮条305还被配置为可控的相对履带式抹布300伸缩设置。因此，当需要刮刷履带式抹布300时，则伸出刮条305以抵接并刮刷履带式抹布300，当不需要刮刷履带式抹布300时，则缩进刮条305以与履带式抹布300分离。Further, the scraping bar 305 is also configured to be controllable and stretchable relative to the crawler-type mop 300 . Therefore, when it is necessary to scrape the crawler-type rag 300, then stretch out the scraper 305 to abut and scrape the crawler-type rag 300, and when it is not necessary to scrape the crawler-type rag 300, then retract the scraper 305 to match the crawler-type rag 300. The rag 300 separates.
图9示出一实施例提供的清扫设备的结构框图，该清扫设备包括用于检测环境信息或自身运行信息的检测组件400，以及与驱动组件200、履带式抹布300和检测组件400均通信连接的控制组件500。Fig. 9 shows a structural block diagram of a cleaning device provided by an embodiment, the cleaning device includes a detection component 400 for detecting environmental information or its own operation information, and is connected to the drive component 200, the crawler-type mop 300 and the detection component 400 in communication The control assembly 500.
检测组件400可包括设置在壳体100合适位置处的红外传感器、惯性传感器(IMU)、角度传感器、光流传感器、摄像头、激光雷达、轮式里程计、视觉里程计、激光里程计中的一种或多种。检测组件400所检测的环境信息包括但不限于清扫设备与工作环境中标的物的距离、标的物的运动状态和标的物的形态三维数据等。环境信息可以呈现为静态的图片或动态的视频。检测组件400所检测的自身运行信息包括但不限于清扫设备的驱动组件200的转速、驱动组件200的偏转角、履带式抹布300的转速、履带式抹布300相对壳体100的升降状态、刮条305的伸缩状态等。检测组件400所获取的信息能够用于直接或间接表征清扫设备的行走是否正常。可以理解的，在正常行走时，清扫设备可较好的维持在清扫状态，以对清扫面进行连续、有效清扫。而若在异常行走时，或者即将异常行走，则可能会影响清扫设备的清扫状态的持续性和稳定性，以致不能达到预期的清扫效果。The detection component 400 may include one of an infrared sensor, an inertial sensor (IMU), an angle sensor, an optical flow sensor, a camera, a laser radar, a wheel odometer, a visual odometer, and a laser odometer, which are arranged at a suitable position of the housing 100. one or more species. The environmental information detected by the detection component 400 includes, but is not limited to, the distance between the cleaning device and the object in the working environment, the movement state of the object, and the three-dimensional data of the shape of the object. Environmental information can be presented as static pictures or dynamic videos. The self-running information detected by the detection assembly 400 includes, but is not limited to, the rotational speed of the drive assembly 200 of the cleaning device, the deflection angle of the drive assembly 200, the rotational speed of the crawler-type mop 300, the lifting state of the crawler-type mop 300 relative to the housing 100, the scraping bar 305 telescopic state, etc. The information acquired by the detection component 400 can be used to directly or indirectly characterize whether the cleaning device is running normally. It can be understood that during normal walking, the cleaning device can be maintained in a cleaning state, so as to continuously and effectively clean the cleaning surface. And if it is walking abnormally, or is about to walk abnormally, it may affect the continuity and stability of the cleaning state of the cleaning equipment, so that the expected cleaning effect cannot be achieved.
异常行走可以包括在下列情形下清扫设备的行走状态：清扫设备被障碍物阻碍、驱动组件200被卡住、驱动组件200悬空、驱动组件200打滑。其中清扫设备被障碍物阻碍又包括三种情形。第一种情形是障碍物对清扫设备的行走造成的影响基本可以忽略，清扫设备在正常行走时具备的越障能力即可越过该障碍物，在越障过程中可能对行走状态有略微影响而异于正常行走，但越障过后即可自行恢复正常行走状态，以维持正常的清扫状态。可以理解， 此种情形下，若改变清扫设备的驱动组件200、履带式抹布300的运动模式，使清扫设备具有比在正常行走时更优的越障能力，自然也能越过该障碍物。Abnormal walking may include the walking state of the cleaning device under the following circumstances: the cleaning device is blocked by obstacles, the driving assembly 200 is stuck, the driving assembly 200 is suspended, and the driving assembly 200 is slipping. Among them, the cleaning equipment is blocked by obstacles and includes three situations. The first situation is that the impact of the obstacle on the walking of the cleaning equipment can be basically ignored. The obstacle-surmounting ability of the cleaning equipment during normal walking can overcome the obstacle, and the walking state may be slightly affected during the obstacle-crossing process. It is different from normal walking, but after overcoming the obstacle, it can return to normal walking state by itself to maintain the normal cleaning state. It can be understood that, in this case, if the movement mode of the driving assembly 200 and the crawler mop 300 of the cleaning device is changed, the cleaning device has a better obstacle-surmounting ability than normal walking, and the obstacle can also be crossed naturally.
第二种情形是障碍物对清扫设备的行走造成的影响可控，需要通过改变清扫设备的驱动组件200、履带式抹布300的运动模式，使清扫设备具有比在正常行走时更优的越障能力，才可越过此障碍物，以最终达到恢复正常行走、维持正常的清扫状态。The second situation is that the impact of obstacles on the walking of the cleaning equipment is controllable, and it is necessary to change the movement patterns of the driving assembly 200 and the crawler-type mop 300 of the cleaning equipment so that the cleaning equipment has a better ability to overcome obstacles than normal walking. The ability to overcome this obstacle, so as to finally restore normal walking and maintain a normal cleaning state.
第三种情形是障碍物已经超越清扫设备的越障能力，最终导致清扫设备处于受困状态，除非选择避开或人工干预，否则清扫设备无法自主脱困。The third situation is that the obstacle has exceeded the ability of the cleaning equipment to overcome obstacles, and eventually the cleaning equipment is in a trapped state. Unless it chooses to avoid or manually intervene, the cleaning equipment cannot autonomously get out of trouble.
用障碍物高度来简化示意上述三种情形的话，则三种情形下障碍物高度分界阈值可用A0和A1来表示，其中A0小于A1。障碍物高度小于等于A0时，属于上述第一种情形。障碍物高度介于A0和A1之间时，属于上述第二种情形。障碍物高度大于等于A1时，属于上述第三种情形。If the obstacle heights are used to simplify the above three situations, the obstacle height thresholds in the three situations can be represented by A0 and A1, where A0 is smaller than A1. When the obstacle height is less than or equal to A0, it belongs to the first case above. When the obstacle height is between A0 and A1, it belongs to the second situation above. When the obstacle height is greater than or equal to A1, it belongs to the third situation above.
驱动组件200被卡住、驱动组件200悬空、驱动组件200打滑均是由于各种异常因素导致驱动组件200无法提供正常的驱动力，从而无法驱使清扫设备相对清扫面移动。例如，当障碍物中具有特定高度的缝隙，清扫设备不能通过该缝隙且被困在该缝隙中时，驱动组件200通常可能被卡死。再例如，当障碍物为具有一定深度和面积的凹陷时，清扫设备不能通过该凹陷且驱动组件200可能悬空在该凹陷内。再例如，清扫面上具有油渍等降低摩擦力的物质时，清扫设备可能因驱动组件200在油渍上打滑而无法正常行走。The driving assembly 200 is stuck, the driving assembly 200 is suspended, and the driving assembly 200 is slipping because various abnormal factors cause the driving assembly 200 to fail to provide normal driving force, thereby failing to drive the cleaning device to move relative to the cleaning surface. For example, the drive assembly 200 may typically become stuck when there is a gap in the obstacle of a certain height through which the cleaning device cannot pass and becomes trapped. For another example, when the obstacle is a depression with a certain depth and area, the cleaning device cannot pass through the depression and the driving assembly 200 may be suspended in the depression. For another example, when there are oil stains and other friction-reducing substances on the cleaning surface, the cleaning device may not be able to run normally because the driving assembly 200 slips on the oil stains.
控制组件500用于接收检测组件400提供的检测信息，进而按预设算法控制清扫设备的相关组件运行，例如控制驱动组件200、履带式抹布300按相应的运动模式进行运转。控制组件500可以包括处理器、存储器等。处理器可以包括一个或者多个处理核。处理器利用各种接口和线路连接清扫设备内的各个部件，通过运行或执行存储在存储器内的指令、程序、代码集或指令集，以及调用存储在存储器内的数据，执行清扫设备的各种功能和处理数据。可选地，处理器可以采用数字信号处理(Digital Signal Processing，DSP)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)、可编程逻辑阵列(Programmable Logic Array，PLA)中的至少一种硬件形式来实现。处理器可集成中央处理器(Central Processing Unit，CPU)、图像处理器(Graphics  Processing Unit，GPU)和调制解调器等中的一种或几种的组合。其中，中央处理器主要处理操作***、用户界面和应用程序等；图像处理器用于负责显示内容的渲染和绘制；调制解调器用于处理无线通信。可以理解的是，上述调制解调器也可以不集成到处理器中，单独通过一块通信芯片进行实现。The control component 500 is used to receive the detection information provided by the detection component 400, and then control the operation of related components of the cleaning device according to a preset algorithm, for example, control the driving component 200 and the crawler mop 300 to operate in a corresponding motion mode. Control component 500 may include a processor, memory, and the like. A processor may include one or more processing cores. The processor uses various interfaces and lines to connect various components in the cleaning device, and executes various functions of the cleaning device by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. functions and processing data. Optionally, the processor can use at least one of Digital Signal Processing (Digital Signal Processing, DSP), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA), and Programmable Logic Array (Programmable Logic Array, PLA). implemented in the form of hardware. The processor can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU) and a modem. Among them, the central processing unit mainly handles the operating system, user interface and application programs, etc.; the image processor is used to render and draw the displayed content; the modem is used to handle wireless communication. It can be understood that, the above-mentioned modem may not be integrated into the processor, but may be realized by a communication chip alone.
控制组件500可以整合设置在壳体100中。在另外的一些实施例里，控制组件500也可以设置在服务器端，由服务器端远程接收检测组件400提供的检测信息，并对检测信息进行处理以及做出相应的响应和执行。The control assembly 500 can be integrated in the casing 100 . In some other embodiments, the control component 500 can also be set at the server side, and the server side remotely receives the detection information provided by the detection component 400, processes the detection information and makes corresponding responses and executions.
以下再结合图10至图15对本申请提供的清扫设备控制方法作示例性说明。可以理解的是图10至图15中的清扫设备仅是结构的示例，并不代表对本申请提供的控制方法只能局限应用在具有这些构造的清扫设备中。The cleaning device control method provided by the present application will be exemplarily described below in conjunction with FIG. 10 to FIG. 15 . It can be understood that the cleaning devices shown in Fig. 10 to Fig. 15 are only examples of structures, and it does not mean that the control method provided in this application can only be limited to the cleaning devices with these structures.
如图10所示，当清扫设备处于正常行走的状态时，驱动组件200和履带式抹布300的转动方向相反。可以理解的是，驱动组件200和履带式抹布300分别由各自的动力件提供动力而产生转动。其中，位于清扫设备左上角的箭头表示清扫设备的运动方向，且定义该指向左方的方向为前向，即清扫设备相对清扫面前进。位于驱动组件200上的箭头表示驱动组件200的转动方向。位于履带式抹布300上的箭头表示履带式抹布300的转动方向。位于驱动组件200与清扫面之间的箭头F1表示清扫面给予驱动组件200的前向作用力。位于履带式抹布300与清扫面之间的箭头F2表示清扫面给予履带式抹布300的后向作用力。如无特殊说明，以下各附图中的箭头含义与上述的说明相同。可以理解的，此时清扫面给予驱动组件200的前向作用力F1大于清扫面给予履带式抹布300的后向作用力F2，也即驱动组件200和履带式抹布300提供给清扫面的作用力向量之和指向前向，因此清扫设备可相对清扫面前进。As shown in FIG. 10 , when the cleaning device is in a normal walking state, the rotation directions of the driving assembly 200 and the crawler mop 300 are opposite. It can be understood that the drive assembly 200 and the crawler mop 300 are powered by their respective power components to rotate. Wherein, the arrow located in the upper left corner of the cleaning device indicates the moving direction of the cleaning device, and the direction pointing to the left is defined as the forward direction, that is, the cleaning device moves forward relative to the cleaning surface. Arrows on the drive assembly 200 indicate the direction of rotation of the drive assembly 200 . Arrows located on the tracked mop 300 indicate the direction of rotation of the tracked mop 300 . The arrow F1 between the driving assembly 200 and the cleaning surface indicates the forward force exerted on the driving assembly 200 by the cleaning surface. The arrow F2 between the crawler-type mop 300 and the cleaning surface indicates the backward force exerted on the crawler-type mop 300 by the cleaning surface. Unless otherwise specified, the meanings of the arrows in the following figures are the same as those described above. It can be understood that at this time, the forward force F1 given to the drive assembly 200 by the cleaning surface is greater than the backward force F2 given to the crawler-type mop 300 by the cleaning surface, that is, the force provided by the drive assembly 200 and the crawler-type mop 300 to the cleaning surface The sum of the vectors points forward so that the cleaning device can advance relative to the cleaning surface.
相比于驱动组件200和履带式抹布300的同向转动，在两者反向运转状态下，履带式抹布300对清扫面的清洁能力更强。具体原因分析如下：驱动组件200带动清扫设备相对于清扫面以速度V1移动，履带式抹布300自身自主转动而与清扫面贴合的一侧相对于清扫面具有的移动速度为V0。由于履带式抹布300同时跟随清扫设备相对清扫面移动，故履带式抹布300与清扫面贴合的一侧相对于清扫面的移动速度为V0+V1。相比于驱动组件200和履带式抹布300的同向转动的情况，两者反向转动提高了履带式抹布300相对于清 扫面的转速，由此可使清洁效果更好。Compared with the driving assembly 200 and the crawler-type mop 300 rotating in the same direction, the crawler-type mop 300 has a stronger cleaning ability on the cleaning surface when the two are running in opposite directions. The specific reason is analyzed as follows: the driving assembly 200 drives the cleaning device to move relative to the cleaning surface at a speed of V1, and the crawler-type mop 300 rotates autonomously and the side that fits the cleaning surface has a moving speed of V0 relative to the cleaning surface. Since the crawler-type mop 300 moves relative to the cleaning surface following the cleaning equipment, the moving speed of the side of the crawler-type mop 300 attached to the cleaning surface relative to the cleaning surface is V0+V1. Compared with the situation that the driving assembly 200 and the crawler-type mop 300 rotate in the same direction, the reverse rotation of the two improves the speed of the crawler-type mop 300 relative to the cleaning surface, thereby making the cleaning effect better.
在具有两个履带式抹布300的实施例中，可使两个履带式抹布300的转动方向相反。如图11所示，前后两个履带式抹布300的转动方向相反，需要指出的是，两个履带式抹布300分别由各自的动力件提供动力而产生方向相反的自主转动。由此，清扫面给予位于后方的履带式抹布300一个后向作用力F2，给予位于前方的履带式抹布300一个前向作用力F3，清扫设备在前向作用力F1、后向作用力F2和前向作用力F3三个向量的合力作用下，相对清扫面前进。In embodiments having two tracked mops 300, the directions of rotation of the two tracked mops 300 may be reversed. As shown in FIG. 11 , the front and rear two crawler-type mop 300 rotate in opposite directions. It should be noted that the two crawler-type mop 300 are powered by their respective power components to produce independent rotation in opposite directions. Thus, the cleaning surface gives a rearward force F2 to the crawler-type mop 300 located at the rear, and a forward force F3 to the crawler-type mop 300 located in the front. Under the resultant force of the three vectors of the forward force F3, it advances relative to the cleaning surface.
清扫设备在以图10为示例的正常行走过程中，有可能因清扫面上的环境变化或清扫设备自身的一些状况而导致正常行走不能继续，这些导致不能继续正常行走的情形包含清扫设备被障碍物阻碍、驱动组件200被卡住、驱动组件200悬空、驱动组件200打滑等。当检测组件400检测到直接或间接表征清扫设备可能发生异常行走，或者已经处于异常行走的检测信息时，控制组件500接收检测信息并控制驱动组件200或履带式抹布300改变运动模式，以增大驱动组件200、履带式抹布300提供给清扫面的作用力向量。由于力的作用是相互的，清扫面提供给清扫设备的作用力向量也增大了。驱动组件200、履带式抹布300两者与清扫面之间的作用力向量增大后，可以使得清扫设备具有更大的越障能力，或者具有变化的行走策略，以使清扫设备自主的摆脱异常行走或避开将要产生异常行走的因素，为恢复或维持正常行走的状态提供便利，以期对清扫面产生预期的清扫效果。During the normal walking process of the cleaning equipment, taking Figure 10 as an example, it is possible that the normal walking cannot continue due to environmental changes on the cleaning surface or some conditions of the cleaning equipment itself. Obstacles, the drive assembly 200 is stuck, the drive assembly 200 is suspended, the drive assembly 200 slips, etc. When the detection assembly 400 detects the detection information that directly or indirectly indicates that the cleaning equipment may be abnormally walking, or has been in abnormal walking, the control assembly 500 receives the detection information and controls the driving assembly 200 or the crawler-type mop 300 to change the motion pattern to increase The force vector provided by the drive assembly 200 and the crawler mop 300 to the cleaning surface. Since the action of force is mutual, the force vector provided by the cleaning surface to the cleaning equipment is also increased. After the force vector between the driving assembly 200 and the crawler-type mop 300 and the cleaning surface is increased, the cleaning equipment can have a greater ability to overcome obstacles, or have a changed walking strategy, so that the cleaning equipment can autonomously get rid of abnormalities Walk or avoid the factors that will cause abnormal walking, and provide convenience for restoring or maintaining the normal walking state, so as to produce the expected cleaning effect on the cleaning surface.
改变驱动组件200或履带式抹布300的运动模式，以增大驱动组件200、履带式抹布300两者与清扫面之间的作用力向量的方式有多种，且可根据导致异常行走的情形不同，来确定合适的运动模式，以使清扫设备自主的摆脱异常行走或避开将要产生异常行走的因素。以下结合图12、图13、图14、图15分别说明。There are many ways to change the motion pattern of the drive assembly 200 or the crawler-type mop 300 to increase the force vector between the drive assembly 200, the crawler-type mop 300 and the cleaning surface, and it can be different according to the situation that causes abnormal walking , to determine an appropriate motion pattern, so that the cleaning device can autonomously get rid of abnormal walking or avoid factors that will cause abnormal walking. The following descriptions are made in conjunction with FIG. 12 , FIG. 13 , FIG. 14 , and FIG. 15 .
在一个实施例中，如图12中所示，令履带式抹布300停止自主转动，以增大驱动组件200、履带式抹布300两者与清扫面之间的作用力向量。由于履带式抹布300停止转动后，清扫面给予履带式抹布300的后向作用力F2消失，因此驱动组件200、履带式抹布300两者与清扫面之间的作用力向量为前向作 用力F1，此前向作用力F1相较于图10所示的运行模式中前向作用力F1和后向作用力F2的合力而言变大。当检测组件400检测清扫设备的行进路径上有障碍物，且属于上文中提到的被障碍物阻碍的第一种和第二种情形时，可令履带式抹布300停止自主转动，以越过该障碍物，当障碍物消失后，可恢复至正常行走状态，再次让驱动组件200和履带式抹布300的转动方向相反。In one embodiment, as shown in FIG. 12 , the automatic rotation of the tracked mop 300 is stopped to increase the force vector between the drive assembly 200 , the tracked mop 300 , and the cleaning surface. Since the crawler-type mop 300 stops rotating, the rearward force F2 given to the crawler-type mop 300 by the cleaning surface disappears, so the force vector between the drive assembly 200, the crawler-type mop 300 and the cleaning surface is the forward force F1 , the forward force F1 is larger than the resultant force of the forward force F1 and the rearward force F2 in the operation mode shown in FIG. 10 . When the detection component 400 detects that there is an obstacle on the path of the cleaning equipment, and it belongs to the first and second situations mentioned above being hindered by an obstacle, it can stop the crawler-type mop 300 from rotating autonomously to overcome the obstacle. Obstacles, when the obstacles disappear, can return to the normal walking state, and the rotation directions of the drive assembly 200 and the crawler-type mop 300 are reversed again.
需要说明的是，履带式抹布300停止自主转动意味着履带式抹布300中的第一动力件303停止输出动力。履带式抹布300是否仍然相对清扫面转动，则由清扫面与履带式抹布300之间的作用力合力大小决定，此作用力至少包含了清扫面与履带式抹布300之间的静摩擦力和履带式抹布300的制动力。例如履带式抹布300若采用了制动模式，则履带式抹布300本身具有抑制转动的制动力，履带式抹布300不发生转动，而是随着清扫设备继续前进相对清扫面产生平移。当履带式抹布300本身未制动时，若清扫面与履带式抹布300之间的静摩擦力不够大，履带式抹布300也会停止转动，而随着清扫设备继续前进相对清扫面产生平移；若清扫面与履带式抹布300之间的静摩擦力足够大，则在清扫设备继续前进的同时而被动的跟随驱动组件200同向转动。但只要履带式抹布300停止自主转动，无论是履带式抹布300相对清扫面平移，还是履带式抹布300被动跟随驱动组件200同向转动，都比驱动组件200、履带式抹布300反向转动时与清扫面之间的作用力向量要大。It should be noted that the stop of autonomous rotation of the crawler-type mop 300 means that the first power member 303 in the crawler-type mop 300 stops outputting power. Whether the crawler-type rag 300 still rotates relative to the cleaning surface is determined by the resultant force between the cleaning surface and the crawler-type rag 300. This force at least includes the static friction force and the crawler-type rag 300 between the cleaning surface and the crawler-type rag 300. Rag 300 braking power. For example, if the crawler-type mop 300 adopts the braking mode, the crawler-type mop 300 itself has a braking force to restrain rotation, and the crawler-type mop 300 does not rotate, but moves in translation relative to the cleaning surface as the cleaning equipment continues to move forward. When the crawler-type rag 300 itself is not braked, if the static friction between the cleaning surface and the crawler-type rag 300 is not large enough, the crawler-type rag 300 will also stop rotating, and the relative cleaning surface will move as the cleaning equipment continues to move forward; if The static friction force between the cleaning surface and the crawler-type mop 300 is large enough, and the cleaning device will passively follow the driving assembly 200 to rotate in the same direction while continuing to move forward. However, as long as the crawler-type rag 300 stops rotating autonomously, no matter whether the crawler-type rag 300 translates relative to the cleaning surface, or the crawler-type rag 300 passively follows the drive assembly 200 to rotate in the same direction, it will be different than when the drive assembly 200 and the crawler-type rag 300 rotate in the opposite direction. The force vector between the cleaning surfaces should be large.
在一个实施例中，如图13中所示，还可抬升履带式抹布300以与清扫面分离，以增大驱动组件200、履带式抹布300两者与清扫面之间的作用力向量。由于履带式抹布300与清扫面分离后，清扫面给予履带式抹布300的后向作用力F2消失，因此驱动组件200、履带式抹布300两者与清扫面之间的作用力向量为前向作用力F1，此前向作用力F1相较于图10所示的运行模式中前向作用力F1和后向作用力F2的合力而言变大。此种情形下，履带式抹布300是否仍然自主转动，可以根据其他因素灵活确定。In one embodiment, as shown in FIG. 13 , the tracked mop 300 can also be lifted away from the cleaning surface to increase the force vector between both the drive assembly 200 , the tracked mop 300 and the cleaning surface. Since the crawler-type rag 300 is separated from the cleaning surface, the backward force F2 given to the crawler-type rag 300 by the cleaning surface disappears, so the force vector between the drive assembly 200, the crawler-type rag 300 and the cleaning surface is forward acting. The force F1, the forward force F1 is greater than the resultant force of the forward force F1 and the rearward force F2 in the operation mode shown in FIG. 10 . In this case, whether the crawler-type mop 300 still rotates autonomously can be flexibly determined according to other factors.
当检测组件400检测清扫设备的行进路径上有障碍物，且属于上文中提到的被障碍物阻碍的第一种和第二种情形时，可令履带式抹布300抬升以与清扫面分离，以越过该障碍物，当障碍物消失后，可恢复至正常行走状态，再次让履带式抹布300与清扫面接触。When the detection component 400 detects that there is an obstacle on the path of the cleaning equipment, and it belongs to the first and second situations mentioned above being hindered by the obstacle, the crawler-type mop 300 can be lifted to separate from the cleaning surface, To get over the obstacle, when the obstacle disappears, it can return to the normal walking state, and let the crawler-type mop 300 contact the cleaning surface again.
在一个实施例中，如图14中所示，还可使驱动组件200的转动方向与履带式抹布300的转动方向相同，来增大驱动组件200、履带式抹布300两者与清扫面之间的作用力向量。与图10所示的运行模式中相比，在图14中是通过改变履带式抹布300的转动方向，以使驱动组件200的转动方向与履带式抹布300的转动方向相同。履带式抹布300的转动方向变向后，清扫面给予履带式抹布300的后向作用力F2变成前向作用力F2，因此驱动组件200、履带式抹布300两者与清扫面之间的作用力向量为前向作用力F1和前向作用力F2之和，与图10中的运行模式相比而言此作用力向量变大。In one embodiment, as shown in FIG. 14 , the rotation direction of the drive assembly 200 can also be made to be the same as that of the crawler-type mop 300 to increase the distance between the drive assembly 200, the crawler-type mop 300 and the cleaning surface. force vector of . Compared with the operation mode shown in FIG. 10 , in FIG. 14 the rotation direction of the crawler mop 300 is changed so that the rotation direction of the driving assembly 200 is the same as that of the crawler mop 300 . After the rotation direction of the crawler-type mop 300 is changed, the backward force F2 given to the crawler-type mop 300 by the cleaning surface becomes the forward force F2, so the interaction between the drive assembly 200, the crawler-type mop 300 and the cleaning surface The force vector is the sum of the forward force F1 and the forward force F2, which becomes larger compared to the operating mode in FIG. 10 .
当检测组件400检测清扫设备的行进路径上有障碍物，且属于上文中提到的被障碍物阻碍的第一种和第二种情形时，或检测到驱动组件200即将或已经被卡住、驱动组件200即将或已经悬空、驱动组件200即将或已经打滑时，可令履带式抹布300转变转动方向以与驱动组件200的转动方向相同，使清扫设备摆脱或避免异常行走。When the detection component 400 detects that there is an obstacle on the travel path of the cleaning device, and it belongs to the above-mentioned first and second situations of being blocked by an obstacle, or it detects that the driving component 200 is about to or has been stuck, When the driving assembly 200 is about to or has been in the air, or when the driving assembly 200 is about to or has slipped, the crawler-type mop 300 can be changed to rotate in the same direction as the driving assembly 200, so that the cleaning equipment can get rid of or avoid abnormal walking.
在一个实施例中，如图15中所示，与图10中的运行模式相比，还可通过改变驱动组件200的转动方向，以使驱动组件200的转动方向与履带式抹布300的转动方向相同。驱动组件200的转动方向变向后，清扫面给予驱动组件200的前向作用力F1变成后向作用力F1，因此驱动组件200、履带式抹布300两者与清扫面之间的作用力向量为后向作用力F1和后向作用力F2之和，与图10中的运行模式相比而言此作用力向量变大，而且方向相反，因此可使清扫设备相对清扫面后退。In one embodiment, as shown in FIG. 15, compared with the operating mode in FIG. same. After the rotation direction of the driving assembly 200 is changed, the forward force F1 given to the driving assembly 200 by the cleaning surface becomes a backward force F1, so the force vector between the driving assembly 200, the crawler-type mop 300 and the cleaning surface It is the sum of the backward acting force F1 and the backward acting force F2. Compared with the operation mode in FIG. 10 , the acting force vector becomes larger, and the direction is opposite, so the cleaning device can be moved back relative to the cleaning surface.
当检测组件400检测清扫设备的行进路径上有障碍物，且属于上文中提到的被障碍物阻碍的第三种情形时，或检测到驱动组件200即将或已经被卡住、驱动组件200即将或已经悬空、驱动组件200即将或已经打滑时，可令驱动组件200转变转向以与履带式抹布300的转动方向相同，使清扫设备摆脱或避免异常行走。When the detection component 400 detects that there is an obstacle on the travel path of the cleaning device, and it belongs to the third situation mentioned above that is blocked by an obstacle, or it detects that the drive component 200 is about to or has been stuck, the drive component 200 is about to Or when the driving assembly 200 is about to slip or has slipped, the driving assembly 200 can be turned to the same rotation direction as the crawler-type mop 300, so that the cleaning equipment can get rid of or avoid abnormal walking.
在一些实施例中，当检测组件400检测到表征清扫设备可能发生异常行走，或者已经处于异常行走的检测信息时，且驱动组件200在预设范围内发生偏转时，还可通过减小该偏转角来增大驱动组件200和履带式抹布300两者与清扫面之间的作用力向量。因偏转角减小后，沿着平行于清扫设备壳体 100的前后方向上的分力将变大，因而可增加驱动组件200和履带式抹布300两者与清扫面之间的作用力向量，以使清扫设备前进或后退。可以理解的，该种通过改变偏转角来改变驱动组件200的运动模式的方式，可按需要结合至上述其他的改变驱动组件200或履带式抹布300的运动模式的方式中一起进行。In some embodiments, when the detection component 400 detects detection information indicating that the cleaning device may be moving abnormally, or is already in abnormal walking, and the driving component 200 deflects within a preset range, the deflection can also be reduced Angle to increase the force vector between both the drive assembly 200 and the crawler mop 300 and the cleaning surface. After the deflection angle is reduced, the component force along the front-back direction parallel to the cleaning device housing 100 will become larger, thereby increasing the force vector between the drive assembly 200 and the crawler-type mop 300 and the cleaning surface, to move the cleaning device forward or backward. It can be understood that the way of changing the movement mode of the drive assembly 200 by changing the deflection angle can be combined with other above-mentioned ways of changing the movement mode of the drive assembly 200 or the crawler-type mopping cloth 300 as required.
上述各个运动模式中，驱动组件200和履带式抹布300两者与清扫面之间的作用力向量是不同的。例如，图12示出的运动模式中，作用力向量小于图14示出的运动模式中的作用力向量。因此在一些实施例中，还可以根据障碍物高度来预设不同的异常等级，不同的异常等级需要清扫设备具备不同的越障能力。根据相应的异常等级，匹配相应的驱动组件200或履带式抹布300的运动模式的改变方式，来调整清扫设备与清扫面之间的作用力向量大小，以具备不同的越障能力。In each of the above motion modes, the force vectors between the driving assembly 200 and the crawler mop 300 and the cleaning surface are different. For example, in the motion pattern shown in FIG. 12 , the force vector is smaller than in the motion pattern shown in FIG. 14 . Therefore, in some embodiments, different abnormality levels can also be preset according to the obstacle height, and different abnormality levels require the cleaning equipment to have different obstacle-surmounting capabilities. According to the corresponding abnormal level, the force vector between the cleaning device and the cleaning surface is adjusted by matching the corresponding change of the motion mode of the driving assembly 200 or the crawler-type mop 300, so as to have different obstacle-surmounting capabilities.
例如，根据障碍物高度预设第一异常等级及第二异常等级，其中第一异常等级下的障碍物高度低于第二异常等级下的障碍物高度。当检测所述清扫设备将要处于第一异常等级时，改变所述驱动组件或履带式抹布的运动模式以向清扫面提供第一作用力向量，例如图12所示运动模式的作用力向量。当检测所述清扫设备将要处于第二异常等级时，改变所述驱动组件或履带式抹布的运动模式以向清扫面提供第二作用力向量，例如图14所示运动模式的作用力向量。For example, the first abnormal level and the second abnormal level are preset according to the obstacle height, wherein the obstacle height under the first abnormal level is lower than the obstacle height under the second abnormal level. When it is detected that the cleaning device is about to be at the first abnormal level, the motion pattern of the drive assembly or the crawler mop is changed to provide a first force vector to the cleaning surface, such as the force vector of the motion pattern shown in FIG. 12 . When it is detected that the cleaning device is about to be at the second abnormal level, the motion pattern of the driving assembly or the crawler mop is changed to provide a second force vector to the cleaning surface, such as the force vector of the motion pattern shown in FIG. 14 .
在具有刮条305和清洁泵101的实施例中，在正常行走时，清洁泵101通过喷射口103向清扫面喷射清洁液，清扫面先被清洁液润湿、浸渍，而后再由履带式抹布300清扫。履带式抹布300混合清洁液与清扫面上的污渍、残屑而形成污水。刮条305将附着在履带式抹布300上的污水刮刷分离至污水箱107而被收集暂存。履带式抹布300需要在特定转向时，例如图10示出的运动模式时，刮条305才能将履带式抹布300上的污水刮刷分离至污水箱107。当履带式抹布300改变转向时，例如图14示出的运动模式时，履带式抹布300上的污水将被刮条305刮下而留在清扫面上，如此会影响清洁效果。为避免产生的污水留在清扫面上，可关闭清洁泵101，停止向清扫面喷射清洁液。需要指出的是，在其他的运动模式下，若刮条305不会将履带式抹布300 上的污水刮到清扫面上，则可不用关闭清洁泵101。例如图12示出的运动模式中若履带式抹布300不发生转动，刮条305不会将履带式抹布300上的污水刮到清扫面上，可不关闭清洁泵101。再例如图15示出的运动模式中，履带式抹布300因转向未发生变化，也不需要关闭清洁泵101。In the embodiment with the scraper 305 and the cleaning pump 101, when walking normally, the cleaning pump 101 sprays the cleaning liquid to the cleaning surface through the injection port 103, and the cleaning surface is first wetted and soaked by the cleaning liquid, and then the crawler-type rag 300 for sweeping. The crawler-type rag 300 mixes the cleaning liquid with the dirt and debris on the cleaning surface to form sewage. The scraper 305 separates the sewage scraper attached to the crawler-type mop 300 to the sewage tank 107 to be collected and temporarily stored. The crawler-type mop 300 needs to turn around in a specific direction, such as the movement mode shown in FIG. 10 , so that the scraper 305 can separate the sewage on the crawler-type mop 300 to the sewage tank 107 . When the crawler-type mop 300 changes direction, such as the movement mode shown in FIG. 14 , the sewage on the crawler-type mop 300 will be scraped off by the scraper bar 305 and remain on the cleaning surface, which will affect the cleaning effect. For avoiding that the generated sewage stays on the cleaning surface, the cleaning pump 101 can be turned off to stop spraying cleaning liquid to the cleaning surface. It should be pointed out that, in other motion modes, if the scraper 305 does not scrape the sewage on the crawler-type mop 300 onto the cleaning surface, the cleaning pump 101 does not need to be turned off. For example, if the crawler-type mop 300 does not rotate in the movement mode shown in FIG. 12 , the scraper 305 will not scrape the sewage on the crawler-type mop 300 onto the cleaning surface, and the cleaning pump 101 may not be turned off. For another example, in the motion mode shown in FIG. 15 , the track-type mop 300 does not change due to the steering, and the cleaning pump 101 does not need to be turned off.
此外，在刮条305设置为相对履带式抹布300可伸缩的实施例中，当改变履带式抹布300的运动模式时，为防止履带式抹布300上的污水将被刮条305刮下而留在清扫面上，也可控制刮条305缩进而与履带式抹布300分离。举例而言，在如图10示出的运动模式中，可控制刮条305伸出用于刮刷履带式抹布300上的污水。而在如图14示出的运动模式中，可控制刮条305缩进而与履带式抹布300分离。In addition, in the embodiment where the scraper 305 is set to be retractable relative to the crawler-type mop 300, when changing the movement mode of the crawler-type mop 300, in order to prevent the sewage on the crawler-type mop 300 from being scraped off by the scraper 305 and remaining On the cleaning surface, the scraping bar 305 can also be controlled to retract and separate from the crawler-type mop 300 . For example, in the movement mode shown in FIG. 10 , the scraping bar 305 can be controlled to extend to scrape the dirty water on the caterpillar mop 300 . And in the movement mode as shown in FIG. 14 , the scraper bar 305 can be controlled to retract and separate from the tracked mop 300 .

Claims (14)

  1. 一种清扫设备控制方法，所述清扫设备包括驱动组件和履带式抹布，所述驱动组件用于使清扫设备在清扫面上移动，所述履带式抹布用于对所述清扫面进行清扫，其特征在于，所述方法包括为所述驱动组件和履带式抹布提供独立的动力件，且在正常行走时，使相应的所述动力件带动所述驱动组件和履带式抹布的转动方向相反，以提升清扫效率。A cleaning device control method, the cleaning device includes a driving assembly and a crawler-type mop, the driving assembly is used to move the cleaning device on a cleaning surface, and the crawler-type mop is used to clean the cleaning surface, which It is characterized in that the method includes providing independent power parts for the drive assembly and the crawler-type mop, and during normal walking, making the corresponding power part drive the rotation direction of the drive assembly and the crawler-type mop in the opposite direction, so as to Improve cleaning efficiency.
  2. 根据权利要求1所述的方法，其特征在于，当检测所述清扫设备即将异常行走或正在异常行走时，改变所述驱动组件或履带式抹布的运动模式以增大所述驱动组件和履带式抹布提供给清扫面的作用力向量。The method according to claim 1, characterized in that, when it is detected that the sweeping equipment is going to or is running abnormally, changing the movement mode of the driving assembly or the crawler mop to increase the driving assembly and the crawler mop. The force vector that the rag provides to the cleaning surface.
  3. 根据权利要求2所述的方法，其特征在于，所述清扫设备即将异常行走或正在异常行走包括被障碍物阻碍、所述驱动组件被卡住、所述驱动组件悬空、所述驱动组件打滑中的任意一种。The method according to claim 2, characterized in that, the cleaning equipment is about to walk abnormally or is walking abnormally, including being blocked by obstacles, the drive assembly is stuck, the drive assembly is suspended, and the drive assembly is slipping any of the
  4. 根据权利要求3所述的方法，其特征在于，根据障碍物高度预设第一异常等级及第二异常等级，其中第一异常等级下的障碍物高度低于第二异常等级下的障碍物高度，当检测所述清扫设备将要处于第一异常等级时，改变所述驱动组件或履带式抹布的运动模式以向清扫面提供第一作用力向量，当检测所述清扫设备将要处于第二异常等级时，改变所述驱动组件或履带式抹布的运动模式以向清扫面提供第二作用力向量，其中第一作用力向量小于第二作用力向量。The method according to claim 3, wherein the first abnormal level and the second abnormal level are preset according to the obstacle height, wherein the obstacle height under the first abnormal level is lower than the obstacle height under the second abnormal level , when it is detected that the cleaning device is about to be at the first abnormal level, changing the motion mode of the drive assembly or the crawler mop to provide the first force vector to the cleaning surface, and when it is detected that the cleaning device is about to be at the second abnormal level , change the motion pattern of the drive assembly or the crawler mop to provide a second force vector to the cleaning surface, wherein the first force vector is smaller than the second force vector.
  5. 根据权利要求2所述的方法，其特征在于，当检测所述清扫设备即将异常行走或正在异常行走时，所述履带式抹布停止自主转动。The method according to claim 2, characterized in that, when it is detected that the cleaning equipment is about to run abnormally or is running abnormally, the crawler-type mop stops autonomous rotation.
  6. 根据权利要求2所述的方法，其特征在于，当检测所述清扫设备即将异常行走或正在异常行走时，使所述驱动组件的转动方向与所述履带式抹布的转动方向相同。The method according to claim 2, characterized in that, when it is detected that the cleaning device is going to or is running abnormally, the rotation direction of the driving assembly is the same as that of the crawler-type mop.
  7. 根据权利要求2所述的方法，其特征在于，所述履带式抹布为可升降设置，当检测所述清扫设备即将异常行走或正在异常行走时，抬升所述履带式抹布以与所述清扫面分离。The method according to claim 2, wherein the crawler-type mop is liftable, and when it is detected that the cleaning equipment is about to or is running abnormally, the crawler-type mop is lifted to be in contact with the cleaning surface. separate.
  8. 根据权利要求2所述的方法，其特征在于，所述清扫设备还包括相对履带式抹布伸缩设置的刮条，在正常行走时，所述刮条伸出用于刮刷所述履带式抹布，当检测所述清扫设备即将异常行走或正在异常行走时，所述刮条缩进而与所述履带式抹布分离。The method according to claim 2, characterized in that, the cleaning equipment further comprises a scraper that is telescopically arranged relative to the crawler-type rag, and during normal walking, the scraper is extended to scrape the crawler-type rag, When it is detected that the cleaning device is going to or is running abnormally, the scraper is retracted to separate from the crawler-type mop.
  9. 根据权利要求2所述的方法，其特征在于，所述清扫设备还包括壳体及清洁泵，所述履带式抹布及清洁泵均安装于所述壳体，所述壳体上设置与清洁泵相连通的喷射口，在正常行走时，开启所述清洁泵以通过所述喷射口向所述清扫面喷射清洁液，当检测所述清扫设备即将异常行走或正在异常行走时，关闭所述清洁泵。The method according to claim 2, wherein the cleaning equipment further comprises a housing and a cleaning pump, the crawler-type rag and the cleaning pump are both mounted on the housing, and the housing is provided with a cleaning pump connected to the spray port, when running normally, the cleaning pump is turned on to spray cleaning liquid to the cleaning surface through the spray port, and when it is detected that the cleaning equipment is about to walk abnormally or is walking abnormally, the cleaning pump is turned off Pump.
  10. 根据权利要求2所述的方法，其特征在于，所述驱动组件能够在预设范围的偏转角内偏转，当检测所述清扫设备即将异常行走或正在异常行走时，相较于在正常行走时减小所述偏转角以增大所述驱动组件和履带式抹布提供给清扫面的作用力向量。The method according to claim 2, wherein the driving assembly can deflect within a preset range of deflection angles, when it is detected that the cleaning device is about to walk abnormally or is walking abnormally, compared with normal walking The deflection angle is reduced to increase the force vector provided by the driving assembly and the crawler mop to the cleaning surface.
  11. 一种清扫设备控制方法，所述清扫设备包括动力件、第一履带式抹布和第二履带式抹布，其特征在于，所述动力件带动所述第一履带式抹布和第二履带式抹布朝着相反的方向转动以对所述清扫面进行清扫。A control method for cleaning equipment, the cleaning equipment includes a power element, a first crawler-type mop and a second crawler-type mop, wherein the power element drives the first crawler-type mop and the second crawler-type mop toward Rotate in the opposite direction to clean the cleaning surface.
  12. 根据权利要求11所述的方法，其特征在于，所述动力件包括第一动力件和第二动力件，所述第一动力件驱动第一履带式抹布正向转动，所述第二动力件驱动第二履带式抹布反向转动，以提升清扫效率。The method according to claim 11, wherein the power element comprises a first power element and a second power element, the first power element drives the first crawler-type rag to rotate forward, and the second power element Drive the second crawler-type mop to rotate in reverse to improve cleaning efficiency.
  13. 一种清扫设备，其特征在于包括检测组件、驱动组件以及履带式抹布，所述检测组件用于提供确定驱动组件以及履带式抹布的运动模式的检测信息进而实施权利要求1至12任一所述的清扫设备控制方法。A cleaning device, characterized in that it includes a detection assembly, a drive assembly and a crawler-type mop, the detection assembly is used to provide detection information for determining the movement mode of the drive assembly and the crawler-type mop, and then implement any one of claims 1 to 12 Cleaning equipment control method.
  14. 根据权利要求13所述的设备，其特征在于，还包括控制组件，所述控制组件用于接收检测组件提供的检测信息进而控制驱动组件以及履带式抹布的运动模式。The device according to claim 13, further comprising a control component, the control component is used to receive the detection information provided by the detection component and then control the driving component and the movement mode of the crawler-type mop.
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