Multi-media intelligent cleaning robot and control method thereof

Abstract

The present invention provides a multi-media intelligent cleaning robot and a control method thereof. The multi-media intelligent cleaning robot comprises an adsorption module adsorbed on a working surface, a cleaning module, a walking module and a control module. The multi-media intelligent cleaning robot has a working mode and a power-saving mode. In the power-saving mode, an adsorption pressure P1 of the adsorption module on the working surface is less than an adsorption pressure P2 of the adsorption module on the working surface in the working mode. In a non-working state, the multi-media intelligent cleaning robot is adsorbed on the working surface with a smaller adsorption pressure, thereby achieving the effect of increasing the life of a fan and the multi-media intelligent cleaning robot, saving electricity, and making the multi-media intelligent cleaning robot more durable and more humane.

Description

Technical Field

[0001] The invention relates to a robot, and in particular to a multi-medium intelligent cleaning robot which can work on various medium surfaces and save electricity, and a control method thereof. Background Art

[0002] When the existing cleaning robots are working, they are mostly adsorbed on the working surface by suction cups. Specifically, the fan rotates to provide negative pressure to the suction cups so that they are adsorbed on the working surface, and then the cleaning module is used for cleaning. If the cleaning robot is always adsorbed on the working surface with the same adsorption pressure regardless of whether it is working or not, it will inevitably cause the fan to have a short life and be easy to wear, which will indirectly affect the life of the machine and cause energy waste to a certain extent. In addition, the existing cleaning robots are all adsorbed on different media surfaces with the same adsorption pressure, which also causes energy waste to a certain extent and reduces the life of the fan and the cleaning robot to a certain extent.

[0003] In view of this, it is necessary to provide an improved multi-media intelligent cleaning robot and a control method thereof to solve the above problems. Summary of the invention

[0004] The object of the present invention is to provide a multi-media intelligent cleaning robot which can work on various media surfaces and save electricity, and a control method thereof.

[0005] To achieve the above-mentioned objectives, the present invention provides a multi-media intelligent cleaning robot, comprising an adsorption module adsorbed on a working surface, a cleaning module, a walking module and a control module, the multi-media intelligent cleaning robot having a working mode and a power saving mode, wherein in the power saving mode, the adsorption pressure P1 of the adsorption module on the working surface is less than the adsorption pressure P2 of the adsorption module on the working surface in the working mode.

[0006] As a further improvement of the present invention, the multimedia intelligent cleaning robot also includes a roughness detection component for detecting the roughness of the working surface, a first sensor for detecting the inclination angle of the working surface, and a second sensor for detecting the weight of the multimedia intelligent cleaning robot itself. The roughness detection component, the first sensor and the second sensor are all communicatively connected to the control module.

[0007] As a further improvement of the present invention, the first sensor is a gyroscope sensor, a geomagnetic sensor, or an acceleration sensor.

[0008] As a further improvement of the present invention, the second sensor is a gravity sensor or a pressure sensor.

[0009] As a further improvement of the present invention, the roughness detection component includes at least one of an ammeter and a tachometer.

[0010] As a further improvement of the present invention, the ammeter is used to detect the working current of the multimedia intelligent cleaning robot, and the speed meter is used to detect the walking speed of the multimedia intelligent cleaning robot.

[0011] In order to achieve the above-mentioned invention object, the present invention also provides a control method for a multi-media intelligent cleaning robot, comprising the following steps: a control module adjusts the adsorption pressure of the adsorption module according to the working state of the multi-media intelligent cleaning robot, when the multi-media intelligent cleaning robot is in power saving mode, the adsorption pressure of the adsorption module on the working surface is P1, when the multi-media intelligent cleaning robot is in working mode, the adsorption pressure of the adsorption module on the working surface is P2, and P1 is less than P2.

[0012] As a further improvement of the present invention, P1≥40%P2.

[0013] As a further improvement of the present invention, the multi-media intelligent cleaning robot also includes a roughness detection component for detecting the roughness of the working surface, a first sensor for detecting the inclination angle of the working surface, and a second sensor for detecting the weight of the multi-media intelligent cleaning robot itself; the control method also includes the following steps: the roughness detection component detects the roughness of the working surface and transmits the roughness value to the control module, the first sensor detects the inclination angle of the working surface and transmits the inclination angle to the control module, the second sensor detects the weight of the multi-media intelligent cleaning robot and transmits the weight to the control module, and the control module calculates the minimum adsorption pressure P3 of the multi-media intelligent cleaning robot adsorbed on the working surface based on the roughness, inclination angle and weight.

[0014] As a further improvement of the present invention, the roughness detection component includes at least one of an ammeter and a speedometer. The control module calculates the friction coefficient of the working surface based on at least one variable of the working current and the walking speed of the multi-media intelligent cleaning robot. The control module determines the minimum adsorption pressure P3 of the multi-media intelligent cleaning robot adsorbed on the working surface based on the friction coefficient, the inclination angle and the weight, and P2 is not less than P3.

[0015] As a further improvement of the present invention, the control method also includes the following steps: when the multi-media intelligent cleaning robot moves on the working surface, the control module records the minimum adsorption pressure required by the multi-media intelligent cleaning robot at any position on the working surface; when the multi-media intelligent cleaning robot is switched from the working mode to the power saving mode, the walking module moves to the position on the working surface where the minimum adsorption pressure required is the smallest, and P2 gradually decreases to P1 during the movement.

[0016] As a further improvement of the present invention, when the multi-media intelligent cleaning robot is switched from the working mode to the power saving mode, the walking module stops moving and P2 gradually decreases to P1.

[0017] As a further improvement of the present invention, when the multi-media intelligent cleaning robot is switched from the working mode to the power saving mode, the walking module moves to the original position, and P2 gradually decreases to P1 during the movement.

[0018] As a further improvement of the present invention, the control method also includes the following steps: when the multi-media intelligent cleaning robot is in working mode, the walking module drives the multi-media intelligent cleaning robot to move on the working surface according to the planned path. When encountering an emergency situation that hinders the work of the cleaning robot, the control module controls the walking module to stop moving and issues an alarm. After the alarm ends, it is determined whether the multi-media intelligent cleaning robot is removed from the working surface. If so, the work is ended; if not, the multi-media intelligent cleaning robot is converted from working mode to power saving mode.

[0019] As a further improvement of the present invention, the control method also includes the following steps: when the multi-media intelligent cleaning robot is in working mode, the walking module drives the multi-media intelligent cleaning robot to move on the working surface according to the planned path; after cleaning is completed, the control module sends a completion signal and determines whether the multi-media intelligent cleaning robot is removed from the working surface after a predetermined time t. If so, the work is completed; if not, the multi-media intelligent cleaning robot is controlled to switch from working mode to power saving mode.

[0020] As a further improvement of the present invention, when the multi-media intelligent cleaning robot is switched from the working mode to the power saving mode, the walking module moves to the original position, and P2 gradually decreases to P1 during the movement.

[0021] The beneficial effect of the present invention is that when the multi-media intelligent cleaning robot is in power saving mode, the adsorption pressure P1 of the adsorption module on the working surface is lower than the adsorption pressure P2 of the adsorption module on the working surface in working mode. When in non-working state, the robot is adsorbed on the working surface with a smaller adsorption pressure, thereby increasing the life of the fan and the multi-media intelligent cleaning robot, saving electricity, and making the multi-media intelligent cleaning robot more durable and more humane. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the framework structure of the multi-media intelligent cleaning robot of the present invention;

[0023] Figure 2 A control flow chart of the multimedia intelligent cleaning robot of the present invention in a preferred embodiment;

[0024] Figure 3 This is a control flow chart of the multimedia intelligent cleaning robot of the present invention in another preferred embodiment. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below in conjunction with specific embodiments.

[0026] See also Figure 1 As shown, the multimedia intelligent cleaning robot of the present invention includes an adsorption module adsorbed on a working surface, a cleaning module for cleaning the working surface, a walking module and a control module for driving the multimedia intelligent cleaning robot to move on the working surface according to a planned path, and the adsorption module, the cleaning module and the walking module are all communicatively connected with the control module.

[0027] The adsorption module includes a suction cup for adsorbing on the working surface and a fan for providing negative pressure to the suction cup. The rotation of the fan provides negative pressure to the suction cup so that the multi-media intelligent cleaning robot is adsorbed on the working surface. The adsorption force is usually expressed by the adsorption pressure of the suction cup.

[0028] The multi-media intelligent cleaning robot has a working mode when the cleaning module cleans the working surface, and a power saving mode when the cleaning module is not working and the multi-media intelligent cleaning robot is stationary on the working surface. The adsorption pressure of the adsorption module on the working surface is adjustable, and the adsorption pressure P1 of the adsorption module on the working surface in the power saving mode is less than the adsorption pressure P2 of the adsorption module on the working surface in the working mode.

[0029] The multi-media intelligent cleaning robot can work on working surfaces of different media such as glass, walls, solar panels, etc. Due to the different friction coefficients of various working surfaces, the multi-media intelligent cleaning robot requires different adsorption pressures P1 and P2 on their surfaces. For example: on a relatively smooth glass window surface, the adsorption pressure P1 in the working mode is 3.0KPa, and the adsorption pressure P2 in the power saving mode is 1.4KPa; on a wall with a larger friction coefficient, the corresponding adsorption pressure needs to be increased.

[0030] The multi-media intelligent cleaning robot also includes a roughness detection component for detecting the roughness of the working surface, a first sensor for detecting the inclination angle of the working surface, and a second sensor for detecting the weight of the multi-media intelligent cleaning robot itself. The roughness detection component, the first sensor, and the second sensor are all connected to the control module for communication. The first sensor is any sensor that can detect the inclination angle of the working surface, including but not limited to a gyroscope sensor, a geomagnetic sensor, or an acceleration sensor. The second sensor is any sensor that can detect the weight of the multi-media intelligent cleaning robot itself, including but not limited to a gravity sensor or a pressure sensor.

[0031] The control module can calculate the minimum adsorption pressure P3 required for the multi-media intelligent cleaning robot to be adsorbed on the working surface according to the gravity of the multi-media intelligent cleaning robot, the roughness of the working surface, and the inclination angle of the working surface. Preferably, in the power saving mode, the adsorption module is adsorbed on the working surface with the minimum adsorption pressure P3. The multi-media intelligent cleaning robot can automatically obtain the required minimum adsorption pressure P3 when working on the working surface of any medium through the cooperation of the sensor component and the control module, thereby adaptively adjusting the size of the adsorption pressure.

[0032] Specifically, the roughness detection component includes at least one of an ammeter and a tachometer. The ammeter is used to detect the working current of the multi-media intelligent cleaning robot, and the tachometer is used to detect the walking speed of the multi-media intelligent cleaning robot. Under the same conditions, the greater the working current or the slower the walking speed, the greater the roughness of the working surface; the smaller the working current or the faster the walking speed, the smaller the roughness of the working surface.

[0033] The present invention also provides a control method for the above-mentioned multi-media intelligent cleaning robot, and the control method comprises the following steps: a control module obtains the working state of the multi-media intelligent cleaning robot and adjusts the adsorption pressure of the adsorption module according to the working state; when the multi-media intelligent cleaning robot is in a power saving mode, the adsorption pressure of the adsorption module on the working surface is P1; when the multi-media intelligent cleaning robot is in a working mode, the adsorption pressure of the adsorption module on the working surface is P2, and P1 is less than P2.

[0034] Furthermore, the control method further comprises the following steps: the sensor assembly detects the roughness of the working surface, the inclination angle of the working surface, and the weight of the multi-media intelligent cleaning robot and transmits the roughness value, the inclination angle, and the weight to the control module, and the control module calculates the minimum adsorption pressure P3 of the multi-media intelligent cleaning robot adsorbed on the working surface according to the roughness, the inclination angle, and the weight, and P2 is not less than P3. Preferably, P2 is equal to P3.

[0035] Specifically, the roughness detection component detects the roughness of the working surface and transmits the roughness value to the control module, the first sensor detects the inclination angle of the working surface and transmits the inclination angle to the control module, the second sensor detects the weight of the multi-media intelligent cleaning robot and transmits the weight to the control module, and the control module calculates the minimum adsorption pressure P3 of the multi-media intelligent cleaning robot adsorbed on the working surface based on the roughness, inclination angle and weight.

[0036] The control module calculates the friction coefficient of the working surface according to at least one variable of the working current and the walking speed of the multi-media intelligent cleaning robot, and calculates the minimum adsorption pressure P3 of the multi-media intelligent cleaning robot adsorbed on the working surface according to the friction coefficient, the tilt angle and the weight. Therefore, no matter where the cleaning module is located on the working surface of any medium, its friction coefficient can be automatically calculated and obtained, and then the minimum adsorption pressure P3 of the multi-media intelligent cleaning robot adsorbed on the working surface can be calculated.

[0037] Furthermore, during the movement of the multi-media intelligent cleaning robot, the control module records the minimum adsorption pressure required by the multi-media intelligent cleaning robot at any position on the working surface, thereby being able to accurately determine the position on the working surface where the minimum adsorption pressure is the smallest.

[0038] In addition, due to factors such as insufficient power or completion of cleaning work, when the multi-media intelligent cleaning robot switches from working mode to power saving mode, the walking module may stop moving, and P2 gradually decreases to P1. Alternatively, when switching from working mode to power saving mode, the multi-media intelligent cleaning robot moves to the original position, and P2 gradually decreases to P1 during the movement. Alternatively, when switching from working mode to power saving mode, the multi-media intelligent cleaning robot moves to the position where the required adsorption pressure is the smallest on the entire working surface, and P2 gradually decreases to P1 during the movement.

[0039] The multi-media intelligent cleaning robot of the present invention can obtain the minimum adsorption pressure of the multi-media intelligent cleaning robot on the working surface through the sensor component and the above-mentioned method when working on any medium, so as to adsorb on the working surface with the minimum adsorption pressure in the power saving mode, thereby saving electricity. In addition, when there are weather conditions and other external factors, the multi-media intelligent cleaning robot may not be able to adsorb on the working surface with the minimum adsorption pressure. At this time, P1≥40%P2 can ensure that the multi-media intelligent cleaning robot can be adsorbed on the working surface in any environment without slipping.

[0040] The following uses the example of a multi-media intelligent cleaning robot cleaning windows to explain the workflow: (1) Preparation conditions: Plug in the safety rope, the adsorption module communicates with the control module, and the suction cup is firmly adsorbed on the smooth window glass so that the air pressure meets the conditions; (2) When the preparation conditions are met, the vacuum equipment will automatically start, and the suction cup will be placed on the glass; (3) The main control module controls the fan to automatically adjust the air pressure, and detects the air pressure through the air pressure sensor. If the air pressure is greater than 3.0 KPa, the fan voltage will be reduced, and if the air pressure is less than 3.0 KPa, the voltage will be increased; (4) The multi-media intelligent cleaning robot is adsorbed on the glass. If there is no action or alarm for 2 minutes, the air pressure will be reduced to 1.4 KPa. The air pressure of 3.0KPa in working mode is an empirical value formulated by comprehensively considering the safety, walking speed and cleaning effect of the multi-media intelligent cleaning robot on window glass; and the air pressure in power saving mode is 1.4KPa, which is the adsorption pressure set by taking into account other environmental factors, based on the minimum adsorption pressure obtained by the above-mentioned method of the present invention according to the common current, walking speed, etc. when the multi-media intelligent cleaning robot works on window glass.

[0041] Different working scenarios are provided below to further illustrate the use method and beneficial effects of the multi-media intelligent cleaning robot of the present invention.

[0042] See also Figure 2 As shown, working scenario 1: when the multi-media intelligent cleaning robot is in working mode, the walking module drives the multi-media intelligent cleaning robot to move on the working surface according to the planned path. When encountering an emergency situation that hinders the working of the cleaning robot, the control module controls the walking module to stop moving and issues an alarm. After the alarm ends, it is determined whether the multi-media intelligent cleaning robot is removed from the working surface. If so, the work ends; if not, the multi-media intelligent cleaning robot switches from working mode to power saving mode. The emergency situations include but are not limited to: encountering obstacles, gaps on the working surface, etc.

[0043] Specifically, when people go out to work and need a multi-media intelligent cleaning robot to clean the glass, the multi-media intelligent cleaning robot can be started and clean the glass as needed. During the working process, when encountering obstacles or the glass has gaps and cannot work normally, the multi-media intelligent cleaning robot will alarm and stop moving forward. At this time, the fan continues to work, and the multi-media intelligent cleaning robot continues to adsorb on the glass through the suction cup; if the user still does not remove the multi-media intelligent cleaning robot after the alarm ends, the multi-media intelligent cleaning robot switches to power saving mode, reduces the adsorption pressure of the suction cup, that is, reduces the speed of the fan, so as to achieve the purpose of increasing the life of the fan and the machine, and save electricity, making the multi-media intelligent cleaning robot more durable and more humane.

[0044] Working scenario 2: When the multi-media intelligent cleaning robot is in working mode, the walking module drives the multi-media intelligent cleaning robot to move on the working surface according to the planned path; after cleaning the entire working surface, the control module sends a completion signal and determines whether the multi-media intelligent cleaning robot has been removed from the working surface after a predetermined time t. If so, the work is finished; if not, the multi-media intelligent cleaning robot is controlled to switch from working mode to power saving mode. The predetermined time t can be set according to the specific working surface, user usage habits, etc., for example, 2 minutes.

[0045] Specifically, when people go out to work and need the multi-media intelligent cleaning robot to clean the glass, the multi-media intelligent cleaning robot can be started and clean the glass as needed. When cleaning is completed, the multi-media intelligent cleaning robot will send a cleaning completion signal. At this time, since no one is at home and the multi-media intelligent cleaning robot cannot be removed manually, the multi-media intelligent cleaning robot will usually enter the power saving mode within 2 minutes after the cleaning completion signal ends, reducing the suction pressure of the suction cup, that is, reducing the speed of the fan, so as to achieve the effect of increasing the life of the fan and the machine, and save electricity, making the multi-media intelligent cleaning robot more durable and more humane.

[0046] In the above two working scenarios, the adsorption pressure of the adsorption module on the working surface is P2 in the working mode, and the adsorption pressure of the adsorption module on the working surface is P1 in the power saving mode. When the working mode is converted to the power saving mode, the process of reducing the adsorption pressure of the adsorption module from P2 to P1 can adopt any one of the above methods.

[0047] To sum up, when the multi-media intelligent cleaning robot of the present invention is in power saving mode, the adsorption pressure P1 of the adsorption module on the working surface is lower than the adsorption pressure P2 of the adsorption module on the working surface in working mode. When in non-working state, it is adsorbed on the working surface with a smaller adsorption pressure, thereby increasing the life of the fan and the multi-media intelligent cleaning robot, saving electricity, and making the multi-media intelligent cleaning robot more humane and durable.

[0048] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A multi-media intelligent cleaning robot, comprising an adsorption module adsorbed on a working surface, a cleaning module, a walking module and a control module, characterized in that: The multi-media intelligent cleaning robot has a working mode in which the cleaning module cleans the working surface and a power-saving mode in which the cleaning module does not work and the multi-media intelligent cleaning robot remains stationary on the working surface. In the power-saving mode, the adsorption pressure P1 of the adsorption module on the working surface is lower than the adsorption pressure P2 of the adsorption module on the working surface in the working mode.

2. The multi-media intelligent cleaning robot according to claim 1, characterized in that: The multimedia intelligent cleaning robot also includes a roughness detection component for detecting the roughness of the working surface, a first sensor for detecting the inclination angle of the working surface, and a second sensor for detecting the weight of the multimedia intelligent cleaning robot itself. The roughness detection component, the first sensor and the second sensor are all communicatively connected to the control module.

3. The multi-media intelligent cleaning robot according to claim 2, characterized in that: The first sensor is a gyroscope sensor, a geomagnetic sensor, or an acceleration sensor.

4. The multi-media intelligent cleaning robot according to claim 2, characterized in that: The second sensor is a gravity sensor or a pressure sensor.

5. The multi-media intelligent cleaning robot according to claim 2, characterized in that: The roughness detection component includes at least one of an ammeter and a tachometer.

6. The multi-media intelligent cleaning robot according to claim 5, characterized in that: The ammeter is used to detect the working current of the multimedia intelligent cleaning robot, and the speed meter is used to detect the walking speed of the multimedia intelligent cleaning robot.

7. A control method for a multi-media intelligent cleaning robot, the multi-media intelligent cleaning robot comprising an adsorption module adsorbed on a working surface, a cleaning module, a walking module and a control module, characterized in that: The control method includes the following steps: a control module adjusts the adsorption pressure of the adsorption module according to the working state of the multi-media intelligent cleaning robot; when the multi-media intelligent cleaning robot is in a power saving mode, the cleaning module does not work and the multi-media intelligent cleaning robot remains stationary on a working surface, and the adsorption pressure of the adsorption module on the working surface is P1; when the multi-media intelligent cleaning robot is in a working mode, the cleaning module cleans the working surface, and the adsorption pressure of the adsorption module on the working surface is P2, and P1 is less than P2.

8. The control method of the multimedia intelligent cleaning robot according to claim 7, characterized in that: P1≥40%P2.

9. The control method of the multimedia intelligent cleaning robot according to claim 7, characterized in that: The multi-media intelligent cleaning robot also includes a roughness detection component for detecting the roughness of the working surface, a first sensor for detecting the inclination angle of the working surface, and a second sensor for detecting the weight of the multi-media intelligent cleaning robot itself; the control method also includes the following steps: the roughness detection component detects the roughness of the working surface and transmits the roughness value to the control module, the first sensor detects the inclination angle of the working surface and transmits the inclination angle to the control module, the second sensor detects the weight of the multi-media intelligent cleaning robot and transmits the weight to the control module, and the control module calculates the minimum adsorption pressure P3 of the multi-media intelligent cleaning robot adsorbed on the working surface based on the roughness, inclination angle and weight.

10. The control method of the multimedia intelligent cleaning robot according to claim 9, characterized in that: The roughness detection component includes at least one of an ammeter and a speedometer. The control module calculates the friction coefficient of the working surface based on at least one variable of the working current of the multi-media intelligent cleaning robot and the walking speed of the intelligent cleaning robot. The control module determines the minimum adsorption pressure P3 of the multi-media intelligent cleaning robot on the working surface based on the friction coefficient, inclination angle and weight, and P2 is not less than P3.

11. The control method of the multimedia intelligent cleaning robot according to claim 9, characterized in that: The control method also includes the following steps: when the multi-media intelligent cleaning robot moves on the working surface, the control module records the minimum adsorption pressure required by the multi-media intelligent cleaning robot at any position on the working surface; when the multi-media intelligent cleaning robot is switched from the working mode to the power saving mode, the walking module moves to the position on the working surface where the minimum adsorption pressure required is the smallest, and during the movement, P2 gradually decreases to P1.

12. The control method of the multimedia intelligent cleaning robot according to claim 7, characterized in that: When the multi-media intelligent cleaning robot is switched from the working mode to the power saving mode, the walking module stops moving and P2 gradually decreases to P1.

13. The control method of the multimedia intelligent cleaning robot according to claim 7, characterized in that: When the multi-media intelligent cleaning robot is switched from the working mode to the power-saving mode, the walking module moves to the original position, and P2 gradually decreases to P1 during the movement.

14. The control method of the multimedia intelligent cleaning robot according to any one of claims 7 to 13, characterized in that: The control method also includes the following steps: when the multi-media intelligent cleaning robot is in working mode, the walking module drives the multi-media intelligent cleaning robot to move on the working surface according to the planned path. When encountering an emergency situation that hinders the work of the cleaning robot, the control module controls the walking module to stop moving and issues an alarm. After the alarm ends, it is determined whether the multi-media intelligent cleaning robot has been removed from the working surface. If so, the work ends; if not, the multi-media intelligent cleaning robot is converted from working mode to power saving mode.

15. The control method of the multimedia intelligent cleaning robot according to any one of claims 7 to 13, characterized in that: The control method also includes the following steps: when the multi-media intelligent cleaning robot is in working mode, the walking module drives the multi-media intelligent cleaning robot to move on the working surface according to the planned path; after cleaning is completed, the control module sends a completion signal and determines whether the multi-media intelligent cleaning robot is removed from the working surface after a predetermined time t. If so, the work is completed; if not, the multi-media intelligent cleaning robot is controlled to switch from working mode to power saving mode.

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