A cleaning robot and a control method thereof

Abstract

The present application relates to the technical field of cleaning equipment, and discloses a cleaning robot and a control method thereof. The cleaning robot comprises a sweeping robot, a base station and a detection module. The detection module is used for detecting whether the sweeping robot is moved to position relative to the base station. The sweeping robot comprises a robot main body and a mop support assembly. The mop support assembly is detachably installed at the bottom of the robot main body. The base station has a containing cavity capable of containing the robot main body. The containing cavity is provided with a clamping assembly and a driving assembly. The clamping assembly has a clamping station and an opening station. When the clamping assembly is in the clamping station, the clamping assembly forms a clamping space for clamping the mop support assembly. The driving assembly is used for driving the clamping assembly to switch between the clamping station and the opening station after the sweeping robot is moved to position relative to the base station. The present application provides a cleaning robot which can automatically detach and assemble the mop and is safe and stable.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and in particular to a cleaning robot and its control method. Background Technology

[0002] As living standards improve, cleaning robots are gradually becoming a part of people's lives. Currently, cleaning robots are mainly divided into two categories: those with only sweeping functions and those that combine sweeping and mopping functions. Among these, cleaning robots that combine both sweeping and mopping functions are particularly popular with users.

[0003] However, in the existing integrated sweeping and mopping cleaning robots, the mop assembly of some cleaning robots needs to be manually disassembled and assembled, which is very inconvenient to operate; although some cleaning robots have automatic disassembly and assembly components set in the base station, the disassembly and assembly components are exposed and are easily damaged by users, resulting in poor reliability.

[0004] Therefore, how to provide a cleaning robot that can automatically detach and reattach mops and is safe and stable is an urgent problem to be solved. Summary of the Invention

[0005] This invention provides a cleaning robot and its control method, which provides a cleaning robot that can automatically detach and assemble the mop and is safe and stable.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] In a first aspect, this application provides a cleaning robot, including a sweeping robot, a base station, and a detection module, wherein,

[0008] The detection module is located between the robotic vacuum cleaner and the base station and is used to detect whether the robotic vacuum cleaner has moved into position relative to the base station.

[0009] The sweeping robot includes a walkable robot body and a mop bracket assembly, the mop bracket assembly being detachably mounted on the bottom of the robot body;

[0010] The base station has a receiving cavity that can accommodate the robot body, and the receiving cavity is provided with a clamping component and a driving component. The clamping component has a clamping station and an opening station. When the clamping component is in the clamping station, the clamping component forms a clamping space for clamping the mop bracket component. The driving component is used to drive the clamping component to switch between the clamping station and the opening station after the sweeping robot moves into place relative to the base station.

[0011] This application provides a cleaning robot, which includes a sweeping robot, a base station, and a detection module. Specifically, the detection module is located between the sweeping robot and the base station and is used to detect whether the sweeping robot has moved into position relative to the base station. The sweeping robot includes a walkable robot body and a mop support assembly. The base station has a receiving cavity, in which a clamping assembly and a driving assembly are disposed. When at least a part of the sweeping robot enters the receiving cavity and the detection module detects that the robot body is successfully aligned with the base station, the driving assembly in the base station can drive the clamping assembly to switch from an open position to a clamping position. The clamping assembly in the clamping position forms a clamping space to clamp the mop support assembly at the bottom of the robot body, thereby separating the mop support assembly from the robot body. At this time, the robot body can leave the receiving cavity of the base station and perform a simple sweeping task. In this state, the robot body's obstacle-crossing ability can be improved, thereby achieving obstacle-crossing cleaning or carpet cleaning. When the robot body needs to perform a sweeping and mopping task, the robot body can enter the receiving cavity. After the detection module detects that the robot body is successfully aligned with the base station, the drive component in the base station can drive the clamping component to switch from the clamping station to the opening station. The robot body can then leave the base station with the mop bracket component to perform the sweeping and mopping task.

[0012] The cleaning robot provided in this application enables the disassembly and installation of the mop bracket assembly via a base station, allowing the robot to automatically switch between sweeping and mopping modes. This allows the robot to adapt to various complex environments and enhances its intelligence. Simultaneously, the clamping and drive components are housed within the base station's cavity, preventing accidental user contact and extending the lifespan of each component.

[0013] Therefore, the embodiments of this application can provide a cleaning robot that can automatically detach and assemble the mop and is safe and stable.

[0014] Preferably, the clamping assembly includes a first clamping member and a second clamping member disposed opposite to each other. The first clamping member includes a first main body portion and a first clamping end and a first tail end disposed on both sides of the first main body portion, and the first main body portion is hinged to the base station. The second clamping member includes a second main body portion and a second clamping end and a second tail end disposed on both sides of the second main body portion, and the second main body portion is hinged to the base station. When the clamping assembly is in the clamping position, the clamping space is formed between the first clamping end and the second clamping end.

[0015] Preferably, the drive assembly includes a motor, a first transmission mechanism, and a second transmission mechanism. One end of the first transmission mechanism is connected to the output end of the motor, and the other end is connected to the first tail end. One end of the second transmission mechanism is connected to the output end of the motor, and the other end is connected to the second tail end.

[0016] Preferably, the drive assembly further includes a pulley that is drively connected to the output shaft of the motor;

[0017] The first transmission mechanism includes a first pull rope and a first torsion spring. One end of the first pull rope is fixed to the pulley, and the other end is fixed to the first tail end. One end of the first torsion spring is fixed to the first clamping member, and the other end is fixed to the base station.

[0018] The second transmission mechanism includes a second pull rope and a second torsion spring. One end of the second pull rope is fixed to the pulley, and the other end is fixed to the second tail end. One end of the second torsion spring is fixed to the second clamping member, and the other end is fixed to the base station.

[0019] Preferably, the first transmission mechanism further includes a first tensioning wheel assembly disposed on the first pull rope path, the first tensioning wheel assembly including at least one first tensioning wheel;

[0020] The second transmission mechanism further includes a second tensioning wheel assembly disposed on the second pull rope path, the second tensioning wheel assembly including at least one second tensioning wheel.

[0021] Preferably, the first pull rope and / or the second pull rope are made of steel wire or fiber.

[0022] Preferably, the first transmission mechanism and / or the second transmission mechanism are linkage assemblies.

[0023] Secondly, this application provides a control method for a robotic vacuum cleaner, comprising:

[0024] The status of the sweeping robot is detected. When the main body of the sweeping robot enters the receiving cavity of the base station and is successfully aligned, the base station controls the driving components inside the base station to move according to the instructions.

[0025] The clamping component in the base station switches between the clamping station and the opening station according to the action of the driving component. When the clamping component is in the clamping station, the clamping component clamps the mop bracket component at the bottom of the robot body.

[0026] Preferably, the method further includes, before detecting the status of the robotic vacuum cleaner:

[0027] The robot body receives the signal to disassemble / install the mop bracket assembly and executes the recharge command to the base station.

[0028] Preferably, the method for detecting the status of the sweeping robot includes: the robot body sending a successful alignment signal, and the base station receiving the successful alignment signal. Attached Figure Description

[0029] Figure 1This is a schematic diagram of the structure of the cleaning robot provided in the embodiments of this application;

[0030] Figure 2 for Figure 1 A schematic diagram of the structure of a robotic vacuum cleaner;

[0031] Figure 3 for Figure 1 A schematic diagram of the structure of a mid-range base station;

[0032] Figure 4 for Figure 3 Sectional view at midplane M;

[0033] Figure 5 for Figure 3 Another sectional view at the midplane M;

[0034] Figure 6 for Figure 5 A three-dimensional schematic diagram of the structure;

[0035] Figure 7 A schematic diagram of a robotic vacuum cleaner placed inside a base station;

[0036] Figure 8 Another structural diagram showing a robotic vacuum cleaner placed inside a base station;

[0037] Figure 9 A schematic diagram of the structure of the mop support assembly placed inside the base station;

[0038] Figure 10 This is a flowchart illustrating the control method for a cleaning robot provided in an embodiment of this application. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] Figure 1 This is a schematic diagram of the structure of the cleaning robot 100 provided in the embodiments of this application, as shown below. Figure 1 The structure shown includes a sweeping robot 10, a base station 20, and a detection module (not shown).

[0041] The detection module is located between the robot vacuum cleaner 10 and the base station 20, and is used to detect whether the robot vacuum cleaner 10 has moved into position relative to the base station 20;

[0042] like Figure 2As shown in the structure, the sweeping robot 10 includes a walkable robot body 11 and a mop bracket assembly 12, which is detachably mounted on the bottom of the robot body 11.

[0043] like Figure 3 As shown in the structure, the base station 20 has a receiving cavity A that can accommodate the robot body 11, and the receiving cavity A is provided with a clamping component and a driving component. The clamping component has a clamping station and an opening station. When the clamping component is in the clamping station, the clamping component forms a clamping space for clamping the mop bracket assembly 12. The driving component is used to drive the clamping component to switch between the clamping station and the opening station after the sweeping robot 10 moves into place relative to the base station 20.

[0044] This application provides a cleaning robot 100, which includes a sweeping robot 10, a base station 20, and a detection module. Specifically, the detection module is located between the sweeping robot 10 and the base station 20, and is used to detect whether the sweeping robot 10 has moved into position relative to the base station 20. It should be understood that the detection module can be partially located in the sweeping robot 10, partially located in the base station 20, or both located in the base station 20, depending on the requirements, which will not be described here. The sweeping robot 10 includes a walkable robot body 11 and a mop bracket assembly 12. The base station 20 has a receiving cavity A, and a clamping assembly and a driving assembly are provided in the receiving cavity A. When at least a part of the sweeping robot 10 enters the receiving cavity A, and the detection module detects that the robot body 11 and the base station 20 are successfully aligned, the driving assembly in the base station 20 can drive the clamping assembly to switch from an open position to a clamping position. The clamping assembly in the clamping position forms a clamping space to clamp the mop bracket assembly 12 at the bottom of the robot body 11, so that the mop bracket assembly 12 is separated from the robot body 11. At this time, the robot body 11 can leave the receiving cavity A of the base station 20 and perform a simple sweeping task. In this state, the obstacle-crossing ability of the robot body 11 can be improved, thereby realizing obstacle-crossing cleaning or carpet cleaning.

[0045] When the robot body 11 needs to perform a sweeping and mopping task, it can enter the receiving cavity A. Once the detection module detects successful alignment between the robot body 11 and the base station 20, the drive component within the base station 20 can drive the clamping component to switch from the clamping position to the opening position. The robot body 11 can then leave the base station 20 carrying the mop bracket assembly 12 to perform the sweeping and mopping task. The cleaning robot 100 provided in this embodiment uses the base station 20 to disassemble and install the mop bracket assembly 12, enabling the sweeping robot 10 to automatically switch between sweeping and mopping modes. This allows the sweeping robot 10 to adapt to various complex environments and improves its intelligence. Simultaneously, the clamping component and drive component are located within the receiving cavity A of the base station 20, preventing accidental user contact and extending the lifespan of each component.

[0046] Therefore, the embodiments of this application can provide a cleaning robot 100 that can automatically detach and assemble the mop and is safe and stable.

[0047] Figure 4 for Figure 3 A cross-sectional view of the structure at plane M. For example, as shown below. Figure 4 The structure shown includes a clamping assembly comprising a first clamping member 21a and a second clamping member 21b disposed opposite to each other. The first clamping member 21a includes a first main body portion and a first clamping end and a first tail end disposed on both sides of the first main body portion. To clearly illustrate the structure of each part of the first clamping member 21a, Figure 4 The first clamping member 21a is schematically separated by dashed lines, wherein the first main body is hinged to the base station 20. It should be understood that the structure of each part within the first clamping member 21a is not limited to the example shown. Figure 4 The dashed lines shown are for illustrative purposes only. The second clamping member 21b includes a second main body and a second clamping end and a second tail end located on both sides of the second main body. The second main body is hinged to the base station 20. It is worth noting that when the clamping assembly is in the clamping position, a clamping space for clamping the mop support assembly 12 is formed between the first clamping end and the second clamping end.

[0048] Please continue to refer to this. Figure 4 As shown in the structure, the receiving cavity A of the base station 20 is divided into two parts by the partition structure S, and the partition structure S is provided with openings through which the first clamping end and the second clamping end can protrude. It should be understood that this structural arrangement can further protect the clamping components and the drive components, avoid accidental collisions when the robot body 11 recharges, and thus further extend the service life of each structural component.

[0049] Specifically, such as Figure 4As shown, when the clamping assembly is in the open position, both the first clamping end and the second clamping end are located inside the partition structure S; when the clamping assembly switches from the open position to the clamping position, the first clamping member 21a rotates counterclockwise, and the second clamping member 21b rotates clockwise, with the first clamping end and the second clamping end partially protruding from the opening in the partition structure S, forming as shown in the diagram. Figure 5 The structure shown is as follows. It should be understood that when the clamping assembly is in the clamping position, it is in contact with... Figure 5 The three-dimensional structure of the corresponding base station 20 is as follows: Figure 6 As shown.

[0050] Based on the above technical solutions, please continue to refer to... Figure 4 and Figure 5 The structure shown includes a drive assembly comprising a motor 22, a first transmission mechanism, and a second transmission mechanism. One end of the first transmission mechanism is connected to the output end of the motor 22, and the other end is connected to the first tail end to drive the first clamping member 21a. One end of the second transmission mechanism is connected to the output end of the motor 22, and the other end is connected to the second tail end to drive the second clamping member 21b.

[0051] It should be understood that both the first transmission mechanism and the second transmission mechanism can be implemented in multiple ways, and at least one of the following implementation methods exists.

[0052] In one possible implementation, the output end of the motor 22 is provided with a pulley 23. The first transmission mechanism includes a first pull rope 24a and a first torsion spring 25a. One end of the first pull rope 24a is fixed to the pulley 23, and the other end is fixed to the first tail end of the first clamping member 21a. One end of the first torsion spring 25a is fixed to the first clamping member 21a, and the other end is fixed to the base station 20. The second transmission mechanism includes a second pull rope 24b and a second torsion spring 25b. One end of the second pull rope 24b is fixed to the pulley 23, and the other end is fixed to the second tail end of the second clamping member 21b. One end of the second torsion spring 25b is fixed to the second clamping member 21b, and the other end is fixed to the base station 20.

[0053] It is worth noting that when base station 20 is not working, the status is as follows: Figure 7 As shown, in this state, the first clamping member 21a is opened via the first torsion spring 25a, and the second clamping member 21b is opened via the second torsion spring 25b, without hindering the alignment of the sweeping robot 10 with the base station 20. The state is as follows when the base station 20 is working. Figure 8 As shown, in this state, the first clamping member 21a closes counterclockwise under the action of the first pull cord 24a, and simultaneously, the second clamping member 21b closes clockwise under the action of the second pull cord 24b. A clamping space is formed between the first clamping member 21a and the second clamping member 21b, allowing the mop bracket assembly 12 of the robotic vacuum cleaner 10 to be removed. Specifically, as... Figure 9As shown in the structure, the robot body 11 moves out of the base station on its own, and the mop support assembly 12 is clamped by the first clamping member 21a and the second clamping member 21b.

[0054] Of course, in order to tension the first pull rope 24a and the second pull rope 24b or change the layout of the first pull rope 24a and the second pull rope 24b in the base station 20, the first transmission mechanism may also include a first tensioning wheel group disposed on the first pull rope path, the first tensioning wheel group including at least one first tensioning wheel.

[0055] Similarly, the second transmission mechanism may also include a second tensioning pulley assembly disposed on the second pull rope path, the second tensioning pulley assembly including at least one second tensioning pulley.

[0056] In addition, in order to maintain the lifespan of the structure during multiple switching operations, as a preferred embodiment, the material for preparing the first pull rope 24a and / or the second pull rope 24b is exemplary selected as a rope-like or strip-like object with high strength, such as steel wire or fiber.

[0057] Of course, the first transmission mechanism and / or the second transmission mechanism can also be configured as a linkage assembly. The specific transmission process will not be described in detail here.

[0058] Please refer to Figure 10 As shown in the diagram, this application also provides a control method for a cleaning robot, including:

[0059] Step S1: Detect the status of the sweeping robot. When the main body of the sweeping robot enters the receiving cavity of the base station and is successfully aligned, the base station controls the driving components inside the base station to move according to the instructions.

[0060] Step S2: The clamping component in the base station switches between the clamping station and the opening station according to the action of the drive component. When the clamping component is in the clamping station, the clamping component clamps the mop bracket component at the bottom of the robot body.

[0061] Based on the above technical solution, before detecting the status of the robotic vacuum cleaner, the method further includes:

[0062] The robot body receives the signal to disassemble / install the mop bracket assembly and executes the command to return to the base station for charging.

[0063] Based on the above technical solution, it is worth noting that the method for detecting the status of the sweeping robot includes: the robot body sending a successful alignment signal, and the base station receiving the successful alignment signal.

[0064] Here is a specific application scenario of the cleaning robot 100 provided in this application embodiment:

[0065] When the robot vacuum cleaner 10 finishes mopping, and the next instruction is to use a cleaning mode or clean a more complex area, it sends a signal back to the robot body 11. After the robot body 11 returns to the base station 20, the base station 20 receives a successful alignment signal and drives the clamping components to move via the drive assembly. Specifically, the pulley 23 rotates counterclockwise, driving the first pull rope 24a and the second pull rope 24b, causing the first clamping member 21a to rotate counterclockwise and the second clamping member 21b to rotate clockwise. This removes the mop support assembly 12 from the robot body 11, leaving it at the base station 20, while the robot body 11 proceeds to the next step.

[0066] When the robot body 11 finishes cleaning mode or cleaning a complex environment, and returns to the base station 20 to charge, add water, or clean the dustbin inside the robot body 11, the base station 20 receives a signal, and the drive component drives the clamping component to stop working or reverse its operation. The first clamping member 21a opens under the action of the first torsion spring 25a, and the second clamping member 21b opens under the action of the second torsion spring 25b, so the sweeping robot 10 can start mopping the floor.

[0067] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A cleaning robot, characterized in that, This includes a robotic vacuum cleaner, a base station, and a detection module, among which... The detection module is located between the robotic vacuum cleaner and the base station and is used to detect whether the robotic vacuum cleaner has moved into position relative to the base station. The sweeping robot includes a walkable robot body and a mop bracket assembly, the mop bracket assembly being detachably mounted on the bottom of the robot body; The base station has a receiving cavity that can accommodate the robot body, and the receiving cavity is provided with a clamping component and a driving component. The clamping component has a clamping station and an opening station. When the clamping component is in the clamping station, the clamping component forms a clamping space for clamping the mop bracket assembly. The driving component is used to drive the clamping component to switch between the clamping station and the opening station after the sweeping robot moves into position relative to the base station. The clamping assembly includes a first clamping member and a second clamping member disposed opposite to each other. The first clamping member includes a first main body portion and a first clamping end and a first tail end disposed on both sides of the first main body portion. The first main body portion is hinged to the base station. The second clamping member includes a second main body portion and a second clamping end and a second tail end disposed on both sides of the second main body portion. The second main body portion is hinged to the base station. When the clamping assembly is in the clamping position, the clamping space is formed between the first clamping end and the second clamping end. The drive assembly includes a motor, a first transmission mechanism, and a second transmission mechanism. One end of the first transmission mechanism is connected to the output end of the motor, and the other end is connected to the first tail end. One end of the second transmission mechanism is connected to the output end of the motor, and the other end is connected to the second tail end. The drive assembly also includes a pulley that is drively connected to the output shaft of the motor; The first transmission mechanism includes a first pull rope and a first torsion spring. One end of the first pull rope is fixed to the pulley, and the other end is fixed to the first tail end. One end of the first torsion spring is fixed to the first clamping member, and the other end is fixed to the base station. The second transmission mechanism includes a second pull rope and a second torsion spring. One end of the second pull rope is fixed to the pulley, and the other end is fixed to the second tail end. One end of the second torsion spring is fixed to the second clamping member, and the other end is fixed to the base station. Alternatively, the first transmission mechanism and / or the second transmission mechanism may be a linkage assembly.

2. The cleaning robot according to claim 1, characterized in that, The first transmission mechanism further includes a first tensioning wheel assembly disposed on the first pull rope path, the first tensioning wheel assembly including at least one first tensioning wheel; The second transmission mechanism further includes a second tensioning wheel assembly disposed on the second pull rope path, the second tensioning wheel assembly including at least one second tensioning wheel.

3. The cleaning robot according to claim 1, characterized in that, The first pull rope and / or the second pull rope are made of steel wire or fiber.

4. A control method for a cleaning robot, characterized in that, The control method, applied to the cleaning robot as described in any one of claims 1-3, comprises: The status of the sweeping robot is detected. When the main body of the sweeping robot enters the receiving cavity of the base station and is successfully aligned, the base station controls the driving components inside the base station to move according to the instructions. The clamping component in the base station switches between the clamping station and the opening station according to the action of the driving component. When the clamping component is in the clamping station, the clamping component clamps the mop bracket component at the bottom of the robot body.

5. The control method according to claim 4, characterized in that, The method further includes the following steps prior to detecting the status of the robotic vacuum cleaner: The robot body receives the signal to disassemble / install the mop bracket assembly and executes the recharge command to the base station.

6. The control method according to claim 4 or 5, characterized in that, The method for detecting the status of the sweeping robot includes: the robot body sending a successful alignment signal, and the base station receiving the successful alignment signal.

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