A robot sweeper with self-cleaning function and a cleaning method thereof

Abstract

The application discloses a sweeping robot with a self-cleaning function and a sweeping method thereof. The sweeping robot is internally provided with multiple lifting type cleaning roller brushes. The sweeping method comprises the following steps: in response to a cleaning instruction, at least one cleaning roller brush of the sweeping robot is controlled to be lowered to a position for contacting the ground to perform a ground cleaning task; positioning data of the sweeping robot is acquired in real time, and the remaining path length of the sweeping robot is determined in combination with a target cleaning route of the sweeping robot; when it is judged that the remaining path length of the sweeping robot is less than a preset threshold, the cleaning roller brush of the sweeping robot for performing the ground cleaning task is switched, so that the sweeping robot always has at least one cleaning roller brush lowered to the ground to perform the ground cleaning task, and a self-cleaning instruction is issued to clean the cleaning roller brush which has performed the ground cleaning task and is in a raised state. The application can reduce the number of times that the sweeping robot repeatedly returns to the base station due to the cleaning of the roller brush, and improve the sweeping efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotic vacuum cleaners, and more particularly to a robotic vacuum cleaner with self-cleaning function and its cleaning method. Background Technology

[0002] Robotic vacuum cleaners use artificial intelligence to automatically clean floors in a room; with advancements in technology, some models also include mopping capabilities. However, the longer the path a robotic vacuum cleaner travels, the dirtier its mop or brush becomes. If it doesn't return to its base station for cleaning for an extended period, it will continue using the dirty mop or brush, leaving traces wherever it goes and making the floor dirtier the more it mops. If the robotic vacuum cleaner had to return to its base station to clean every so often, its travel distance would increase, leading to low cleaning efficiency. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a sweeping robot with self-cleaning function and its cleaning method, which can reduce the number of times the sweeping robot has to return to the base station repeatedly because the roller brush needs to be cleaned, thereby improving cleaning efficiency.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A cleaning method for a robotic vacuum cleaner, applied to a robotic vacuum cleaner with multiple lifting cleaning rollers; the cleaning method includes:

[0006] In response to a cleaning command, at least one of the cleaning rollers of the sweeping robot is controlled to descend to a position in contact with the ground to perform a floor cleaning task;

[0007] The robot vacuum cleaner's positioning data is acquired in real time, and the remaining path length of the robot vacuum cleaner is determined by combining the robot vacuum cleaner's target cleaning route.

[0008] When it is determined that the remaining path length of the sweeping robot is less than a preset threshold, the cleaning roller brush of the sweeping robot is switched to perform the floor cleaning task, so that the sweeping robot always has at least one cleaning roller brush descended to the ground to perform the floor cleaning task, and a self-cleaning command is issued to clean the cleaning roller brush that has performed the floor cleaning task and is in the raised state.

[0009] Furthermore, the target cleaning route is the furthest route planned by the robot vacuum cleaner based on its remaining battery power.

[0010] Furthermore, the method for determining the remaining path length is as follows:

[0011] The distance already traveled by the robot vacuum cleaner is calculated based on the positioning data, and the remaining path length is calculated by subtracting the distance already traveled by the robot vacuum cleaner from the total length of the target cleaning route.

[0012] Furthermore, in response to the cleaning command, at least two of the cleaning rollers in the robot vacuum cleaner are lowered to perform a floor cleaning task, and the cleaning roller that is at the forefront in the forward direction of the robot vacuum cleaner and is performing a floor cleaning task is marked as the first target roller, and the remaining cleaning rollers that are performing a floor cleaning task are marked as the second target rollers.

[0013] Furthermore, the method for switching the cleaning roller brush of the sweeping robot to perform the floor cleaning task is as follows:

[0014] When the remaining path length is less than the preset threshold, the first target roller brush is raised and self-cleaned; while the second target roller brush is kept in a lowered state, the cleaning roller brush located behind the second target roller brush in the forward direction is lowered, and at least two cleaning roller brushes are kept performing the ground cleaning task.

[0015] Furthermore, in response to the cleaning command, any of the cleaning brushes in the robot vacuum cleaner is lowered to perform a floor cleaning task; when the remaining path length is less than the preset threshold, all cleaning brushes that are currently performing floor cleaning tasks are raised, and the remaining cleaning brushes that have not yet performed floor cleaning tasks are lowered.

[0016] A self-cleaning robotic vacuum cleaner includes:

[0017] A positioning module, built into the robot vacuum cleaner, is used to acquire the positioning data of the robot vacuum cleaner;

[0018] The roller brush module includes multiple lifting cleaning roller brushes located on the bottom surface of the robot vacuum cleaner;

[0019] The self-cleaning module, built into the robot vacuum cleaner, is used to clean the raised cleaning roller brush;

[0020] The central control module, connected to the positioning module, the roller brush module, and the self-cleaning module, is used to execute the cleaning method of the sweeping robot described above.

[0021] Furthermore, the roller brush module includes a lifting and lowering assembly connected to the cleaning roller brush; the lifting and lowering assembly is used to lift or lower any of the cleaning roller brushes, so that the lowered cleaning roller brushes contact the ground to perform the ground cleaning task.

[0022] Furthermore, the self-cleaning module includes a vacuum suction channel and a wastewater collection tank connected to the vacuum suction channel; the vacuum suction channel moves to a position facing the raised cleaning roller brush via a moving track inside the sweeping robot, collects the wastewater thrown out by the rotating cleaning roller brush through the vacuum suction channel, and sucks it into the wastewater collection tank through a water path.

[0023] Furthermore, it also includes: a cleaning base station, used to perform live water circulation cleaning on the sweeping robot when the sweeping robot returns to the cleaning base station.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] This invention features a robotic vacuum cleaner equipped with multiple cleaning rollers that take turns cleaning the floor, reducing the number of times the robot needs to return to the base station for cleaning. Simultaneously, the robot has a built-in simple self-cleaning module. When the cleaning rollers are raised and rotating at high speed, they can dislodge wastewater or debris, achieving a simple cleaning purpose. Only after completing the entire target cleaning route does the robot return to the base station for deep cleaning, improving cleaning efficiency. Attached Figure Description

[0026] Figure 1 This is a flowchart illustrating the cleaning method of the sweeping robot of the present invention;

[0027] Figure 2 This is a schematic diagram of the target cleaning route of the present invention;

[0028] Figure 3 This is one of the schematic diagrams showing the working state of the sweeping robot of the present invention;

[0029] Figure 4 This is the second schematic diagram of the working state of the sweeping robot of the present invention. Detailed Implementation

[0030] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0031] This embodiment provides a self-cleaning robotic vacuum cleaner and its cleaning method. The robotic vacuum cleaner integrates a positioning module, a roller brush module, a self-cleaning module, and a central control module. The robotic vacuum cleaner can move according to a pre-set route. The robotic vacuum cleaner has a built-in positioning module, which can be a GPS positioning device, used to obtain the positioning data of the robotic vacuum cleaner to plan the movement route of the robotic vacuum cleaner. At the same time, it can also know the real-time position of the robotic vacuum cleaner and calculate the remaining path length that the robotic vacuum cleaner still needs to clean.

[0032] The bottom surface of the robotic vacuum cleaner has a brush area to accommodate multiple lifting cleaning brushes. These brushes are arranged sequentially, and each brush is height-adjustable. The lifting and lowering of the brushes is achieved through a lifting and lowering component built into the robotic vacuum cleaner. When a brush is raised, it is hidden within the brush area and is not cleaning the ground. When a brush is lowered, it descends to the position of contact with the ground, and then a drive motor rotates the brush to clean the ground.

[0033] The raising and lowering of the cleaning roller brush can be achieved through a lifting and lowering component built into the robot vacuum cleaner. The lifting and lowering component can be a lifting motor, which drives the cleaning roller brush to rise or fall. The lifting and lowering component can also be other mechanisms, as long as it ensures that the multiple cleaning roller brushes can rise and fall in the vertical direction.

[0034] Inside the robotic vacuum cleaner, there is a self-cleaning module used to clean the raised cleaning roller brush. In this embodiment, the self-cleaning module includes a vacuum suction channel and a wastewater collection tank connected to the vacuum suction channel. The vacuum suction channel moves via a horizontally arranged track within the robotic vacuum cleaner, allowing it to move to a position directly opposite the cleaning roller brush. The end of the vacuum suction channel is semi-circular, partially enclosing the raised cleaning roller brush. The high-speed rotation of the raised cleaning roller brush then flings out the wastewater it has absorbed. The suction force generated by the vacuum suction channel draws away the flung wastewater, which is then collected in the wastewater collection tank connected to the vacuum suction channel.

[0035] In this embodiment, only the cleaning rollers in the raised state are cleaned simply. After all the cleaning rollers have been used, the robot vacuum can return to the cleaning base station. When the robot vacuum returns to the cleaning base station, the cleaning base station can perform a deep cleaning by circulating fresh water on all the cleaning rollers of the robot vacuum. The cleaning base station also provides a charging function to charge the returning robot vacuum. The cleaning base station has a complete fresh water circulation system and power system built-in, which are already disclosed in the prior art and will not be described again here.

[0036] The positioning of the cleaning roller brush and the vacuum suction channel inside the robot vacuum cleaner can be precisely controlled by the central control module. The central control module can pre-number all the cleaning roller brushes. When the central control module commands a certain cleaning roller brush to lift, it positions the vacuum suction channel according to the number of the cleaning roller brush, so that the vacuum suction channel can accurately move to directly above the cleaning roller brush in the lifted state. After the cleaning roller brush is lifted, it is raised into the vacuum suction channel. The cleaning roller brush rotates at high speed and uses vacuum suction to remove the wastewater carried by the roller brush. This can prevent the cleaning roller brush from lifting up after cleaning the wastewater on the ground and repeatedly dripping wastewater onto the ground and polluting it.

[0037] In this embodiment, the central control module built into the robot vacuum cleaner is connected to the positioning module, the roller brush module, and the self-cleaning module. It is used to receive positioning data from the positioning module, plan a route based on the positioning data, and command the cleaning roller brush of the roller brush module to perform lifting and lowering and cleaning operations. It also controls the self-cleaning module to clean the raised cleaning roller brush, etc. The following robot vacuum cleaning method is realized by using the central control module.

[0038] This embodiment also provides a cleaning method for a sweeping robot, which is applied to the sweeping robot described above; as follows: Figure 1 As shown, the cleaning method includes the following steps:

[0039] Step S1: In response to a cleaning command, control at least one of the cleaning rollers of the sweeping robot to descend to a position in contact with the ground to perform a floor cleaning task.

[0040] After receiving a cleaning command, the central control module of the robot vacuum cleaner can send a command to the roller brush module, which will lower at least one cleaning roller brush through the lifting and lowering component and make the lowered cleaning roller brush rotate at a preset speed. The surface of the cleaning roller brush can be made of cloth material, which can absorb the sewage on the ground. When the cleaning roller brush rotates, it can also clean the ground by rubbing against the ground surface to keep the ground clean.

[0041] The robot vacuum cleaner has multiple cleaning rollers arranged in front and behind. When moving, the robot vacuum cleaner can rotate its body to ensure that its forward direction is perpendicular to the axial direction of the cleaning rollers.

[0042] The cleaning modules of a robotic vacuum cleaner can be divided into the following two types:

[0043] The first cleaning mode involves controlling a specified number and position of cleaning rollers to perform floor cleaning tasks. Specifically, after receiving a cleaning command, the robot vacuum cleaner lowers at least two of its cleaning rollers to perform the floor cleaning task. The cleaning roller at the forefront of the robot's forward direction is designated as the first target roller, and the remaining cleaning rollers are designated as second target rollers. In this mode, at least two cleaning rollers are positioned one in front of the other. As the robot moves forward, the first target roller can contact the floor dirt first. After the dirt is cleaned by the first target roller, it is cleaned again by the second target roller. At this time, the first target roller, which is in front, is the dirtiest, while the second target roller, which is behind, is relatively less dirty. The second target roller can then remove the dirt remaining after the first target roller has cleaned it, thus improving the cleanliness of the floor.

[0044] The second cleaning mode is to randomly control the cleaning brush of the robot vacuum to descend. That is, after receiving a cleaning instruction, the robot vacuum will randomly cause any of the cleaning brushes in the robot vacuum to descend to perform the floor cleaning task.

[0045] The two cleaning modes of the robot vacuum can be pre-configured through custom settings. The way the robot vacuum switches to cleaning rollers will also be different depending on the cleaning mode it is working in.

[0046] Step S2: Obtain the positioning data of the sweeping robot in real time, and determine the remaining path length of the sweeping robot in combination with the target cleaning route of the sweeping robot.

[0047] Steps S2 and S1 can be executed simultaneously to ensure that while the robot vacuum cleaner is cleaning the floor, its position is located in real time, the cleaning route is planned in a timely manner, and the lifting and lowering state of the cleaning roller brush is adjusted.

[0048] The target cleaning route is the furthest route planned by the robot vacuum cleaner based on its remaining battery power before departure. This furthest route includes not only the robot vacuum cleaner's forward path but also its return route to the base station, ensuring that the robot vacuum cleaner can return to the base station for cleaning and charging after completing the furthest route. Figure 2 As shown, Figure 2 The two arrows represent the forward and return routes of the robot vacuum cleaner, respectively. The forward and return routes do not have to overlap, and the robot can perform floor cleaning tasks along the entire longest route, thus improving cleaning efficiency.

[0049] In this embodiment, the distance traveled by the sweeping robot is calculated based on the positioning data. The remaining path length is calculated by subtracting the distance traveled by the sweeping robot from the total length of the target cleaning route. The cleaning roller brush used to perform the floor cleaning task is then switched based on the remaining path length.

[0050] Step S3: Compare the remaining path length with a preset threshold. When it is determined that the remaining path length of the sweeping robot is less than the preset threshold, switch the cleaning roller brush of the sweeping robot to perform the floor cleaning task, so that the sweeping robot always has at least one cleaning roller brush descending to the ground to perform the floor cleaning task, and issue a self-cleaning command to clean the cleaning roller brush that has performed the floor cleaning task and is in the raised state.

[0051] When the robot vacuum cleaner performs a floor cleaning task in the first cleaning mode, if it is determined that the remaining path length is less than the preset threshold, it will cause the first target roller brush to lift up and send an instruction to the self-cleaning module according to the number corresponding to the first target roller brush. The module will control the vacuum suction channel to move to the position corresponding to the lifted first target roller brush, so that the first target roller brush can rotate at high speed and suck up the sewage that is thrown out, thereby achieving a simple self-cleaning effect on the first target roller brush.

[0052] Simultaneously, the second target roller brush is kept in its descending state, and the cleaning roller brush located behind the second target roller brush in the forward direction is also lowered, maintaining at least two cleaning roller brushes performing the floor cleaning task. In this cleaning mode, since the second target roller brush is located behind the first target roller brush, its level of dirt is relatively low, and its floor cleaning effect is still good. Therefore, only the dirtier first target roller brush is raised, allowing the second target roller brush to contact the floor stains first. After the floor stains are cleaned by the second target roller brush, they are cleaned again by the cleaning roller brush located behind it. This cleaning roller brush switching pattern continues to cycle until the robot vacuum completes the target cleaning route.

[0053] The preset threshold can be set in conjunction with the number of cleaning rollers and the length of the target cleaning path; for example, Figure 3 As shown, the arrow pointed to by D1 represents the forward direction of the robot vacuum cleaner, and the arrow pointed to by D2 represents the upward and downward direction of the cleaning roller brush. Figure 3 The robotic vacuum cleaner has three cleaning brushes, which can be named A1, A2, and A3 according to their direction of travel. The preset threshold is half the total length of the target cleaning route. Before the robot reaches the halfway point of the target cleaning route, cleaning brushes A1 and A2 are used for floor cleaning. When the robot reaches the halfway point, the cleaning brush A1 is switched to the next cleaning brush. Figure 4Lift the brush in the D4 direction, keep the cleaning roller A2 in the downward position, and control the cleaning roller A3 to move in the same direction. Figure 4 As the robot descends in the D5 direction, the cleaning brushes that perform the floor cleaning task are switched to cleaning brushes A2 and A3 during the latter half of the target cleaning route. This ensures that when the robot returns to the cleaning base station, each cleaning brush has performed the floor cleaning task.

[0054] When the robotic vacuum cleaner is performing a floor cleaning task in the second cleaning mode, if the remaining path length is less than the preset threshold, all cleaning brushes currently performing the floor cleaning task can be raised, while the remaining cleaning brushes that have not yet performed a floor cleaning task can be lowered. For example, if the robotic vacuum cleaner has four cleaning brushes, initially two of them will be performing the floor cleaning task. When switching brushes, the two cleaning brushes that have performed the floor cleaning task will be raised, while the other two cleaning brushes that have not performed the floor cleaning task will be lowered.

[0055] like Figure 3 , Figure 4 As shown, Figure 3 In the diagram, B refers to the vacuum suction channel, and the arrow in D3 indicates the movable direction of the vacuum suction channel. When the robot vacuum switches to the cleaning roller brush, the vacuum suction channel moves to directly above the cleaning roller brush in the raised state. After the cleaning roller brush is fully raised, it is lifted into the vacuum suction channel. The cleaning roller brush rotates at high speed and uses vacuum suction to remove the wastewater carried by the roller brush, thus performing a simple cleaning of the cleaning roller brush in the raised state.

[0056] After completing the entire target cleaning route, the robot vacuum returns to the cleaning base station for deep cleaning and charging, and then plans a new cleaning route to complete the next cleaning task. This embodiment features multiple cleaning brushes on the robot vacuum, which take turns cleaning the floor, reducing the number of times the robot vacuum returns to the base station to clean the brushes. Simultaneously, the robot vacuum also has a built-in simple self-cleaning module; the high-speed rotation of the raised cleaning brushes dissipates dirty water or debris, achieving a simple cleaning purpose. Only after completing the entire target cleaning route does the robot vacuum return to the base station for deep cleaning, improving cleaning efficiency.

[0057] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A cleaning method for a robotic vacuum cleaner, characterized in that, The method is applied to a robotic vacuum cleaner with multiple lifting cleaning rollers; the cleaning method includes: in response to a cleaning command, controlling at least one of the cleaning rollers of the robotic vacuum cleaner to descend to a position in contact with the ground to perform a floor cleaning task; The robot vacuum cleaner's location data is acquired in real time, and the remaining path length is determined by combining this data with the robot vacuum cleaner's target cleaning route. The method for determining the remaining path length is as follows: the distance already traveled by the robot vacuum cleaner is calculated based on the location data, and the remaining path length is calculated by subtracting the distance already traveled by the robot vacuum cleaner from the total length of the target cleaning route. The target cleaning route is the furthest route planned by the robot vacuum cleaner based on its remaining battery power. When it is determined that the remaining path length of the sweeping robot is less than a preset threshold, the cleaning roller brush of the sweeping robot is switched to perform the floor cleaning task, so that the sweeping robot always has at least one cleaning roller brush descended to the ground to perform the floor cleaning task, and a self-cleaning command is issued to clean the cleaning roller brush that has performed the floor cleaning task and is in the raised state.

2. The cleaning method of the sweeping robot according to claim 1, characterized in that, In response to the cleaning command, at least two of the cleaning brushes in the robot vacuum cleaner are lowered to perform a floor cleaning task, and the cleaning brush that is at the forefront in the forward direction of the robot vacuum cleaner and is performing a floor cleaning task is marked as the first target brush, and the remaining cleaning brushes that are performing floor cleaning tasks are marked as the second target brushes.

3. The cleaning method of the sweeping robot according to claim 2, characterized in that, The method for switching the cleaning roller brush of the sweeping robot to perform the floor cleaning task is as follows: when the remaining path length is less than the preset threshold, the first target roller brush is raised and self-cleaned. And maintain the descending state of the second target roller brush, causing the cleaning roller brush located behind the second target roller brush in the forward direction to descend, maintaining at least two of the cleaning roller brushes performing the floor cleaning task.

4. The cleaning method of the sweeping robot according to claim 1, characterized in that, In response to the cleaning command, any of the cleaning rollers in the robot vacuum cleaner are lowered to perform the floor cleaning task; When the remaining path length is less than the preset threshold, all cleaning rollers that are performing floor cleaning tasks are raised, and the remaining cleaning rollers that have not performed floor cleaning tasks are lowered.

5. A robotic vacuum cleaner with a self-cleaning function, characterized in that, include: A positioning module, built into the robot vacuum cleaner, is used to acquire the positioning data of the robot vacuum cleaner; The roller brush module includes multiple lifting cleaning roller brushes located on the bottom surface of the robot vacuum cleaner; The self-cleaning module, built into the robot vacuum cleaner, is used to clean the raised cleaning roller brush; The central control module, connected to the positioning module, the roller brush module, and the self-cleaning module, is used to perform the functions as described in the claims. The cleaning method of the sweeping robot described in any one of 1 to 4.

6. The sweeping robot with self-cleaning function according to claim 5, characterized in that, The roller brush module includes a lifting and lowering assembly connected to the cleaning roller brush; the lifting and lowering assembly is used to lift or lower any of the cleaning roller brushes, so that the lowered cleaning roller brushes contact the ground to perform the ground cleaning task.

7. The sweeping robot with self-cleaning function according to claim 5, characterized in that, The self-cleaning module includes a vacuum suction channel and a wastewater collection tank connected to the vacuum suction channel. The vacuum suction channel moves to a position facing the raised cleaning roller brush via a moving track inside the sweeping robot. The vacuum suction channel collects the wastewater thrown out by the rotating cleaning roller brush and sucks it into the wastewater collection tank through a water path.

8. The sweeping robot with self-cleaning function according to claim 5, characterized in that, Also includes: A cleaning base station is used to perform live water circulation cleaning on the sweeping robot when the sweeping robot returns to the cleaning base station.

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