A control method for increasing coverage of an automatically walking surface cleaning machine

Abstract

The embodiment of the application provides a control method for improving the coverage rate of an automatic walking surface cleaning machine, and relates to the technical field of cleaning. The automatic walking surface cleaning machine comprises a machine body, a driving wheel assembly, an edge brush assembly, a surface cleaning assembly arranged at the rear end of the machine body, and a dust collection assembly arranged between the edge brush and the surface cleaning assembly. The surface cleaning assembly comprises a floor wiping piece, and the outer edge part of the floor wiping piece extends beyond the edge of the machine body. The method comprises: an advancing cleaning mode: the driving wheel assembly drives the machine body to advance, and the edge brush, the dust collection assembly and the surface cleaning assembly cooperate with each other to realize integrated surface cleaning of sweeping, suction and mopping; a reverse cleaning mode: when the advancing direction of the machine body encounters an obstacle, the driving wheel assembly controls the machine body to turn, after the turning is completed, the driving wheel assembly drives the machine body to reverse, and the surface cleaning assembly cleans the surface to be cleaned at the turning corner. The application can improve the coverage rate of the surface cleaning machine.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a control method for improving the coverage of an automated walking surface cleaner. Background Technology

[0002] In related technologies, self-propelled surface cleaning robots (e.g., cleaning robots, mopping robots, floor scrubbing robots) can move autonomously in the area to be cleaned, cleaning the floor using cleaning components located on the bottom of the robot during movement. When encountering obstacles during movement, the cleaning robot needs to turn, and at these turns, there may be areas missed by the cleaning components, resulting in a low coverage rate for the surface cleaning robot. Summary of the Invention

[0003] The purpose of this application is to provide a control method for improving the coverage of an automated surface cleaning machine, which can clean surfaces at corners and thus improve the coverage of the surface cleaning machine. The specific technical solution is as follows:

[0004] A control method for improving the coverage of an automated walking surface cleaning machine, the automated walking surface cleaning machine including a body, drive wheel assemblies disposed on both sides of the body, a side brush assembly disposed at the front end of the body, a surface cleaning assembly disposed at the rear end of the body, and a vacuuming assembly disposed between the side brushes and the surface cleaning assembly, the surface cleaning assembly including a floor wiping component, the outer edge of the floor wiping component extending beyond the edge of the body, the control method including:

[0005] Forward cleaning mode: The drive wheel assembly propels the machine forward, and the side brush, vacuuming assembly, and surface cleaning assembly work together to achieve sweeping, vacuuming, and mopping in one integrated surface cleaning mode;

[0006] Reverse cleaning mode: When the machine encounters an obstacle in its forward direction, the drive wheel assembly controls the machine to turn. After turning, the drive wheel assembly drives the machine to reverse, and the surface cleaning assembly cleans the surface to be cleaned at the corner.

[0007] Optionally, the turning angle controlled by the drive wheel assembly is not less than 60 degrees.

[0008] Optionally, the reverse cleaning mode is set during the edge cleaning process.

[0009] Optionally, the reverse cleaning mode is set during the cleaning process along the outline of the obstacle.

[0010] Optionally, the reverse cleaning mode is set during the bow-shaped path coverage cleaning process.

[0011] Optionally, the diameter of the cleaning component covering the surface to be cleaned is larger than the lateral diameter of the machine body.

[0012] Optionally, the rear end and side end of the outer edge of the floor cleaning component extend beyond the edge of the machine body.

[0013] Optionally, a measurement sensor is provided at the rear of the machine to avoid collisions in reverse cleaning mode.

[0014] Optionally, the side brush assembly includes a side brush and a motor for driving the side brush. The outer end of the side brush extends beyond the outer edge of the machine body, and the length of the outer end of the side brush extending beyond the outer edge of the machine body is not less than the length of the outer edge of the floor cleaning component extending beyond the machine body.

[0015] Optionally, the surface cleaning assembly includes a floor cleaning motor that drives the floor cleaning component, the floor cleaning component including two rotating mops distributed on the left and right, and the floor cleaning motor drives the two rotating mops to rotate.

[0016] This application provides a control method for improving the coverage of an automated walking surface cleaning machine. The surface cleaning component is located at the rear end of the machine body. When the machine body encounters an obstacle in its forward direction, the drive wheel component controls the machine body to turn. After the turn is completed, the drive wheel component drives the machine body to reverse, so that the surface cleaning component located at the rear end of the machine body can clean the surface to be cleaned at the turning corner, thereby improving the coverage of the surface cleaning machine. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A bottom view of a surface cleaning machine provided in an embodiment of this application;

[0019] Figure 2 A flowchart illustrating a control method for improving the coverage of an automated walking surface cleaning machine, as provided in this application embodiment;

[0020] Figure 3A and Figure 3B This application provides a schematic diagram of a reverse cleaning process during a bow-shaped path cleaning procedure.

[0021] Figure 4A and Figure 4B This is a schematic diagram of a reverse cleaning process provided in an embodiment of this application.

[0022] Figure label:

[0023] 11. Main body; 12. Floor cleaning component; 13. Drive wheel assembly; 14. Side brush; 15. Vacuuming component. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] This application provides a control method for improving the coverage of an automatic walking surface cleaner. The automatic walking surface cleaner includes a body 11, drive wheel assemblies 13 disposed on both sides of the body 11, a side brush 14 assembly disposed at the front end of the body 11, a surface cleaning assembly disposed at the rear end of the body 11, and a vacuuming assembly 15 disposed between the side brush 14 and the surface cleaning assembly. The surface cleaning assembly includes a floor-wiping component 12, the outer edge of which extends beyond the edge of the body 11. The control method includes: forward cleaning mode: the drive wheel assembly 13 drives the body 11 forward, and the side brush 14, vacuuming assembly 15, and surface cleaning assembly cooperate to achieve sweeping, vacuuming, and mopping integrated surface cleaning; reverse cleaning mode: when the body 11 encounters an obstacle in its forward direction, the drive wheel assembly 13 controls the body 11 to turn, and after the turn is completed, the drive wheel assembly 13 drives the body 11 to reverse, and the surface cleaning assembly cleans the surface to be cleaned at the corner.

[0026] In this embodiment, the surface cleaning component is located at the rear end of the body 11. When the body 11 encounters an obstacle in its forward direction, the drive wheel assembly 13 controls the body 11 to turn. After the turn is completed, the drive wheel assembly 13 drives the body 11 to reverse, so that the surface cleaning component located at the rear end of the body 11 can clean the surface to be cleaned at the turning corner, thereby improving the coverage of the surface cleaning machine.

[0027] like Figure 1 As shown, the surface cleaning machine includes a body 11, a drive wheel assembly 13, a side brush assembly 14, and a surface cleaning component.

[0028] The drive wheel assembly 13 is located on both sides of the body 11 and can drive the surface cleaning machine to move, such as forward, backward, and turn.

[0029] The side brush 14 is located at the front of the main body 11, the surface cleaning component is located at the rear of the main body 11, and the vacuuming component 15 is located between the side brush 14 and the surface cleaning component. The side brush 14 rotates under the drive of a motor, sweeping dust from the floor towards the vacuuming component 15, which then sucks away the dust below it. After the vacuuming component 15 removes the dust, the surface cleaning component further cleans the floor by mopping, either dry or wet.

[0030] The surface cleaning assembly includes a floor cleaning component 12, the diameter of which covers the surface to be cleaned can be larger than the lateral diameter of the body 11. The rear end and / or side end of the outer edge of the floor cleaning component 12 can extend beyond the edge of the body 11. For example, the rear end of the outer edge of the floor cleaning component 12 extends beyond the edge of the rear end of the body, or the rear end of the outer edge of the floor cleaning component 12 extends beyond the edge of the rear end of the body, or the side end of the outer edge of the floor cleaning component extends beyond the edge of the side end of the body.

[0031] The mopping component 12 may include two rotating mops distributed on the left and right, and the mopping motor drives the two rotating mops to rotate. Alternatively, the mopping component 12 may be a fixed mop, a mop that reciprocates under the drive of a drive device, or a mop that vibrates under the drive of a drive device.

[0032] The side brush 14 assembly may include a side brush 14 and a motor that drives the side brush 14. The outer end of the side brush 14 extends beyond the outer edge of the body 11, and the length of the outer end of the side brush 14 extending beyond the outer edge of the body 11 is not less than the length of the outer edge of the floor cleaning component 12 extending beyond the body 11.

[0033] The rear end of the machine body 11 is equipped with a measurement sensor to avoid collisions in the reverse cleaning mode. The measurement sensor can be an infrared sensor, a distance sensor, etc.

[0034] like Figure 2 As shown in the figure, this application provides a control method for improving the coverage of an automated walking surface cleaning machine, and the specific steps are as follows:

[0035] Step 201, forward cleaning mode: the drive wheel assembly 13 drives the body 11 forward, and the side brush 14, the vacuuming assembly 15, and the surface cleaning assembly work together to achieve integrated sweeping, vacuuming, and mopping surface cleaning.

[0036] Step 202, Reverse Cleaning Mode: When the machine body 11 encounters an obstacle in its forward direction, the drive wheel assembly 13 controls the machine body 11 to turn. After the turn is completed, the drive wheel assembly 13 drives the machine body 11 to reverse, and the surface cleaning assembly cleans the surface to be cleaned at the corner.

[0037] In this embodiment, in the forward cleaning mode, the drive wheel assembly 13 can drive the body 11 forward, for example, along a set path strategy, such as a bow-shaped path strategy, a U-shaped path strategy, etc., or along an edge, such as along the outline of an obstacle, the edge of a wall, or a virtual boundary. The virtual boundary can be a virtual wall, a user-defined boundary (such as a boundary line drawn on a map displayed on a mobile phone), or a boundary automatically generated by the surface cleaning machine.

[0038] When the body 11 encounters an obstacle in its forward direction, the drive wheel assembly 13 controls the body 11 to turn. After the turn is completed, the drive wheel assembly 13 drives the body 11 to reverse. The surface cleaning assembly located at the rear cleans the surface to be cleaned at the turning corner.

[0039] Among them, the turning angle of the drive wheel assembly 13 controlling the body 11 to turn is not less than 60 degrees, such as 60 degrees, 90 degrees, 180 degrees, etc.

[0040] The reverse cleaning mode can be set during the bow-shaped path coverage cleaning process, such as... Figure 3A and 3B As shown in the figure, this application embodiment provides a reverse cleaning diagram of the bow-shaped path cleaning process. The surface cleaning machine performs bow-shaped path cleaning, moving forward from point A. When it encounters an obstacle at point B, the surface cleaning machine needs to turn to the next line for cleaning. After turning to point C, the surface cleaning machine reverses to point D, allowing the surface cleaning component located at the rear of the machine body 11 to clean the surface to be cleaned at the corner. Afterward, the surface cleaning machine continues to use the forward cleaning mode for forward cleaning.

[0041] The reversing cleaning mode can be set to either clean along the edge or clean along the outline of the obstacle, such as... Figure 4A and 4B As shown in the illustration, this application embodiment provides a reverse cleaning diagram during the edge cleaning process. The surface cleaning machine cleans along the edge, such as along the outline of an obstacle, the edge of a wall, or a virtual boundary. The virtual boundary can be a virtual wall, a user-defined virtual boundary (such as a boundary line drawn on a map displayed on a mobile phone), or a virtual boundary automatically generated by the surface cleaning machine. The surface cleaning machine moves forward along the edge from point A, encounters an obstacle at point B, and needs to turn. After turning to point C, the surface cleaning machine reverses to point D, allowing the surface cleaning component located at the rear of the machine body 11 to clean the surface to be cleaned at the corner. Afterward, the surface cleaning machine continues in forward cleaning mode, cleaning along the edge. Figure 4A and 4B The horizontal thick black lines represent obstacles, while the vertical thick black lines represent boundaries, such as the outline of an obstacle, the edge of a wall, or a virtual boundary.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0043] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A control method for improving the coverage of an automatically walking surface cleaning machine, the automatically walking surface cleaning machine comprising a body, drive wheel assemblies disposed on both sides of the body, a side brush assembly disposed at the front end of the body, a surface cleaning assembly disposed at the rear end of the body, and a vacuuming assembly disposed between the side brushes and the surface cleaning assembly, wherein the surface cleaning assembly includes a floor-wiping component, the outer edge of which extends beyond the edge of the body, characterized in that... The control method includes: Forward cleaning mode: The drive wheel assembly propels the machine forward, and the side brush, vacuuming assembly, and surface cleaning assembly work together to achieve sweeping, vacuuming, and mopping in one integrated surface cleaning mode; Reverse cleaning mode: When the machine encounters an obstacle in the direction of forward movement during the zigzag path coverage cleaning or edge cleaning process, the drive wheel assembly controls the machine to turn. After the turn is completed and before starting to move along the new path, the drive wheel assembly drives the machine to reverse. The surface cleaning component located at the rear of the machine cleans the surface to be cleaned at the corner.

2. The control method for improving the coverage of an automated walking surface cleaning machine as described in claim 1, characterized in that, The drive wheel assembly controls the turning angle of the machine body to be no less than 60 degrees.

3. The control method for improving the coverage of an automated walking surface cleaning machine as described in claim 1, characterized in that, The diameter of the cleaning component covering the surface to be cleaned is larger than the lateral diameter of the machine body.

4. The control method for improving the coverage of an automated walking surface cleaning machine as described in claim 1, characterized in that, The outer rear end and side of the floor cleaning component extend beyond the edge of the machine body.

5. The control method for improving the coverage of an automated walking surface cleaning machine as described in claim 1, characterized in that, The rear of the machine is equipped with a measurement sensor to avoid collisions in reverse cleaning mode.

6. A control method for improving the coverage of an automated walking surface cleaning machine as described in any one of claims 1 to 5, characterized in that, The side brush assembly includes a side brush and a motor that drives the side brush. The outer end of the side brush extends beyond the outer edge of the machine body, and the length of the outer end of the side brush extending beyond the outer edge of the machine body is not less than the length of the outer edge of the floor cleaning component extending beyond the machine body.

7. A control method for improving the coverage of an automated walking surface cleaning machine as described in any one of claims 1 to 5, characterized in that, The surface cleaning assembly includes a floor cleaning motor that drives the floor cleaning component, which includes two rotating mops distributed on the left and right sides. The floor cleaning motor drives the two rotating mops to rotate.

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