A cleaning robot

Abstract

The present application relates to the technical field of robots, and discloses a cleaning robot. The cleaning robot comprises a robot main body, a cleaning box assembly, a detection system and a controller. The cleaning box assembly is detachably installed on the robot main body. The detection system is installed on the robot main body and is used to collect characteristic information of the cleaning box assembly according to the in-place state of the cleaning box assembly. The controller is electrically connected with the detection system and is used to determine a target box type of the cleaning box assembly according to the characteristic information, so as to control the cleaning robot to enter a working mode supported by the target box type. Therefore, the cleaning robot provided in the embodiment can be compatible with cleaning box assemblies of various box types, so that the working mode supported by the target box type corresponding to the cleaning box assembly can be selected for working, and the situation that the cleaning robot is damaged due to mixed use of the cleaning box assembly can be avoided, thereby improving product reliability and product life.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a cleaning robot. Background Technology

[0002] With the technological development of cleaning robots, they have become widely used in ordinary households, freeing people's hands and helping them sweep the floor.

[0003] Typically, existing cleaning robots can all be fitted with the same type of cleaning bin in the same location for collecting debris. For example, the robot's main body has a dustbin mounting slot, within which a cleaning bin can be installed. When a presence sensor within the dustbin mounting slot detects that the cleaning bin is in place, the robot can carry the bin and perform sweeping operations. However, these cleaning robots offer relatively limited functionality and scalability, failing to meet the functional requirements of various application scenarios. Summary of the Invention

[0004] One objective of this invention is to provide a cleaning robot that is compatible with cleaning box components of various box types.

[0005] In a first aspect, embodiments of the present invention provide a cleaning robot, comprising:

[0006] Robot body;

[0007] The cleaning tank assembly is detachably mounted on the robot body;

[0008] A detection system, installed on the robot body, is used to collect feature information of the cleaning box assembly based on its in-situ status.

[0009] The controller, electrically connected to the detection system, is used to determine the target box type of the cleaning box assembly based on the feature information, so as to control the cleaning robot to enter the working mode supported by the target box type.

[0010] In a second aspect, embodiments of the present invention provide a control method for a cleaning robot, comprising:

[0011] Acquire feature information when the cleaning box component is detachably mounted on the robot body.

[0012] Based on the feature information, determine the target box type for the cleaning box assembly.

[0013] Based on the target container type, control the cleaning robot to enter the working mode supported by the target container type.

[0014] In a third aspect, embodiments of the present invention provide a control device for a cleaning robot, including an information acquisition module, a type determination module, and a work control module. The information acquisition module is used to acquire characteristic information of the cleaning box assembly when it is detachably installed on the robot body. The type determination module is used to determine the target box type of the cleaning box assembly based on the characteristic information. The work control module is used to control the cleaning robot to enter the working mode supported by the target box type based on the target box type.

[0015] In a fourth aspect, embodiments of the present invention provide a controller, comprising:

[0016] At least one processor; and,

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores instructions that can be executed by the at least one processor, which enables the at least one processor to perform the control method for the cleaning robot described above.

[0019] In a fifth aspect, embodiments of the present invention provide a storage medium storing computer-executable instructions for causing a controller to execute the control method of the cleaning robot described above.

[0020] In a sixth aspect, embodiments of the present invention provide a computer program product, the computer program product including a computer program stored on a non-volatile computer-readable storage medium, the computer program including program instructions, which, when executed by a controller, cause the controller to perform the control method of the cleaning robot described above.

[0021] In the cleaning robot provided in this embodiment of the invention, the cleaning box assembly is detachably installed on the robot body, and the detection system is installed on the robot body to collect the feature information of the cleaning box assembly according to its position. The controller is electrically connected to the detection system and is used to determine the target box type of the cleaning box assembly according to the feature information, so as to control the cleaning robot to enter the working mode supported by the target box type. Therefore, the cleaning robot provided in this embodiment can be compatible with cleaning box assemblies of various box types, so as to select the working mode supported by the target box type corresponding to the cleaning box assembly for operation, avoiding the situation of damage to the cleaning robot caused by mixing cleaning box assemblies. Thus, the cleaning robot can support cleaning boxes with multiple functions, automatically adapt to different cleaning application scenarios, and improve product reliability and product life. Attached Figure Description

[0022] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0023] Figure 1 This is a schematic diagram of the structure of a cleaning robot provided in an embodiment of the present invention;

[0024] Figure 2 A circuit diagram of a cleaning robot provided in an embodiment of the present invention;

[0025] Figure 3 A circuit diagram of a cleaning robot provided in another embodiment of the present invention;

[0026] Figure 4 A circuit diagram of a cleaning robot is provided as another embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of a cleaning robot provided in another embodiment of the present invention;

[0028] Figure 6 A circuit diagram of a cleaning robot is provided as another embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the structure of a cleaning robot provided in another embodiment of the present invention;

[0030] Figure 8 A circuit diagram of a cleaning robot is provided as another embodiment of the present invention;

[0031] Figure 9 A circuit diagram of a cleaning robot is provided as another embodiment of the present invention;

[0032] Figure 10 A structural diagram of a first module provided in an embodiment of the present invention;

[0033] Figure 11 A structural diagram of a second module provided in an embodiment of the present invention;

[0034] Figure 12 for Figure 10 The first module shown is Figure 11 The diagram shows a scenario where the second module is connected.

[0035] Figure 13This is a schematic diagram of the layout of the first module with respect to the first metal electrode sheet provided in the embodiments of the present invention. In this diagram, the pin area filled with black can be regarded as the selected metal electrode sheet, and the pin area not filled with black can be regarded as the unselected metal electrode sheet.

[0036] Figure 14 This is a schematic diagram of the structure of a cleaning robot provided in another embodiment of the present invention;

[0037] Figure 15 A flowchart illustrating a control method for a cleaning robot provided in an embodiment of the present invention;

[0038] Figure 16 This is a schematic diagram of the structure of a control device for a cleaning robot provided in an embodiment of the present invention;

[0039] Figure 17 This is a schematic diagram of the structure of a controller provided in an embodiment of the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0041] It should be noted that, unless otherwise specified, the various features in the embodiments of this invention can be combined with each other, all of which are within the protection scope of this invention. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. Moreover, the terms "first," "second," and "third" used in this invention do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0042] This invention provides a cleaning robot, please refer to the following: Figure 1 and Figure 2 The cleaning robot 100 includes a robot body 200, a cleaning box assembly 300, a detection system 400, and a controller 500.

[0043] The cleaning robot 100 can be configured to support one or more operating functions, including sweeping, mopping, humidifying, drying, and disinfecting and sterilizing the cleaning box.

[0044] In some embodiments, the cleaning robot 100 can be moved to a maintenance station for maintenance. The maintenance items may be the same or different for different types of cleaning robots. The maintenance items may include charging the cleaning robot 100, removing dust, replenishing water, removing sewage, washing and drying the mop of the cleaning robot 100, etc.

[0045] The robot body 200 can be constructed into any suitable shape, such as cylindrical, elliptical cylindrical or square, and the robot body 200 provides a storage space to accommodate various components.

[0046] The cleaning box assembly 300 is detachably mounted on the robot body 200. For example, the cleaning box assembly 300 is snapped onto the robot body 200, or the cleaning box assembly 300 is threaded onto the robot body 200, or other detachable mounting methods can be selected. The cleaning box assembly 300 assists the cleaning robot 100 in completing cleaning operations.

[0047] In some embodiments, the cleaning bin assembly 300 includes a dust box. When the cleaning robot 100 performs a sweeping operation, it can collect the garbage on the ground into the cleaning bin assembly 300, wherein the garbage includes large pieces of garbage, small pieces of garbage, dust or powder, etc.

[0048] In some embodiments, when the cleaning box assembly 300 includes a dust box, the cleaning box assembly 300 can be configured to support a corresponding dust removal operating mode.

[0049] In some embodiments, the cleaning bin assembly 300 supports a manual dust removal mode. For example, when the garbage collected by the cleaning bin assembly 300 is full or the garbage warning amount is reached, the cleaning robot 100 automatically prompts the user to manually empty the garbage in the cleaning bin assembly 300. Alternatively, the user can manually remove the cleaning bin assembly 300 from the robot body 200 at any time to empty the garbage in the cleaning bin assembly 300.

[0050] In some embodiments, the cleaning bin assembly 300 supports an automatic dust removal mode, wherein the cleaning bin assembly 300 is provided with a dust removal port. When the cleaning bin assembly 300 is full of collected waste, reaches the waste warning level, or needs to return to the maintenance station after cleaning, the cleaning robot 100 automatically moves to the maintenance station. When the cleaning robot 100 is in the correct position at the maintenance station, the dust removal port of the cleaning bin assembly 300 can connect with the dust removal port of the maintenance station, and the charging electrode connects with the power supply electrode, thereby completing the dust removal and charging operations.

[0051] In some application scenarios, where the cleaning box assembly 300 supports a manual dust removal working mode, since the cleaning box assembly 300 does not have a dust removal port and the maintenance station does not have a dust removal port, the cleaning robot 100 can directly move forward and climb onto the maintenance station to perform the forward climbing operation, thereby achieving the purpose of docking the charging electrode of the cleaning box assembly 300 with the power supply electrode of the maintenance station.

[0052] In some application scenarios, when the cleaning box assembly 300 supports an automatic dust removal working mode, the dust removal port of the cleaning box assembly 300 needs to be connected to the dust removal port of the maintenance station. Since the designer can usually open the dust removal port at the rear of the cleaning robot away from the forward direction, when it needs to climb up the maintenance station, the cleaning robot 100 needs to adjust its posture and then back up to the correct position of the maintenance station.

[0053] In some embodiments, the cleaning tank assembly 300 includes a water tank. When the cleaning robot 100 performs mopping operations, a mop holder can be installed on the cleaning tank assembly 300, and a mop is attached to the mop holder. The cleaning tank assembly 300 can provide cleaning solution to the mop, and the cleaning robot 100 carries the mop while moving and mopping. In other embodiments, the cleaning robot 100 is equipped with a mop drive device, which drives the mop to rotate. The rotating mop can achieve the purpose of cleaning the floor, thereby completing the mopping operation.

[0054] In some embodiments, when the cleaning tank assembly 300 includes a water tank, the cleaning tank assembly 300 may be configured to support a water replenishment mode and / or a sewage discharge mode.

[0055] In some embodiments, the cleaning tank assembly 300 supports a manual water replenishment mode and / or a manual wastewater discharge mode. When the clean liquid in the cleaning tank assembly 300 is depleted or falls below the warning level, the cleaning robot 100 automatically prompts the user to manually replenish the clean liquid in the cleaning tank assembly 300. Alternatively, the user can manually remove the cleaning tank assembly 300 from the robot body 200 at any time to replenish the clean liquid in the cleaning tank assembly 300. Alternatively, when the wastewater collected by the cleaning tank assembly 300 is full or reaches the warning level, the cleaning robot 100 automatically prompts the user to manually drain the wastewater from the cleaning tank assembly 300. Alternatively, the user can manually remove the cleaning tank assembly 300 from the robot body 200 at any time to drain the wastewater from the cleaning tank assembly 300.

[0056] In some embodiments, the cleaning tank assembly 300 supports an automatic water replenishment mode and / or an automatic wastewater discharge mode, wherein the cleaning tank assembly 300 is provided with a water inlet and / or a wastewater discharge outlet. When the clean liquid in the cleaning tank assembly 300 is depleted or falls below the warning level, the cleaning robot 100 automatically moves to the maintenance station. When the cleaning robot 100 is in the correct position at the maintenance station, the water inlet of the cleaning tank assembly 300 can connect with the outlet of the maintenance station, and the wastewater discharge outlet of the cleaning tank assembly 300 can connect with the inlet of the maintenance station, thereby enabling water replenishment and / or wastewater discharge operations.

[0057] In some embodiments, when the cleaning box assembly 300 is configured to simultaneously support both dust box and water tank functions, the cleaning box assembly 3000 can be configured to support corresponding operating modes. These corresponding operating modes can be a combination of automatic dust removal and automatic water replenishment, automatic dust removal and automatic wastewater removal, or a combination of automatic dust removal, automatic water replenishment, and automatic wastewater removal. Alternatively, the corresponding operating modes can be a combination of manual dust removal and manual water replenishment, manual dust removal and manual wastewater removal, or a combination of manual dust removal, manual water replenishment, and manual wastewater removal. It is understood that those skilled in the art can customize the operating modes supported by the cleaning box assembly 300 according to product requirements.

[0058] It is understandable that the structure of the cleaning box assembly 300, which is designed to support both dust box and water tank functions, is a well-known structure, and this article will not elaborate on the specific structural composition of such a cleaning box assembly 300.

[0059] It is understandable that when the cleaning box assembly 300 supports different dust removal or replenishment modes, the cleaning robot 100 may have different designs in its mounting action.

[0060] It is also understandable that, since the cleaning box components of each cleaning robot are designed to support different working modes at the factory, and each cleaning robot is also configured at the control level to match the software control logic of the corresponding working mode, as mentioned above, the cleaning robot 100 can perform different pile-mounting actions in different working modes. Similarly, the cleaning robot can also perform other different control operations in different working modes.

[0061] The detection system 400 is installed on the robot body 200 and is used to collect feature information of the cleaning box assembly 300 based on its in-situ status. The in-situ status characterizes the state of the cleaning box assembly 300 when it is installed on the robot body, and the feature information characterizes the functional features of the cleaning box assembly. The functional features characterize the operational functions supported by the cleaning box assembly. It is understood that, as mentioned above, the cleaning box assembly can support not only one operational function, but also multiple functions. For example, the cleaning box assembly may support only one operational function, such as sweeping or mopping; or it may support two or more operational functions, such as sweeping and mopping, or sweeping, mopping, humidifying, or disinfecting and sterilizing.

[0062] When the cleaning box assembly 300 is installed on the robot body, the detection system 400 can collect the feature information of the cleaning box assembly 300 based on its position.

[0063] The controller 500 is electrically connected to the detection system 400 and is used to determine the target box type of the cleaning box assembly 300 based on the feature information, so as to control the cleaning robot 100 to enter the working mode supported by the target box type. The target box type and the cleaning box assembly 100 are configured to correspond to the working mode supported by the target box type. After the cleaning robot 100 determines the target box type of the cleaning box assembly 100, the cleaning robot 100 can determine the working mode supported by the cleaning box assembly 100 based on the target box type. Subsequently, the cleaning robot 100 can choose to enter the working mode supported by the target box type.

[0064] For example, when the target housing type is determined to be an automatic dust removal type based on feature information, since the automatic dust removal type corresponds to the automatic dust removal working mode, the cleaning robot 100 can then select to enter the automatic dust removal working mode supported by the target housing type.

[0065] For another example, when the target housing type is determined to be manual dust removal type based on the feature information, since the manual dust removal type corresponds to the manual dust removal working mode, the cleaning robot 100 can then select to enter the manual dust removal working mode supported by the target housing type.

[0066] For another example, when the target housing type is determined to be a set of automatic dust removal and automatic water replenishment types based on the feature information, since the set of automatic dust removal and automatic water replenishment working modes corresponds to the target housing type at this time, the cleaning robot 100 can subsequently select to enter the automatic dust removal and automatic water replenishment working modes supported by the target housing type.

[0067] For another example, when the target container type is determined to be a set of automatic dust removal, automatic water replenishment, and automatic sewage discharge types based on the feature information, the cleaning robot 100 enters the automatic dust removal, automatic water replenishment, and automatic sewage discharge working modes supported by the target container type because the set of automatic dust removal working modes, automatic water replenishment working modes, and automatic sewage discharge working modes correspond to the target container type at this time.

[0068] The cleaning robot provided in this embodiment is compatible with the working modes supported by cleaning box components of various box types. It can select the working mode supported by the target box type corresponding to the cleaning box component to work, avoiding damage to the cleaning robot caused by mixing cleaning box components. Thus, the cleaning robot can support cleaning boxes with multiple functions, automatically adapt to different cleaning application scenarios, improve product reliability and product life, and also help improve the user experience.

[0069] In some embodiments, the feature information includes at least one feature signal. The detection system 400 is used to sense at least one part to be detected on the cleaning box assembly 300 to acquire at least one feature signal, each feature signal being used to characterize a functional feature of the cleaning box assembly 300. The controller 500 is used to determine the target box type of the cleaning box assembly 300 based on the at least one feature signal.

[0070] The part to be tested is the part of the cleaning box assembly 300 that the testing system 400 needs to test. For each cleaning robot, the designer can configure the corresponding test part in the part to be tested according to the design requirements, or the corresponding test part can be omitted depending on the target box type of the cleaning box assembly 300.

[0071] Alternatively, the designer can configure the test component capable of generating different types of characteristic signals in the test section to determine the target box type of the cleaning box assembly 300.

[0072] Alternatively, when the cleaning box assembly is mounted on the robot body, and the corresponding circuit module pre-configured within the cleaning box assembly can be electrically connected to the part to be detected, the detection system 400 applies an electrical signal to the part to be detected. This electrical signal can form a loop characteristic signal between the circuit module and the part to be detected. If no circuit module is pre-configured within the cleaning box assembly, even if the detection system 400 applies an electrical signal to the part to be detected, the electrical signal cannot form a loop characteristic signal on the part to be detected. Therefore, the controller can determine the target box type of the cleaning box assembly 300 based on whether a loop characteristic signal can be detected. The electrical signal can be a current signal or a voltage signal.

[0073] For example, to identify whether the cleaning box assembly 300 supports automatic dust removal operation mode, a first detection element is provided in the first detection section of the cleaning box assembly 300. To identify whether the cleaning box assembly 300 supports manual dust removal operation mode, no first detection element is provided in the first detection section of the cleaning box assembly 300. When the detection system 400 detects the presence of the first detection element in the first detection section, a high-level characteristic signal is obtained; therefore, the controller 500 can determine that the cleaning box assembly 300 supports automatic dust removal operation mode. When the detection system 400 does not detect the presence of the first detection element in the first detection section, a low-level characteristic signal is obtained; therefore, the controller 500 can determine that the cleaning box assembly 300 supports manual dust removal operation mode.

[0074] For example, to identify whether the cleaning box assembly 300 supports an automatic dust removal operating mode, a first detection element is provided in the first detection section of the cleaning box assembly 300. To identify whether the cleaning box assembly 300 supports a manual dust removal operating mode, a second detection element is provided in the first detection section of the cleaning box assembly 300. When the detection system 400 detects the first detection element, it receives a high-level characteristic signal; therefore, the controller 500 can determine that the cleaning box assembly 300 supports the automatic dust removal operating mode. When the detection system 400 detects the second detection element, it receives a low-level characteristic signal; therefore, the controller 500 can determine that the cleaning box assembly 300 supports the manual dust removal operating mode.

[0075] For example, to determine whether the cleaning box assembly 300 supports or does not support the disinfection and sterilization working mode, when the cleaning box assembly 300 is installed on the robot body, the controller 500 applies a current signal to the first detection part. If the cleaning box assembly 300 supports the disinfection and sterilization working mode, it will be equipped with a disinfection and sterilization function module, and the current signal can form a current loop characteristic signal between the disinfection and sterilization function module and the first detection part. Therefore, the controller 500 can determine that the cleaning box assembly 300 supports the disinfection and sterilization working mode. If the cleaning box assembly 300 does not support the disinfection and sterilization working mode, it will not be equipped with a disinfection and sterilization function module, and the current signal cannot form a current loop characteristic signal on the detection part. Therefore, the controller 500 can determine that the cleaning box assembly 300 does not support the disinfection and sterilization working mode.

[0076] Overall, the controller 500 can control the cleaning robot 100 to enter the working mode supported by the target housing type based on whether a current loop characteristic signal can be detected.

[0077] In some embodiments, the detection system 400 includes at least one sensor, wherein the sensors may be of the same type or different types. Feature signals may be detected by different sensors; for example, feature signal S1 may be detected by sensor T1, and feature signal S2 may be detected by sensor T2.

[0078] When the same sensor senses the same target part, the sensor can collect characteristic signals of different level types or different signal amplitudes. For example, the level type of the characteristic signal is high level or low level, or the signal amplitude of the characteristic signal is 0.5mA to 3A, or less than 0.1mA, or 0.5mV to 1.8V, or less than 0.1mV, etc.

[0079] In some embodiments, the controller 500 determines the target housing type of the cleaning housing assembly 300 based on a characteristic signal.

[0080] For example, the housing type includes automatic dust removal type and manual dust removal type. When the characteristic signal is high, the controller 500 determines that the target housing type of the cleaning housing assembly 300 is automatic dust removal type. When the characteristic signal is low, the controller 500 determines that the target housing type of the cleaning housing assembly 300 is manual dust removal type.

[0081] For example, the cleaning box type includes sweeping-only and sweeping-mopping-only types. When the cleaning box assembly 300 is of the sweeping-only type, the cleaning robot 100 can only sweep and cannot perform mopping operations. When the cleaning box assembly 300 is of the sweeping-mopping type, the cleaning robot 100 can perform both sweeping and mopping operations.

[0082] When the characteristic signal is less than 0.5mA or is 0, the controller 500 determines that the target bin type of the cleaning bin assembly 300 is a sweeping-only type. When the amplitude of the characteristic signal falls between 0.5mA and 3A, the controller 500 determines that the target bin type of the cleaning bin assembly 300 is a sweeping-mopping type.

[0083] For example, the housing type includes ordinary mopping type and special mopping type. When the housing type of the cleaning housing assembly 300 is ordinary mopping type, the cleaning housing assembly 300 can be configured to support the maintenance station in supporting automatic water replenishment, automatic sewage discharge, automatic dust discharge and water replenishment, automatic dust discharge and sewage discharge, or automatic dust discharge, water replenishment and sewage discharge. Alternatively, it may not be configured to support the maintenance station in supporting automatic water replenishment, automatic sewage discharge, automatic dust discharge and water replenishment, automatic dust discharge and sewage discharge, or automatic dust discharge, water replenishment and sewage discharge. In addition, when the housing type of the cleaning housing assembly 300 is ordinary mopping type, the cleaning housing assembly 300 usually has a basic structure corresponding to the mopping function and known to those skilled in the art. For example, the cleaning housing assembly 300 includes a main housing, a water outlet drive assembly, a mop holder, and a mop. The mop holder is detachably installed on the main housing, and the mop is set on the mop holder. The main housing is used to store clean liquid and / or collect dirty liquid, and the water outlet drive assembly is used to drive the clean liquid in the main housing to be output to the mop.

[0084] Understandably, when the cleaning robot is a standard mopping type, it cannot perform mopping operations if the mop holder is not installed on the main body. In some embodiments, when the cleaning robot receives a mopping command from the terminal, if the cleaning robot detects that the mop holder is not installed on the main body, it will not perform mopping operations and will send a prompt message to the terminal, which is used to remind the user that the mop holder needs to be installed.

[0085] Understandably, assuming the housing type is a standard mopping type, the cleaning robot 100 can perform sweeping operations when the mop holder is not installed on the main housing. In some embodiments, when the cleaning robot 100 receives a sweeping command from the terminal, even if the cleaning robot 100 detects that the mop holder is not installed on the main housing, the cleaning robot 100 can respond to the sweeping command and perform sweeping operations, such as collecting garbage from the ground into the main housing.

[0086] Understandably, assuming the housing type is a standard mopping type, the cleaning robot 100 can perform mopping operations when the mop bracket is installed on the main housing. In some embodiments, when the cleaning robot 100 receives a mopping instruction from the terminal, and the cleaning robot 100 detects that the mop bracket is installed on the main housing, the cleaning robot 100 can then perform mopping operations.

[0087] When the cleaning box assembly 300 is a special mopping type, as mentioned above, the cleaning box assembly 300 can also be configured to support the maintenance station to support automatic water replenishment, automatic sewage discharge, automatic dust removal and water replenishment, automatic dust removal and sewage discharge, or automatic dust removal, water replenishment and sewage discharge. Alternatively, it may not be configured to support the maintenance station to support automatic water replenishment, automatic sewage discharge, automatic dust removal and water replenishment, automatic dust removal and sewage discharge, or automatic dust removal, water replenishment and sewage discharge.

[0088] When the cleaning box assembly 300 is a special mopping type, in addition to having a basic structure that corresponds to the mopping function and is known to those skilled in the art, the cleaning box assembly 300 also needs to be equipped with a corresponding drive device and make corresponding structural improvements in combination with the characteristics of mopping operations.

[0089] In some embodiments, the special mopping type includes a rotary mop type. The cleaning tank assembly 300 includes a main tank, a water outlet drive assembly, a mop, and a mop drive device. The mop drive device is mounted on the main tank and connected to the mop, and can drive the mop to rotate relative to the cleaning robot. When performing mopping operations, the cleaning robot 100 moves while the mop drive device drives the mop to rotate relative to the central axis of the cleaning robot 100, thereby achieving the purpose of mopping the floor.

[0090] In some embodiments, when the special mopping type is a rotary mop, the mop drive device includes a gear transmission mechanism and a rotating shaft. The gear transmission mechanism is connected to the main housing, one end of the rotating shaft is connected to the gear transmission mechanism and is driven by the gear transmission mechanism to rotate, and the other end of the rotating shaft is connected to the mop. The gear transmission mechanism is controlled by the controller 500 to drive the rotating shaft to rotate the mop, thereby achieving the purpose of mopping the floor.

[0091] In some embodiments, the special mopping type includes a tracked mop type. The cleaning box assembly 300 includes a main box, a water outlet drive assembly, a mop, and a mop drive device. The difference between the mop drive device provided in this embodiment and the mop drive device in the above embodiments is that the mop drive device adopts a tracked drive principle. When performing mopping operations, the cleaning robot 100 moves while the mop drive device drives the tracked mop to rotate, thereby achieving the purpose of mopping the floor.

[0092] In some embodiments, when the special mopping type is a tracked mop type, the mop driving device includes a transmission mechanism and two rotating rollers arranged opposite each other. The rotating rollers are fixedly installed on the main housing, and the mop is arranged in a tracked manner on the two rotating rollers. The transmission mechanism is connected to the rotating rollers and is controlled by the controller 500 to drive the rotating rollers to rotate. The rotating rollers can drive the mop to rotate, thereby achieving the purpose of mopping the floor.

[0093] In some embodiments, the special mopping type is a vibrating mop type. The cleaning box assembly 300 includes a main box body, a water outlet drive assembly, a mop, and a mop drive device. The driving principle of the mop drive device provided in this embodiment differs from that of the mop drive devices in the above embodiments in that it adopts a vibrating cleaning principle. When performing mopping or sweeping / mopping operations, the cleaning robot 100 moves, and under the vibration of the mop drive device, the robot body also generates amplitude. Since the mop is installed at the lower end of the robot body, the robot body can carry the mop to vibrate. When performing mopping operations, the cleaning robot moves, and the mop also vibrates accordingly, generating axial vibrations outside the movement path under the action of the amplitude, thereby improving the mopping effect.

[0094] In some embodiments, the mop drive device includes a driver and an eccentric wheel. The rotation of the eccentric wheel causes the mop drive device to vibrate. The driver is located at a vibration station, which fixes the driver and ensures the stability of the mop drive device installation.

[0095] It is understood that those skilled in the art may employ other drive structures to relate to the mop drive device, which will not be elaborated here.

[0096] It is understandable that the mop drive device is usually fixedly installed on the main body. Unlike the mopping operation logic corresponding to the "normal mopping type" provided in the above embodiment, this embodiment does not need to detect the mop bracket. As long as it receives the mopping command sent by the terminal, it can perform the mopping operation.

[0097] In some embodiments, when the amplitude of the characteristic signal falls between 0.5mA and 3A, the controller 500 determines that the target housing type of the cleaning tank assembly 300 is a normal mopping type. When the characteristic signal falls between -0.5mA and -3A, the controller 500 determines that the target housing type of the cleaning tank assembly 300 is a special mopping type.

[0098] For example, the cabinet type includes types that support disinfection and sterilization and types that do not support disinfection and sterilization. When the amplitude of the characteristic signal falls between 0.5mA and 3A, the controller 500 determines that the target cabinet type of the cleaning cabinet assembly 300 is the type that supports disinfection and sterilization. When the characteristic signal is less than 0.5mA, the controller 500 determines that the target cabinet type of the cleaning cabinet assembly 300 is the type that does not support disinfection and sterilization.

[0099] Therefore, the controller 500 can determine the target box type of the cleaning box assembly based on a characteristic signal. This method is suitable for distinguishing cleaning box assemblies with two major categories of cleaning functions.

[0100] In some embodiments, the controller 500 is configured to determine the target housing type of the cleaning housing assembly 300 based on a combination of multiple characteristic signals.

[0101] Typically, the cleaning box component of each cleaning robot can support multiple different types of working modes. For example, the cleaning box component of a cleaning robot can simultaneously support automatic dust removal and automatic water replenishment modes, or simultaneously support automatic dust removal, automatic water replenishment, and automatic sewage removal modes, or simultaneously support automatic dust removal, automatic water replenishment, automatic sewage removal, and disinfection and sterilization modes, etc. Therefore, this embodiment can determine the target box type of the cleaning box component 300 based on the combination of multiple feature signals, thereby enabling a more granular determination of the target box type of the cleaning box component 300 to meet the differentiation needs of cleaning robots with multiple cleaning functions.

[0102] In some embodiments, the controller 500 is used to determine the target box type of the cleaning box assembly 300 based on a combination of multiple feature signals, including: the controller 500 determines the label corresponding to each feature signal based on each feature signal, combines the labels of each feature signal to obtain a label set, searches for a reference label set corresponding to the label set in a preset label library, and selects the box type corresponding to the reference label set as the target box type.

[0103] For example, when the characteristic signal S1 is high, it corresponds to automatic dust removal type P1, and the label is (S1:1, P1). When the characteristic signal S1 is low, it corresponds to manual dust removal type P2, and the label is (S1:0, P2).

[0104] When the characteristic signal S2 is high, it corresponds to the automatic water replenishment type Q1, and the label at this time is (S2:1,Q1). When the characteristic signal S2 is low, it corresponds to the manual water replenishment type Q2, and the label at this time is (S2:0,Q2).

[0105] When the characteristic signal S3 is high, it corresponds to automatic sewage discharge type R1, and the label at this time is (S3:1,R1). When the characteristic signal S3 is low, it corresponds to manual sewage discharge type R2, and the label at this time is (S3:0,R2).

[0106] When the characteristic signal S4 is high, it corresponds to sterilization type T1, and the label is recorded as (S4:1,T1). When the characteristic signal S4 is low, it corresponds to non-sterilization type T2, and the label is recorded as (S4:0,T2).

[0107] In the preset tag library, if the cleaning box component supports automatic dust removal, automatic water replenishment, and automatic wastewater discharge, the reference tag set is {(S1:1,P1),(S2:1,Q1),(S3:1,R1)}. If the cleaning box component only supports automatic dust removal, automatic water replenishment, automatic wastewater discharge, and disinfection / sterilization, the reference tag set is {(S1:1,P1),(S2:1,Q1),(S3:1,R1),(S4:1,T1)}. If the cleaning box component supports manual dust removal, manual water replenishment, and manual wastewater discharge, the reference tag set is {(S1:0,P2),(S2:0,Q2),(S3:0,R2)}. If the cleaning box assembly only supports manual dust removal, manual water replenishment, manual waste removal, and sterilization, then the reference tag set is {(S1:0,P2),(S2:0,Q2),(S3:0,R2),(S4:1,T1)}. If the cleaning box assembly supports manual dust removal, manual water replenishment, manual waste removal, and no sterilization, then the reference tag set is {(S1:0,P2),(S2:0,Q2),(S3:0,R2),(S4:0,T2)}.

[0108] Therefore, when the controller receives a tag set of {(S1:1,P1),(S2:1,Q1),(S3:1,R1)}, the set of automatic dust removal, automatic water replenishment, and automatic sewage discharge types is selected as the target enclosure type. Similarly, when the controller receives a tag set of {(S1:0,P2),(S2:0,Q2),(S3:0,R2)}, the set of manual dust removal, manual water replenishment, and manual sewage discharge types is selected as the target enclosure type, and so on. This will not be elaborated further here.

[0109] Once the controller determines the target enclosure type, it can also determine the supported operating modes for that type. As mentioned earlier, if the target enclosure type is a combination of automatic dust removal, automatic water replenishment, and automatic sewage discharge, then the cleaning enclosure component supports these three operating modes. Similarly, if the target enclosure type is a combination of manual dust removal, manual water replenishment, and manual sewage discharge, then the cleaning enclosure component supports these three operating modes.

[0110] In some embodiments, the characteristic signal includes a dust box characteristic signal; please refer to [link / reference]. Figure 3The detection system 400 includes a first sensor 41, which senses a first detectable part on the cleaning box assembly 300 to acquire a dustbin characteristic signal of the cleaning box assembly 300. The dustbin characteristic signal is used to characterize whether the cleaning box assembly 300 supports an automatic dust removal mode / manual dust removal mode. The dustbin characteristic signal can be a high level or a low level, or it can fall within one of two signal amplitude ranges, such as a first signal amplitude range of 0.5mA to 3A and a second signal amplitude range of less than 0.1mA.

[0111] In some embodiments, the controller 500 is configured to determine a target dust removal working mode supported by the cleaning box assembly 300 based on the dust box characteristic signal. In some embodiments, the target dust removal working mode includes an automatic dust removal working mode or a manual dust removal working mode.

[0112] In some embodiments, when the first sensor 41 collects a first type of dust box characteristic signal, the controller 500 determines that the target box type of the cleaning box assembly 300 supports the automatic dust removal working mode. Therefore, the controller 500 can control the cleaning robot 100 to enter the automatic dust removal working mode, wherein the first type of dust box characteristic signal is used to characterize that the target box type of the cleaning box assembly 300 supports the automatic dust removal working mode.

[0113] In some embodiments, when the first sensor 41 collects the second type of dust box feature signal, the controller 500 determines that the target box type of the cleaning box assembly 300 supports the manual dust removal working mode. Therefore, the controller 500 can control the cleaning robot 100 to enter the manual dust removal working mode, wherein the second type of dust box feature signal is used to characterize that the target box type of the cleaning box assembly 300 supports the manual dust removal working mode.

[0114] In some embodiments, the first type of dustbin characteristic signal can be high level and the second type of dustbin characteristic signal can be low level, or the first type of dustbin characteristic signal can be low level and the second type of dustbin characteristic signal can be high level.

[0115] In some embodiments, the first type of dustbin characteristic signal falls within a first signal amplitude range, and the second type of dustbin characteristic signal falls within a second signal amplitude range; or, the first type of dustbin characteristic signal falls within a second signal amplitude range, and the second type of dustbin characteristic signal falls within a first signal amplitude range.

[0116] In some embodiments, the controller 500 determines the target dust removal operating mode supported by the cleaning box assembly 300 based on the dust box characteristic signal, including: if the controller 500 determines that the signal type of the dust box characteristic signal belongs to a first signal type, then the dust box characteristic signal is a first type of dust box characteristic signal. If the controller 500 determines that the signal type of the dust box characteristic signal belongs to a second signal type, then the dust box characteristic signal is a second type of dust box characteristic signal.

[0117] As mentioned above, the first signal type can be a high-level type, and the second signal type can be a low-level type, or the first signal type can be a low-level type, and the second signal type can be a high-level type, or the signal type of the dust box characteristic signal falling within the amplitude range of the first signal is the first signal type, and the signal type of the dust box characteristic signal falling within the amplitude range of the second signal is the second signal type, or the signal type of the dust box characteristic signal falling within the amplitude range of the second signal is the first signal type, and the signal type of the dust box characteristic signal falling within the amplitude range of the first signal is the second signal type.

[0118] In some embodiments, the characteristic signal includes a water tank characteristic signal; please continue reading. Figure 3 The detection system 400 includes a second sensor 42, which senses a second part to be detected on the cleaning tank assembly 300 to acquire a water tank characteristic signal. The water tank characteristic signal characterizes whether the cleaning tank assembly 300 supports a normal mopping mode / a special mopping mode. The water tank characteristic signal can be high or low, or it can fall within one of two signal amplitude ranges, such as a third signal amplitude range of 0.5mA to 3A and a fourth signal amplitude range of less than 0.1mA.

[0119] In some embodiments, the controller 500 is configured to determine a target mopping working mode supported by the cleaning tank assembly 300 based on a water tank characteristic signal. In some embodiments, the target mopping working mode includes a normal mopping working mode or a special mopping working mode.

[0120] In some embodiments, when the second sensor 42 acquires a first type of water tank characteristic signal, the controller 500 determines that the target tank type of the cleaning tank assembly 300 supports the normal mopping working mode. The first type of water tank characteristic signal is used to characterize that the target tank type of the cleaning tank assembly 300 supports the normal mopping working mode.

[0121] When the cleaning robot 100 is in normal mopping mode, it cannot perform mopping operations if the mop holder is not attached to it; however, it can perform sweeping operations. When the mop holder is attached to the main body, the cleaning robot 100 can perform mopping operations.

[0122] In some embodiments, when the second sensor 42 acquires a second type of water tank characteristic signal, the controller 500 determines that the target tank type of the cleaning tank assembly 300 supports a special mopping working mode. The second type of water tank characteristic signal is used to characterize that the target tank type of the cleaning tank assembly 300 supports a special mopping working mode.

[0123] When the cleaning robot 100 enters its special mopping mode, it can perform mopping operations without needing to detect whether the mop holder is installed. It is understood that in some embodiments, the cleaning robot 100 cannot perform sweeping operations when in special mopping mode. In some embodiments, the cleaning robot 100 can also perform sweeping operations when in special mopping mode; the specific choice can be defined by the designer according to product requirements.

[0124] In some embodiments, the characteristic signal of the first type of water tank can be high level and the characteristic signal of the second type of water tank can be low level, or the characteristic signal of the first type of water tank can be low level and the characteristic signal of the second type of water tank can be high level.

[0125] In some embodiments, the characteristic signal of the first type of water tank falls within the amplitude range of the third signal, and the characteristic signal of the second type of water tank falls within the amplitude range of the fourth signal; or, the characteristic signal of the first type of water tank falls within the amplitude range of the fourth signal, and the characteristic signal of the second type of water tank falls within the amplitude range of the third signal.

[0126] In some embodiments, the controller 500 determines the target mopping mode supported by the cleaning tank assembly 300 based on the water tank characteristic signal, including: if the controller 500 determines that the signal type of the water tank characteristic signal belongs to a third signal type, then the water tank characteristic signal is a first type of water tank characteristic signal. If the controller 500 determines that the signal type of the water tank characteristic signal belongs to a fourth signal type, then the water tank characteristic signal is a second type of water tank characteristic signal.

[0127] As mentioned above, the third signal type can be a high-level type, and the fourth signal type can be a low-level type, or the third signal type can be a low-level type, and the fourth signal type can be a high-level type, or the signal type of the water tank characteristic signal falling within the amplitude range of the third signal is the third signal type, and the signal type of the dust box characteristic signal falling within the amplitude range of the fourth signal is the fourth signal type, or the signal type of the water tank characteristic signal falling within the amplitude range of the fourth signal is the third signal type, and the signal type of the dust box characteristic signal falling within the amplitude range of the third signal is the fourth signal type.

[0128] In some embodiments, special mopping modes include rotary mopping mode, tracked mopping mode, or vibratory mopping mode.

[0129] As mentioned above, when the cleaning robot 100 enters the rotary mopping working mode, the mop drive device of the cleaning robot 100 drives the mop to rotate, thereby achieving the purpose of mopping the floor.

[0130] As mentioned above, when the cleaning robot 100 enters the tracked mopping working mode, the mop drive device of the cleaning robot 100 drives the tracked mop to rotate, thereby achieving the purpose of mopping the floor.

[0131] As mentioned above, when the cleaning robot 100 enters the vibration mopping mode, the cleaning robot 100 also generates an amplitude under the vibration of the mop drive device. Since the mop is installed at the lower end of the cleaning robot 100, the cleaning robot 100 can carry the mop to vibrate, thereby achieving the purpose of mopping the floor.

[0132] Understandably, to determine whether the cleaning box assembly 300 supports automatic dust removal mode / manual dust removal mode / normal mopping mode / special mopping mode, as mentioned above, the designer may configure corresponding test components in the first or second test section according to design requirements, or may choose not to configure corresponding test components in the first or second test section depending on the target box type of the cleaning box assembly 300. Alternatively, the designer may configure test components capable of generating different types of characteristic signals in the first or second test section. Alternatively, an electrical signal may be applied to the first or second test section, and the presence or absence of a loop characteristic signal may determine whether the cleaning box assembly 300 supports automatic dust removal mode / manual dust removal mode / normal mopping mode / special mopping mode.

[0133] In some embodiments, the cleaning box assembly 300 may selectively configure or not configure a trigger at at least one detection section. That is, the designer may configure or not configure a trigger at the detection section of the cleaning box assembly 300. Here, the trigger may be a first trigger.

[0134] It is understood that the part to be tested here can be the first part to be tested or the second part to be tested mentioned above, or it can be any other part to be tested after removing the first part to be tested and the second part to be tested from the at least one part to be tested.

[0135] In some embodiments, the detection system 400 includes at least one sensor that, when mounted on the robot body 200 along with the cleaning box assembly 300, is capable of acquiring feature signals on the part to be detected at the corresponding location.

[0136] In some embodiments, the detection system 400 includes at least one sensor that is mounted on the robot body 200 along with the cleaning box assembly 300 and aligned with at least one part to be detected, so as to allow the sensor to collect feature signals on the part to be detected at the corresponding position.

[0137] It is understood that the sensor here can be the first sensor or the second sensor mentioned above, or it can be any other sensor among the at least one sensors except for the first sensor and the second sensor.

[0138] In some embodiments, the trigger can be a tag, and the sensor can be a tag reader / writer, wherein the characteristic signal is a tag signal. If the detection part of the cleaning box assembly 300 is equipped with a trigger, the sensor can collect a tag signal with a certain signal amplitude. If the detection part of the cleaning box assembly 300 is not equipped with a trigger, the sensor does not collect a tag signal with a relatively low signal amplitude, close to 0, or equal to 0. In some embodiments, the tag is any suitable type of tag, including low-frequency RFID tags, high-frequency RFID tags, or ultra-high-frequency RFID tags.

[0139] In some embodiments, the trigger can be an object for reflecting light or an object for absorbing light, such as a plane mirror or a blackbody, the sensor can be a light intensity detector, such as an infrared transceiver, and the characteristic signal is a light intensity signal.

[0140] If the detection unit of the cleaning box assembly 300 is equipped with a trigger for reflecting light, the sensor can collect a light intensity signal with a certain signal amplitude. If the detection unit of the cleaning box assembly 300 is not equipped with a trigger for reflecting light, the sensor will not collect a light intensity signal with a relatively low signal amplitude, or a signal amplitude close to 0, or a signal amplitude of 0.

[0141] If the detection unit of the cleaning box assembly 300 is equipped with a trigger for absorbing light, the sensor can collect a light intensity signal with a relatively low signal amplitude, close to 0, or zero. If the detection unit of the cleaning box assembly 300 is not equipped with a trigger for absorbing light, the sensor does not collect a light intensity signal with a certain signal amplitude.

[0142] In some embodiments, the trigger is a magnetic element, the sensor is a magnetic field sensor, the feature signal is a magnetic feature signal, the magnetic element is an object used to generate a magnetic field signal, the magnetic element can be a magnetic object such as a magnet, the magnetic field sensor is a sensor used to sense the magnetic field signal generated by the magnetic element, and the magnetic feature signal is a feature signal obtained by sensing the magnetic field signal.

[0143] If the detection part of the cleaning box assembly 300 is configured as a trigger for a magnetic component, the sensor can acquire a magnetic field characteristic signal with an absolute value greater than zero. If the detection part of the cleaning box assembly 300 is not configured as a trigger for a magnetic component, the sensor can acquire a magnetic field characteristic signal with an absolute value equal to zero.

[0144] In some embodiments, when the feature signal satisfies a first housing type condition, the feature signal can be used to characterize that the target housing type of the cleaning housing assembly is a first housing type. When the feature signal satisfies a second housing type condition, the feature signal can be used to characterize that the target housing type of the cleaning housing assembly is a second housing type.

[0145] In some embodiments, satisfying the first housing type condition includes the absolute value of the feature signal being greater than or equal to a preset threshold, and satisfying the second housing type condition includes the absolute value of the feature signal being less than a preset threshold. Therefore, in some embodiments, when the absolute value of the feature signal is greater than or equal to the preset threshold, the feature signal is used to characterize the target housing type of the cleaning housing assembly as the first housing type. When the absolute value of the feature signal is less than the preset threshold, the feature signal is used to characterize the target housing type of the cleaning housing assembly as the second housing type. The first housing type and the second housing type are different housing types.

[0146] In some embodiments, the preset critical threshold can be customized by the designer based on engineering experience, such as a preset critical threshold of 0.

[0147] In some embodiments, the first housing type or the second housing type can be any of the housing types described above, such as the first housing type being an automatic dust removal type, and the second housing type being a manual dust removal type, etc. It is understood that the first housing type and the second housing type can be customized by the designer according to product requirements. For example, the first housing type can be a manual dust removal type, and the second housing type can be an automatic dust removal type, or the first housing type can be an automatic water replenishment type, and the second housing type can be a manual water replenishment type, etc.

[0148] In this embodiment, please refer to Figure 4 Assuming the trigger 41 is a magnetic component, the sensor 42 is a magnetic field sensor, and the characteristic signal is a magnetic characteristic signal, when the cleaning box assembly 300 is mounted on the robot body 200, the magnetic field sensor is aligned with the part to be detected 43. If the magnetic field sensor detects the presence of the magnetic component and thus obtains a high-level magnetic field characteristic signal, the controller 500 determines that the part to be detected in the cleaning box assembly 300 is equipped with a magnetic component based on the high-level magnetic field characteristic signal. If the magnetic field sensor does not detect the presence of the magnetic component and thus obtains a low-level magnetic field characteristic signal, the controller 500 determines that the part to be detected in the cleaning box assembly 300 is not equipped with a magnetic component based on the low-level magnetic field characteristic signal.

[0149] For cleaning box assemblies that support automatic dust removal operation, a magnetic component can be installed in the detection section of the cleaning box assembly. For cleaning box assemblies that support manual dust removal operation, a magnetic component can be omitted from the detection section. When the magnetic sensor detects a high-level magnetic field characteristic signal, the controller 500 determines that the cleaning box assembly supports automatic dust removal operation. When the magnetic sensor detects a low-level magnetic field characteristic signal, the controller 500 determines that the cleaning box assembly supports manual dust removal operation.

[0150] In some embodiments, please continue reading Figure 4 The detection unit 43 is provided with a first magnetic limiting groove 44. The magnetic component is installed in the first magnetic limiting groove 44. The first magnetic limiting groove 44 can fix the magnetic component and prevent the magnetic component from being unstable or falling off, so that the magnetic sensor can reliably detect the magnetic field characteristic signal.

[0151] In some embodiments, please continue reading Figure 4 The robot body 200 is provided with a first Hall limiting groove 45, and the magnetic sensor is installed in the first Hall limiting groove 45. The first Hall limiting groove 45 can fix the magnetic sensor and prevent the magnetic sensor from being unstable or falling off, so that the magnetic sensor can reliably detect the magnetic field characteristic signal.

[0152] In some embodiments, the magnetic sensor is a single-output omnipolar Hall sensor. The single-output omnipolar Hall sensor can detect magnetic components of any magnetic nature and output a magnetic field characteristic signal in a single channel. That is, regardless of whether the part to be detected is equipped with an N-pole magnetic component or an S-pole magnetic component, the magnetic sensor can reliably detect the presence of the magnetic component and output a magnetic field characteristic signal in a single channel. The magnetic field characteristic signal can be a high level or a low level. However, when the part to be detected is not equipped with a magnetic component, the magnetic field characteristic signal is 0. Therefore, by using a single-output omnipolar Hall sensor, it is possible to detect both N-pole and S-pole magnetic components, thereby improving the detection range.

[0153] Please see Figure 5 The cleaning box assembly 300 can be equipped with a magnetic component at the detection section 43. The detection system 400 includes a magnetic field sensor, which can be either a first sensor or a second sensor. When the cleaning box assembly 300 is mounted on the robot body 200, the magnetic sensor is aligned close to the detection section. The magnetic sensor can detect the presence of the magnetic component, thereby obtaining a high-level magnetic field characteristic signal. Wherein, if the magnetic sensor is the first sensor, the detection section is designated as the first detection section; or, if the magnetic sensor is the second sensor, the detection section is designated as the second detection section.

[0154] It is understandable that, such as Figure 5 As shown, in order to improve the signal strength of the magnetic field characteristic signal, the cleaning box assembly 300 can be configured with one or more magnetic elements in one part to be tested, or the cleaning box assembly 300 can be configured with one or more magnetic elements in two or more parts to be tested.

[0155] In some embodiments, the difference from the above embodiments is that the cleaning box assembly 300 has at least one trigger at at least one detection section. That is, at least one trigger is provided at at least one detection section of the cleaning box assembly 300. For example, the cleaning box assembly 300 includes a detection section V1, which is provided with one or two triggers. Alternatively, the cleaning box assembly 300 includes a detection section V1, a detection section V2, and a detection section V3, wherein each of the detection sections V1 and V2 is provided with one trigger, and the detection section V3 is provided with two triggers; or, each of the detection sections V1, V2, and V3 is provided with two triggers. To distinguish this from the triggers mentioned above, the trigger here may be a second trigger.

[0156] It is understood that the part to be tested here can be the first part to be tested or the second part to be tested mentioned above, or it can be any other part to be tested after removing the first part to be tested and the second part to be tested from the at least one part to be tested.

[0157] In some embodiments, the detection system 400 includes at least one sensor that, when mounted on the robot body 200 along with the cleaning box assembly 300, is capable of acquiring feature signals on the part to be detected at the corresponding location.

[0158] In some embodiments, the detection system 400 includes at least one sensor that is mounted on the robot body 200 along with the cleaning box assembly 300 and aligned with at least one trigger to allow the sensor to collect feature signals on the part to be detected at the corresponding location.

[0159] It is understood that the sensor here can be the first sensor or the second sensor mentioned above, or it can be any other sensor among the at least one sensors except for the first sensor and the second sensor.

[0160] In some embodiments, the sensor detects different types of triggers and can collect different types of characteristic signals, so that the controller can determine the operating mode supported by the cleaning box assembly based on the different types of characteristic signals.

[0161] In some embodiments, the feature signal includes a first feature signal and a second feature signal, wherein the types of the first feature signal and the types of the second feature signal are mutually exclusive.

[0162] For example, the trigger may include a first trigger or a second trigger. The sensor senses the first trigger to obtain a first characteristic signal, which is positive. The sensor senses the second trigger to obtain a second characteristic signal, which is negative. Alternatively, the first characteristic signal is negative and the second characteristic signal is of a low level type.

[0163] For another example, the trigger includes a first trigger or a second trigger. The sensor senses the first trigger and obtains a first characteristic signal, wherein the first characteristic signal is a magnetic pole characteristic signal generated by the N magnetic pole and the second characteristic signal is a magnetic pole characteristic signal generated by the S magnetic pole, or the first characteristic signal is a magnetic pole characteristic signal generated by the S magnetic pole and the second characteristic signal is a magnetic pole characteristic signal generated by the N magnetic pole.

[0164] As mentioned earlier, the trigger here can be a tag, an object for reflecting light, an object for absorbing light, or a magnetic component, etc., and the sensor here can be a tag reader / writer, a light intensity detector, or a magnetic sensor, etc.

[0165] In some embodiments, when the feature signal satisfies the third housing type condition, the feature signal can be used to characterize that the target housing type of the cleaning housing assembly is the third housing type. When the feature signal satisfies the fourth housing type condition, the feature signal can be used to characterize that the target housing type of the cleaning housing assembly is the fourth housing type.

[0166] In some embodiments, satisfying the third housing type condition includes the absolute value of the feature signal being greater than or equal to a preset threshold, and satisfying the fourth housing type condition includes the absolute value of the feature signal being less than a preset threshold. Therefore, in some embodiments, when the absolute value of the feature signal is greater than or equal to the preset threshold, the feature signal is used to characterize the target housing type of the cleaning housing assembly as the third housing type. When the absolute value of the feature signal is less than the preset threshold, the feature signal is used to characterize the target housing type of the cleaning housing assembly as the fourth housing type. The third housing type and the fourth housing type are different housing types.

[0167] In some embodiments, the preset critical threshold can be customized by the designer based on engineering experience, such as a preset critical threshold of 0.

[0168] In some embodiments, the trigger is a magnetic element, the sensor is a magnetic pole sensor, and the feature signal is a magnetic pole feature signal. When the feature signal is a first magnetic pole feature signal, the first magnetic pole feature signal is used to characterize the target housing type of the cleaning box assembly as a third housing type. When the feature signal is a second magnetic pole feature signal, the second magnetic pole feature signal is used to characterize the target housing type of the cleaning box assembly as a fourth housing type. The first and second magnetic pole feature signals are magnetic field signals with opposite magnetic properties; that is, the first magnetic pole feature signal is a feature signal of a magnetic element with a first magnetic property collected by the magnetic pole sensor, and the second magnetic pole feature signal is a feature signal of a magnetic element with a second magnetic property collected by the magnetic pole sensor. Specifically, when the first magnetic property is an S pole, the second magnetic property is an N pole, or when the first magnetic property is an N pole, the second magnetic property is an S pole.

[0169] Since installing magnetic components is relatively simple and does not require major structural modifications, and feature signals can be collected without contact, it helps to reduce product design difficulty and cost.

[0170] In some embodiments, the third or fourth housing type can be any of the housing types described above. For example, the third housing type can be a standard mopping type, and the fourth housing type can be a special mopping type, etc. It is understood that the third and fourth housing types can be customized by the designer according to product requirements. For example, the third housing type can be a special mopping type, and the fourth housing type can be a standard mopping type; or the third housing type can be an automatic water replenishment type, and the fourth housing type can be a manual water replenishment type, etc.

[0171] In some embodiments, please refer to Figure 6Assuming the trigger 61 is a magnetic element and the sensor 62 is a magnetic pole sensor, the characteristic signal is a magnetic pole characteristic signal. When the cleaning box assembly 300 is mounted on the robot body 200, the magnetic pole sensor is aligned with the part to be detected. When the part to be detected of the cleaning box assembly 300 is equipped with a magnetic element, the magnetic pole sensor can sense the presence of the magnetic element. When the magnetic element has a first magnetic property, a high-level first magnetic pole characteristic signal is obtained; when the magnetic element has a second magnetic property, a low-level second magnetic pole characteristic signal is obtained. Specifically, when the first magnetic property is the S pole, the second magnetic property is the N pole, or vice versa.

[0172] For example, for a cleaning tank assembly 300 that supports a normal mopping mode, a magnetic component with the N pole can be provided in the detection section of the cleaning tank assembly 300. For a cleaning tank assembly that supports a special mopping mode, a magnetic component with the S pole can be provided in the detection section of the cleaning tank assembly 300. When the magnetic pole sensor detects a high-level first magnetic pole characteristic signal, it indicates that the magnet has the N pole, and the cleaning tank assembly 300 supports the normal mopping mode. When the magnetic pole sensor detects a low-level second magnetic pole characteristic signal, it indicates that the magnet has the S pole, and the cleaning tank assembly 300 supports the special mopping mode.

[0173] In some embodiments, please continue reading Figure 6 The detection unit 63 is provided with a second magnetic limiting groove 64. The magnetic component is installed in the second magnetic limiting groove 64. The second magnetic limiting groove 64 can fix the magnetic component and prevent the magnetic component from being unstable or falling off, so that the magnetic pole sensor can reliably detect the magnetic field characteristic signal.

[0174] In some embodiments, please continue reading Figure 6 The robot body 200 is provided with a second Hall limiting groove 65, and the magnetic pole sensor is installed in the second Hall limiting groove 65. The second Hall limiting groove 65 can fix the magnetic pole sensor, avoiding the situation where the magnetic pole sensor is not stable or falls off, so that the magnetic pole sensor can reliably detect the magnetic pole characteristic signal.

[0175] In some embodiments, the magnetic pole sensor is a dual-output unipolar Hall sensor. This dual-output unipolar Hall sensor can detect magnetic components of each type of magnetism and output magnetic pole characteristic signals through dual channels. That is, when the part to be detected is equipped with an N-pole magnetic component, the magnetic pole sensor outputs a high-level first magnetic pole characteristic signal. When the part to be detected is equipped with an S-pole magnetic component, the magnetic pole sensor outputs a low-level second magnetic pole characteristic signal. Therefore, the dual-output unipolar Hall sensor can support the detection of magnetic components with any magnetic pole, and also helps to improve the detection range.

[0176] Please see Figure 7The cleaning box assembly 300 has a magnetic element with an S pole at the detection part 63. The detection system 400 includes a magnetic pole sensor, which can be a second sensor or a first sensor. When the cleaning box assembly 300 is mounted on the robot body 200, the magnetic pole sensor is aligned close to the detection part 63. Therefore, the magnetic pole sensor can sense the magnetic element with the S pole, thereby obtaining a low-level second magnetic pole characteristic signal, indicating that the cleaning box assembly 300 supports a special mopping working mode.

[0177] It is understandable that, such as Figure 7 As shown, in order to improve the signal strength of the magnetic field characteristic signal, the cleaning box assembly 300 can be configured with one or more magnetic elements with the same magnetic properties in one part to be tested, or the cleaning box assembly 300 can be configured with one or more magnetic elements with the same magnetic properties in two or more parts to be tested.

[0178] In some embodiments, the cleaning box assembly 300 may be configured with functional modules or not, and the plurality of parts to be tested in the cleaning box assembly 300 includes a target part to be tested.

[0179] When the cleaning box assembly 300 is a housing type configured with functional modules, the target detection part is configured as a reserved power supply part for the corresponding functional module. That is, in some embodiments, when it is necessary to configure a corresponding functional module for the cleaning box assembly 300, the target detection part can be configured as a conductive reserved power supply part, and the functional module is electrically connected to the target detection part. The functional module is an electrical module capable of performing a corresponding function. The reserved power supply part is a portion that can input drive signals to the functional module; therefore, the reserved power supply part is a conductive portion. The drive signal includes drive current or drive voltage.

[0180] When the cleaning box assembly 300 is a box type without configured functional modules, the target detection part is configured as a non-conductive part. That is, in some embodiments, when it is not necessary to configure functional modules for the cleaning box assembly 300, the target detection part can be configured as a non-conductive part that cannot conduct electricity, wherein the non-conductive part is a part that isolates the drive signal.

[0181] The detection system 400 includes a sensor mounted on the robot body 200 along with the cleaning box assembly 300 and docking with the target part to be detected. This allows the sensor to acquire loop characteristic signals on the target part at the corresponding location. The loop characteristic signals characterize whether the target part is electrically connected to a functional module. For example, a drive signal is applied to the target part, and the loop characteristic signal corresponding to the target part is acquired. Based on the loop characteristic signal, it is determined whether the target part is electrically connected to a functional module.

[0182] In some embodiments, the controller 500 is used to determine whether the target part to be detected is electrically connected to the functional module based on the loop characteristic signal. The controller 500 is used to determine whether the loop characteristic signal meets the preset functional conditions. If it does, the target part to be detected is electrically connected to the functional module. If it does not, the target part to be detected is not electrically connected to the functional module.

[0183] When the controller 500 determines that the target part to be detected is electrically connected to the functional module, it determines that the target box type of the cleaning box assembly supports the working mode corresponding to the functional module.

[0184] In some embodiments, satisfying the preset functional conditions includes the absolute value of the loop characteristic signal being greater than or equal to a preset threshold value, and not satisfying the preset functional conditions includes the absolute value of the loop characteristic signal being less than the preset threshold value. It is understood that those skilled in the art can construct suitable preset functional conditions based on the content described herein, and are not limited to the conditions described above.

[0185] In some embodiments, when the absolute value of the loop characteristic signal is greater than or equal to a preset threshold, the loop characteristic signal is used to characterize the electrical connection of the target detection part to the functional module. When the absolute value of the loop characteristic signal is less than the preset threshold, the loop characteristic signal is used to characterize the target detection part not being electrically connected to the functional module.

[0186] In some embodiments, the loop characteristic signal is a current loop characteristic signal. When the cleaning box assembly 300 is installed on the robot body 200, the controller 500 can input a drive signal to the target detection part through the sensor. If the cleaning box assembly 300 is a box type configured with functional modules, the functional modules, the target detection part, the sensor, and the controller 500 can form a loop. The loop flows through a current loop characteristic signal with a current value greater than 0. Therefore, the controller 500 determines that the cleaning box assembly 300 is configured with the corresponding functional module based on the loop characteristic signal greater than 0. If the cleaning box assembly is not equipped with the corresponding functional module, since the target detection part corresponding to the corresponding functional module is configured as a non-conductive part, the target detection part, the sensor, and the controller 500 cannot form a loop. No current flows through the loop, so the current loop characteristic signal is equal to zero. Therefore, the controller 500 determines that the cleaning box assembly 300 is not configured with the corresponding functional module based on the current loop characteristic signal equal to zero.

[0187] Please see Figure 8When the target part to be detected is configured as a reserved power supply part for the corresponding functional module, the controller 500 includes a microprocessor 51 and a drive circuit 52. The microprocessor 51 is electrically connected to the drive circuit 52, and the drive circuit 52 is electrically connected to the third sensor 53. Assuming the cleaning box assembly 300 is equipped with a functional module, when the cleaning box assembly 300 is mounted on the robot body 200, the third sensor 53 interfaces with the target part to be detected 54. The functional module 55, the target part to be detected 54, the third sensor 53, and the drive circuit 52 form a loop. The microprocessor 51 controls the drive circuit 52 to generate a drive current greater than 0 or less than 0. The loop contains a drive current, which is a current loop characteristic signal. Assuming the cleaning box assembly 300 is not equipped with a functional module, the drive current is 0 because a loop cannot be formed.

[0188] In some embodiments, the difference from the above embodiments is that the loop characteristic signal is a voltage loop characteristic signal. When the cleaning box assembly 300 is installed on the robot body 200, the controller 500 can input a drive signal to the target detection part through the sensor. If the cleaning box assembly 300 is a box type with configured functional modules, the functional modules, the target detection part, the sensor, and the controller 500 can form a loop. The sensor can collect a loop characteristic signal with a voltage value greater than 0 on the target detection part in the loop. Therefore, the controller 500 determines that the cleaning box assembly 300 is configured with a corresponding functional module based on the voltage loop characteristic signal greater than 0. If the cleaning box assembly is not equipped with a corresponding functional module, since the target detection part corresponding to the corresponding functional module is configured as a non-conductive part, a loop cannot be formed between the target detection part, the sensor, and the controller 500. The voltage value of the sensor will be the initial value. Therefore, the controller 500 determines that the cleaning box assembly 300 is not configured with a corresponding functional module based on the loop characteristic signal equal to the initial value.

[0189] Please see Figure 9When the target part to be detected is configured as a reserved power supply part for the corresponding functional module, the controller 500 includes a microprocessor 71, a drive circuit 72, and a sampling circuit 73. The microprocessor 71 is electrically connected to the drive circuit 72, the drive circuit 72 is electrically connected to the sampling circuit 73, and the drive circuit 73 is electrically connected to the fourth sensor 74. Assuming that the cleaning box assembly 300 is configured with a functional module, when the cleaning box assembly 300 is installed on the robot body 200, the fourth sensor 74 is docked with the target part to be detected 75. The functional module 76, the target part to be detected 75, the fourth sensor 74, the sampling circuit 73, and the drive circuit 72 form a loop. The microprocessor 71 controls the drive circuit 72 to generate a drive current. The loop is filled with a drive current, which causes the sampling circuit 73 to generate a sampling voltage greater than 0. The sampling voltage is a voltage loop characteristic signal. For example, the sampling circuit 73 includes a first resistor R1 and a second resistor R2. When the functional module 76, the target detection unit 75, the fourth sensor 74, the sampling circuit 73, and the drive circuit 72 form a loop, the drive current can cause the second resistor R2 to generate a sampling voltage greater than 0. If the cleaning box assembly 300 is not equipped with a functional module, the sampling voltage will be 0 because a loop cannot be formed.

[0190] In some embodiments, the cleaning box assembly may be configured with any one or more of the following functional modules: air pump, water pump, rotary mop drive device, tracked mop drive device, vibrating mop drive device, disinfection module, ultraviolet lamp module, humidifier module, and fan.

[0191] In some embodiments, when the cleaning tank assembly is configured with a functional module including an air pump, the air pump is installed within the cleaning tank assembly and is used to perform any of the following functions: extracting clean liquid from the cleaning tank assembly to the mop, collecting debris into the cleaning tank assembly, or wetting the floor. It is understood that in some embodiments, when an air pump is detected in the cleaning tank assembly, the tank type of the cleaning tank assembly can be either a sweeping-only type or a sweeping-mopping type.

[0192] The target detection unit includes a first target detection unit. To detect whether the cleaning box assembly is equipped with a function module using an air pump, the controller 500 can input a drive signal to the first target detection unit corresponding to the target detection unit via a sensor. If the cleaning box assembly is equipped with a function module using an air pump, the air pump, the first target detection unit, the sensor, and the controller 500 can form a loop, and a loop characteristic signal with a value greater than 0 flows through the loop. Therefore, the controller 500 determines that the cleaning box assembly 300 is equipped with an air pump based on the loop characteristic signal greater than 0. If the cleaning box assembly is not equipped with a function module using an air pump, the first target detection unit, the sensor, and the controller 500 cannot form a loop, and no current flows through the loop. Therefore, the loop characteristic signal is equal to zero, and the controller 500 determines that the cleaning box assembly 300 is not equipped with an air pump based on the loop characteristic signal equal to zero.

[0193] In some embodiments, when the cleaning box assembly is configured with a functional module including a water pump, the water pump is installed inside the cleaning box assembly and is used to perform any of the following functions: drawing clean liquid from the cleaning box assembly to the mop, collecting dirty liquid into the cleaning box assembly, wetting the floor, etc. It is understood that in some embodiments, when a water pump is detected in the cleaning box assembly, it can be determined that the cleaning box assembly 300 is a sweeping and mopping type. When a water pump is detected in the cleaning box assembly, it can be determined that the cleaning box assembly 300 is a sweeping-only type, that is, the cleaning box assembly 300 can be considered a regular dustbin.

[0194] The target detection unit includes a second target detection unit. To detect whether the cleaning box assembly is equipped with a water pump function module, the controller 500 can input a drive signal to the second target detection unit corresponding to the target detection unit via a sensor. If the cleaning box assembly is equipped with a water pump function module, the water pump, the second target detection unit, the sensor, and the controller 500 can form a loop, and a loop characteristic signal with a current value greater than 0 flows through the loop. Therefore, the controller 500 determines that the cleaning box assembly 300 is equipped with a water pump based on the loop characteristic signal greater than 0. If the cleaning box assembly is not equipped with a water pump function module, the second target detection unit, the sensor, and the controller 500 cannot form a loop, and no current flows through the loop. Therefore, the loop characteristic signal is equal to zero, and the controller 500 determines that the cleaning box assembly 300 is not equipped with a water pump based on the zero loop characteristic signal.

[0195] In some embodiments, when the cleaning box assembly is configured with functional modules including a rotary mop drive device, a tracked mop drive device, or a vibrating mop drive device, the rotary mop drive device, tracked mop drive device, or vibrating mop drive device is installed inside the cleaning box assembly to drive the mop to rotate and mop the floor, or to mop the floor in a tracked manner or vibrating motion.

[0196] It is understood that, in some embodiments, when the cleaning box assembly is detected to be equipped with a rotary mop drive, a tracked mop drive, or a vibrating mop drive, the box type of the cleaning box assembly 300 can be determined to be a special mopping type. When the box type of the cleaning box assembly 300 is a special mopping type, the cleaning robot can enter a special mopping working mode. When the cleaning box assembly is detected not to be equipped with a rotary mop drive, a tracked mop drive, or a vibrating mop drive, the box type of the cleaning box assembly 300 can be determined to be a normal mopping type. When the box type of the cleaning box assembly 300 is a normal mopping type, the cleaning robot can enter a normal mopping working mode.

[0197] As mentioned above, a magnetic component may be provided in the part to be tested, or no magnetic component may be provided, or a magnetic component with corresponding magnetism may be provided, in order to determine whether the type of the cleaning box assembly 300 is a special mopping type or a normal mopping type. However, this embodiment may use a different method than the one provided above to determine this.

[0198] The target detection unit includes a third target detection unit. In order to detect whether the cleaning box assembly is equipped with a functional module that uses a rotary mop drive device, a tracked mop drive device, or a vibrating mop drive device, the controller 500 can input a drive signal to the third target detection unit corresponding to the target detection unit via a sensor. If the cleaning box assembly is equipped with a functional module that uses a rotary mop drive device, a tracked mop drive device, or a vibrating mop drive device, the rotary mop drive device, the tracked mop drive device, the vibrating mop drive device, the third target detection unit, the sensor, and the controller 500 can form a loop. A loop characteristic signal with a current value greater than 0 flows through the loop. Therefore, the controller 500 determines that the cleaning box assembly 300 is equipped with a rotary mop drive device, a tracked mop drive device, or a vibrating mop drive device based on the loop characteristic signal with a current value greater than 0. If the cleaning box assembly is not equipped with a functional module that uses a rotary mop drive, a tracked mop drive, or a vibrating mop drive, then a loop cannot be formed between the third target detection unit, the sensor, and the controller 500. No current flows through the loop, so the loop characteristic signal is zero. Therefore, based on the zero loop characteristic signal, the controller 500 determines that the cleaning box assembly 300 is not equipped with a rotary mop drive, a tracked mop drive, or a vibrating mop drive.

[0199] In some embodiments, when the cleaning box assembly is configured with functional modules including a disinfection module or a UV lamp module, the disinfection module or UV lamp module is installed inside the cleaning box assembly for performing disinfection and sterilization operations. It is understood that in some embodiments, when the cleaning box assembly is detected to be equipped with a disinfection module or a UV lamp module, it can be determined that the cleaning box assembly 300 is of the disinfection and sterilization type. When the cleaning box assembly is detected not to be equipped with a disinfection module or a UV lamp module, it can be determined that the cleaning box assembly 300 is of the non-disinfection and sterilization type.

[0200] It is understandable that the disinfection module can use a well-known circuit structure for generating disinfectant substances, which will not be elaborated here.

[0201] The target detection unit includes a fourth target detection unit. To detect whether the cleaning box assembly is equipped with a functional module employing a disinfection module or a UV lamp module, the controller 500 can input a drive signal to the fourth target detection unit corresponding to the target detection unit via a sensor. If the cleaning box assembly is equipped with a functional module employing a disinfection module or a UV lamp module, the disinfection module or UV lamp module, the fourth target detection unit, the sensor, and the controller 500 can form a loop. A loop characteristic signal with a current value greater than 0 flows through the loop. Therefore, the controller 500 determines that the cleaning box assembly 300 is equipped with a disinfection module or a UV lamp module based on the loop characteristic signal greater than 0. If the cleaning box assembly is not equipped with a functional module employing a disinfection module or a UV lamp module, a loop cannot be formed between the fourth target detection unit, the sensor, and the controller 500. No current flows through the loop. Therefore, the loop characteristic signal is equal to zero. Thus, the controller 500 determines that the cleaning box assembly 300 is not equipped with a disinfection module or a UV lamp module based on the loop characteristic signal equal to zero.

[0202] In some embodiments, when the cleaning box assembly is configured with a humidifier module, the humidifier module is installed inside the cleaning box assembly for performing humidification operations. It is understood that in some embodiments, when a humidifier module is detected in the cleaning box assembly, the box type of the cleaning box assembly 300 can be determined to be humidification type. When a humidifier module is detected not in the cleaning box assembly, the box type of the cleaning box assembly 300 can be determined to be non-humidification type. It is understood that the humidifier module can be a humidifier.

[0203] The target detection unit includes a fifth target detection unit. To detect whether the cleaning box assembly is equipped with a functional module using a humidifier module, the controller 500 can input a drive signal to the fifth target detection unit corresponding to the target detection unit via a sensor. If the cleaning box assembly is equipped with a functional module using a humidifier module, the humidifier module, the fifth target detection unit, the sensor, and the controller 500 can form a loop. A loop characteristic signal with a current value greater than 0 flows through the loop. Therefore, the controller 500 determines that the cleaning box assembly 300 is equipped with a humidifier module based on the loop characteristic signal greater than 0. If the cleaning box assembly is not equipped with a functional module using a humidifier module, a loop cannot be formed between the fifth target detection unit, the sensor, and the controller 500. No current flows through the loop. Therefore, the loop characteristic signal is equal to zero. Thus, the controller 500 determines that the cleaning box assembly 300 is not equipped with a humidifier module based on the loop characteristic signal equal to zero.

[0204] In some embodiments, the cleaning bin assembly is configured with a functional module including a fan, which is installed inside the cleaning bin assembly to perform drying operations or collect waste into the cleaning bin assembly.

[0205] The reserved power supply section includes a sixth target detection section. To detect whether the cleaning box assembly is equipped with a function module that uses a fan, the controller 500 can input a drive signal to the sixth target detection section corresponding to the target detection section via a sensor. If the cleaning box assembly is equipped with a function module that uses a fan, the fan, the sixth target detection section, the sensor, and the controller 500 can form a loop, and a loop characteristic signal with a current value greater than 0 flows through the loop. Therefore, the controller 500 determines that the cleaning box assembly 300 is equipped with a fan based on the loop characteristic signal greater than 0. If the cleaning box assembly is not equipped with a function module that uses a fan, the sixth target detection section, the sensor, and the controller 500 cannot form a loop, and no current flows through the loop. Therefore, the loop characteristic signal is equal to zero, and the controller 500 determines that the cleaning box assembly 300 is not equipped with a fan based on the loop characteristic signal equal to zero.

[0206] In some embodiments, the cleaning box assembly 300 may be configured with at least one of a variety of functional modules. The cleaning box assembly 300 is provided with at least one pair of first metal electrodes, that is, the cleaning box assembly 300 may be provided with one pair of first metal electrodes or two or more pairs of first metal electrodes.

[0207] In some embodiments, the cleaning box assembly 300 may be configured with at least one of a variety of functional modules, and the cleaning box assembly 300 is provided with multiple pairs of first metal electrodes, that is, the cleaning box assembly 300 may be provided with two or more pairs of first metal electrodes. The multiple pairs of first metal electrodes are configured to correspond to the target detection parts of the various functional modules respectively. Each pair of first metal electrodes forms a target detection part. Each pair of first metal electrodes can also serve as a reserved power supply part. That is, the multiple pairs of first metal electrodes are configured as reserved power supply interfaces for various functional modules. So even if the housing type of the cleaning box assembly changes (i.e., the number and / or type of functional modules configured on the cleaning box assembly changes), when the cleaning box assembly is installed on the main body of the cleaning robot, the multiple pairs of first metal electrodes are respectively connected to the multiple pairs of second metal electrodes to conduct electricity. This allows the sensor to collect the loop characteristic signal on the target detection part at the corresponding position. The loop characteristic signal is used to characterize whether the target detection part at the corresponding position is electrically connected to the functional module. Therefore, it is possible to determine whether the cleaning box assembly is configured with multiple functional modules based on multiple loop characteristic signals, thereby facilitating the determination of the housing type and supported working mode of the cleaning box assembly.

[0208] For example, the cleaning box assembly 300 is equipped with a functional module as an air pump and also has a pair of first metal electrodes. The pair of first metal electrodes form a target to be detected and are electrically connected to the air pump. When an air pump drive signal is input to the pair of first metal electrodes, the air pump drive signal can flow through the air pump to drive the air pump to work.

[0209] For example, the cleaning box assembly 300 is equipped with functional modules for an air pump and a water pump, and also has two pairs of first metal electrodes, denoted as (w11, w12) and (w13, w14). The first metal electrodes (w11, w12) form the first target to be detected and are electrically connected to the air pump, while the first metal electrodes (w13, w14) form the second target to be detected and are electrically connected to the water pump. When an air pump drive signal is input to the first metal electrodes (w11, w12), the signal flows through the air pump to drive it. When a water pump drive signal is input to the first metal electrodes (w13, w14), the signal flows through the water pump to drive it.

[0210] For another example, unlike the embodiments described above, the cleaning box assembly 300 is further configured with a functional module serving as a charging circuit, and also includes a third pair of first metal electrodes, denoted as (w15, w16). The first metal electrodes (w15, w16) form a third target to be detected and are electrically connected to the charging circuit. When a charging current is input to the first metal electrodes (w15, w16), the charging circuit stores the charging current.

[0211] For another example, unlike the above embodiments, the cleaning box assembly 300 is further configured with a functional module serving as a disinfection module, and also includes a fourth pair of first metal electrodes, denoted as (w17, w18). The first metal electrodes (w17, w18) form a fourth target to be detected and are electrically connected to the disinfection module. When a drive signal is input to the first metal electrodes (w17, w18), the drive signal flows through the disinfection module to drive it to perform disinfection and sterilization.

[0212] In some embodiments, the detection system 400 includes at least one pair of second metal electrodes, each pair of second metal electrodes forming a sensor. That is, one pair of second metal electrodes can be mounted on the robot body 200, or two or more pairs of second metal electrodes can be mounted on the robot body 200, thus forming one or more sensors.

[0213] In some embodiments, the detection system 400 includes multiple pairs of second metal electrodes, each pair of second metal electrodes forming a sensor.

[0214] The multiple pairs of first metal electrodes are installed on the robot body 200 along with the cleaning box assembly 300 and are respectively connected to the multiple pairs of second metal electrodes to allow the sensor to collect the loop characteristic signal on the target to be detected at the corresponding position. The loop characteristic signal is used to characterize whether the target to be detected at the corresponding position is electrically connected to the functional module.

[0215] As mentioned above, in some embodiments, when the loop characteristic signal meets the preset functional conditions, the loop characteristic signal is used to characterize that the target detection part at the corresponding position is electrically connected to the functional module, that is, the pair of first metal electrodes at the corresponding position is electrically connected to the corresponding functional module. When the loop characteristic signal does not meet the preset functional conditions, the loop characteristic signal is used to characterize that the target detection part at the corresponding position is not electrically connected to the functional module, that is, the pair of first metal electrodes at the corresponding position is not electrically connected to the corresponding functional module.

[0216] In some embodiments, when the absolute value of the loop characteristic signal is greater than or equal to a preset threshold, the loop characteristic signal is used to characterize the electrical connection of the target detection part at the corresponding position to the functional module. When the absolute value of the loop characteristic signal is less than the preset threshold, the loop characteristic signal is used to characterize the target detection part at the corresponding position not being electrically connected to the functional module.

[0217] As mentioned above, the loop characteristic signal can be a current loop characteristic signal or a voltage loop characteristic signal.

[0218] The embodiments described above collect loop feature signals on the target part to be detected at the corresponding position, and determine whether the target part to be detected is electrically connected to the functional module based on the loop feature signals. Therefore, the detection method provided in this embodiment is a contact detection method, which can be compatible with application scenarios in which the functional modules in the cleaning box assembly are driven by drive signals, thereby improving the application range of the cleaning robot provided in this article.

[0219] In some embodiments, the at least one pair of first metal electrodes are integrated on a first module, and the at least one pair of second metal electrodes are integrated on a second module, wherein the first module is mounted on the cleaning box assembly 300, and the second module is mounted on the robot body 200.

[0220] When the cleaning box assembly is installed on the adapted robot body, the positions of a pair of first metal electrodes in the first module and a pair of second metal electrodes in the second module that perform the same function correspond to each other. Therefore, a pair of first metal electrodes and a pair of second metal electrodes that perform the same function can be docked.

[0221] Please see Figure 10 The first module 801 includes multiple pairs of first metal electrodes, namely, first metal electrode 811, first metal electrode 812, first metal electrode 821, first metal electrode 822, first metal electrode 831, and first metal electrode 832. First metal electrode 811 and first metal electrode 812 form a first pair of first metal electrodes, first metal electrode 821 and first metal electrode 822 form a second pair of first metal electrodes, and first metal electrode 831 and first metal electrode 832 form a third pair of first metal electrodes.

[0222] It is understandable that in each pair of first metal electrodes, the two first metal electrodes can be installed adjacently or spaced apart in the first module. For example... Figure 10 As shown, the two first metal electrodes in each pair of first metal electrodes are spaced apart in the first module 801.

[0223] It is understandable that in each pair of first metal electrodes, the positions of the two first metal electrodes that implement the corresponding functional modules installed in the first module are predefined and fixed.

[0224] Understandably, designers can configure each pair of first metal electrodes to electrically connect to corresponding functional modules according to product requirements, so as to enable the cleaning box assembly to support corresponding working modes. For example... Figure 10 As shown, the cleaning box assembly 300 is equipped with a first functional module 841, a second functional module 842, and a third functional module 843. The first functional module 841 is electrically connected to the first metal electrode 811 and the first metal electrode 812, respectively. The second functional module 842 is electrically connected to the first metal electrode 821 and the first metal electrode 822, respectively. The third functional module 843 is electrically connected to the first metal electrode 831 and the first metal electrode 832, respectively. The first functional module 841, the second functional module 842, and the third functional module 843 are different functional modules, and any one of the following functional modules can be selected: air pump, water pump, rotary mop drive device, tracked mop drive device, vibrating mop drive device, disinfection module, ultraviolet lamp module, humidifier module, and fan.

[0225] Please see Figure 11 The second module 802 includes multiple pairs of second metal electrodes, namely second metal electrode 851, second metal electrode 852, second metal electrode 861, second metal electrode 862, second metal electrode 871, and second metal electrode 872. Second metal electrode 851 and second metal electrode 852 form a first pair of second metal electrodes, second metal electrode 861 and second metal electrode 862 form a second pair of second metal electrodes, and second metal electrode 871 and second metal electrode 872 form a third pair of second metal electrodes.

[0226] It is understandable that in each pair of second metal electrodes, the two second metal electrodes can be installed adjacently or spaced apart in the second module. For example... Figure 11 As shown, the two second metal electrodes in each pair of second metal electrodes are spaced apart in the second module.

[0227] It is understandable that in each pair of second metal electrodes, the positions of the two second metal electrodes that implement the corresponding functional modules are predefined and fixed in the second module.

[0228] Understandably, designers can configure each pair of second metal electrodes to output corresponding drive signals to drive the corresponding functional modules, based on product requirements, thereby enabling the cleaning box assembly to support the corresponding operating modes. For example... Figure 11As shown, the controller 500 includes a microprocessor 880 and a first drive circuit 881, a second drive circuit 882, and a third drive circuit 883, which are electrically connected to the microprocessor 880. The first drive circuit 881 is electrically connected to the second metal electrode 851 and the second metal electrode 852, the second drive circuit 882 is electrically connected to the second metal electrode 861 and the second metal electrode 862, and the third drive circuit 883 is electrically connected to the second metal electrode 871 and the second metal electrode 872.

[0229] Please see Figure 12 When the cleaning box assembly 300 is installed on the adapted robot body 200, a pair of first metal electrodes and a pair of second metal electrodes that perform the same function can be connected. Therefore, the controller 500 can control the first drive circuit 881 to generate a first drive current to drive the first functional module 841 to work. The controller 500 can control the second drive circuit 882 to generate a second drive current to drive the second functional module 842 to work. The controller 500 can control the third drive circuit 883 to generate a third drive current to drive the third functional module 843 to work.

[0230] Understandably, for various types of cleaning robots manufactured by the same company or according to industry standards, in order to improve the compatibility between the cleaning box components of different cleaning robots, when the cleaning box components of two cleaning robots do not support completely identical functions, or support both the same and different functions, a pair of first metal electrodes and a pair of second metal electrodes that achieve the same function can be mated. A pair of first metal electrodes or a pair of second metal electrodes that achieve different functions cannot be mated, or the other module does not contain a pair of first metal electrodes that can be mated with a pair of second metal electrodes that achieve different functions, or vice versa.

[0231] Please see Figure 13Cleaning box component K1 only supports sweeping; cleaning box component K2 supports mopping and sterilization; cleaning box component K3 only supports mopping; cleaning box component K4 supports mopping and rotary mopping; cleaning box component K5 supports mopping and charging; cleaning box component K6 supports charging; and cleaning box component K7 supports mopping, charging, and sterilization. Each cleaning box component is equipped with an air pump, which is used to perform the mopping function. The sterilization function is performed by the disinfection module, the rotary mop function by the rotary mop drive device, and the charging function by the charging circuit. The sweeping function can be achieved by the fan installed within the robot body 200. Furthermore, it is agreed here that supporting charging function also means supporting maintenance at the maintenance station. Furthermore, since the disinfection module and the rotary mop drive device require the same voltage, such as 12V, the disinfection module and the rotary mop drive device can share a pair of first metal electrodes in the same position in the first module, or a pair of second metal electrodes in the same position in the second module.

[0232] Please continue reading. Figure 13 Each first module includes three pairs of first metal electrodes. As mentioned earlier, to improve compatibility between cleaning box components of different cleaning robots, each first metal electrode used to support the corresponding functional module is fixed in the first module, such as... Figure 13 As shown, the first pin area 11 may be provided with a first metal electrode as the positive pin of the air pump, the second pin area 12 may be provided with a first metal electrode as the negative pin of the function, the third pin area 13 may be provided with a first metal electrode as the positive pin of the charging, the fourth pin area 14 may be provided with a first metal electrode as the negative pin of the charging, the fifth pin area 15 may be provided with a first metal electrode as the positive pin of the function, and the sixth pin area 16 may be provided with a first metal electrode as the negative pin of the air pump.

[0233] In addition, for the robot body that adapts to each cleaning box component, its second module also arranges the second metal electrodes in the same order as the arrangement of each first metal electrode in the first module. For the sake of brevity, this embodiment uses the first module as an example for explanation and does not describe the second module separately.

[0234] For the cleaning box assembly K1, none of the aforementioned cleaning box assemblies are configured with corresponding functional modules to support the sweeping function. Therefore, in the first module of the cleaning box assembly K1, each predefined pin area does not have a first metal electrode. In some embodiments, a first metal electrode may be reserved in the corresponding pin area of ​​the first module of the cleaning box assembly K1.

[0235] For cleaning box assembly K2, both cleaning box assembly K2 and cleaning box assembly K3 support mopping function. Therefore, the positive and negative pins of the air pump of cleaning box assembly K2 are selected to configure the air pump. Similarly, the positive and negative pins of the air pump of cleaning box assembly K3 are also selected to configure the air pump.

[0236] In addition, since the cleaning box assembly K2 supports disinfection and sterilization functions more than the cleaning box assembly K3, the negative and positive function pins of the cleaning box assembly K2 are selected to configure the disinfection module, but the negative and positive function pins of the cleaning box assembly K3 are not selected to configure the disinfection module.

[0237] The same principle applies to other cases, so I won't go into detail here.

[0238] To further illustrate the working principle of the cleaning robot provided in the embodiments of the present invention, the following description is in conjunction with... Figure 13 A detailed explanation is provided below:

[0239] When users mix and match cleaning box components, for example, they may mistakenly install cleaning box component K2 as cleaning box component K7 on a cleaning robot R9 that is fully compatible with cleaning box component K7.

[0240] Depend on Figure 13 It is known that the cleaning box component K7 supports mopping, charging, and sterilization functions. This means that the second module of the R9 cleaning robot has pins that support mopping, charging, and sterilization functions respectively. However, the cleaning box component K2 supports mopping and sterilization functions, which is... Figure 13 It can be seen that the first module of the cleaning box assembly K2 is missing the positive and negative charging pins.

[0241] As mentioned earlier, supporting charging functionality implies supporting maintenance at the maintenance station. If the cleaning box assembly K2 is installed on the main body of the cleaning robot R9, in traditional technology, the cleaning robot R9 would carry the cleaning box assembly K2 backwards to the maintenance station for automatic dust removal. However, since the cleaning box assembly K2 does not support an automatic dust removal mode, and the designers did not provide a dust removal port on it, the maintenance station would incorrectly and continuously perform dust removal on the cleaning robot R9, resulting in wasted power and potential damage to the robot.

[0242] In this embodiment, the controller of the cleaning robot R9 outputs a current signal through the sensors of the second module (the positive and negative charging pins of the second module). Since the cleaning box assembly K2 is not equipped with a charging circuit, a loop cannot be formed. Therefore, the controller receives a current loop characteristic signal with a current value of 0. The controller can then determine that the cleaning box assembly K2 does not support the automatic dust removal mode, meaning that the cleaning box assembly K2 supports the manual dust removal mode. Subsequently, the controller will not control the maintenance station to perform the dust removal operation.

[0243] Therefore, the cleaning robot provided in this embodiment is compatible with cleaning box components of various box types, thereby enabling it to select the working mode supported by the target box type corresponding to the cleaning box component, avoiding damage to the cleaning robot caused by mixing cleaning box components, thereby improving product reliability and product lifespan.

[0244] It is understood that for pin areas in the first module that are not selected for the corresponding functional module, the pin areas may or may not retain the first metal electrode. Similarly, for pin areas in the second module that are not selected for the corresponding functional module, the pin areas may or may not retain the second metal electrode.

[0245] It is understandable that when the first module has the first metal electrode of the corresponding functional module, due to the user mixing the cleaning box components, the second metal electrode does not exist at the position corresponding to the corresponding functional module in the second module; or, when the second module has the second metal electrode of the corresponding functional module, due to the user mixing the cleaning box components, the first metal electrode does not exist at the position corresponding to the corresponding functional module in the first module.

[0246] Understandably, the first module can be installed as a separate component, detachably on the cleaning box assembly, or it can be integrally formed with the cleaning box assembly.

[0247] Understandably, the second module can be installed as a separate component, detachably on the robot body, or it can be integrally formed with the robot body.

[0248] Please see Figure 14 The first module 801 can be installed on the side of the cleaning box assembly 300 facing the robot body 200, and the second module 802 can be installed on the side of the robot body 200 facing the cleaning box assembly 300. When the cleaning box assembly 300 is installed on the robot body 200, the first module 801 and the second module 802 are arranged opposite to each other.

[0249] Please continue reading. Figure 14The first module 801 is also provided with multiple first pin areas 803, each of which may be provided with a first metal electrode. The second module 802 is provided with multiple second pin areas 804, each of which may be provided with a second metal electrode.

[0250] As mentioned earlier, in some cleaning robots, when the cleaning box assembly supports the normal mopping mode, since the main body of the cleaning box assembly and the mop bracket are detachable, occasionally the user will remove the mop bracket from the cleaning box assembly, leaving only the main body, and still need to control the cleaning robot to perform the mopping operation. If the cleaning robot lacks the ability to detect whether the mop bracket is present, there is a risk of wasting power and damaging the cleaning robot when performing the mopping operation according to the user's control. Therefore, in some embodiments, the cleaning robot 100 can detect whether the mop bracket is present so that the mopping operation can be performed reliably afterwards.

[0251] Please continue reading. Figure 14 The cleaning box assembly 300 may be equipped with a trigger 92 at the detection unit 91, and the detection system 600 includes a sensor 93, wherein the detection unit 91 may be a third detection unit, the trigger 92 may be a third trigger, and the sensor 93 may be a fifth sensor.

[0252] When the cleaning box assembly 300 is installed on the robot body 200, the sensor 93 is aligned with the detection part 91. Therefore, the sensor 93 can detect the presence of the trigger 92 and obtain a high-level characteristic signal. This characteristic signal can be used as a third characteristic signal, indicating that the cleaning box assembly 300 has a mop bracket installed. When the cleaning robot 100 receives a mopping command, it responds to the mopping command and performs the mopping operation. If the sensor 93 does not detect the presence of the trigger 92 and obtains a low-level characteristic signal, it indicates that the cleaning box assembly 300 has not a mop bracket installed. When the cleaning robot 100 receives a mopping command, it sends a prompt message to the user's terminal to remind the user to install the mop bracket.

[0253] In some embodiments, the trigger 92 is a magnetic element, the sensor 93 is a magnetic pole sensor, and the feature signal is a magnetic field feature signal.

[0254] In some embodiments, the magnetic sensor is a single-output omnipolar Hall sensor, whose function is the same as described above and will not be repeated here.

[0255] In some embodiments, please continue reading Figure 14The detection unit 91 is provided with a third magnetic limiting groove 94, and the trigger 92 is installed in the third magnetic limiting groove 94. The third magnetic limiting groove 94 can fix the trigger 92, so as to avoid the trigger 92 being unstable or falling off, and enable the sensor 93 to reliably detect the magnetic field characteristic signal.

[0256] In some embodiments, please continue reading Figure 14 The robot body 200 is provided with a third Hall limit groove 95, and the sensor 93 is installed in the third Hall limit groove 95. The third Hall limit groove 95 can fix the sensor 93, so as to avoid the sensor 93 being unstable or falling off, and enable the sensor 93 to reliably detect magnetic field characteristic signals.

[0257] To illustrate the embodiments of the present invention in detail, three examples are provided below. It should be understood that the term "water tank" mentioned below refers to a water tank that simultaneously supports both dustbin and water tank functions. Furthermore, if the cleaning tank assembly supports an automatic water replenishment mode, it will also typically support an automatic wastewater discharge mode. Similarly, if the cleaning tank assembly supports a manual water replenishment mode, it will also support a manual wastewater discharge mode, as detailed below:

[0258] This invention provides Example 1, which includes four types of cleaning tank components: a dustbin, an electrically controlled water tank, a disinfection water tank, and a rotary water tank. When the cleaning tank component is a dustbin, it supports manual dust removal and normal mopping modes. When the cleaning tank component is an electrically controlled water tank, it supports manual dust removal, automatic wastewater removal, and normal mopping modes. When the cleaning tank component is a disinfection water tank, it supports manual dust removal, automatic wastewater removal, normal mopping, and disinfection / sterilization modes. When the cleaning tank component is a rotary water tank, it supports manual dust removal, automatic wastewater removal, special mopping, and disinfection / sterilization modes. As mentioned earlier, since the mop support and mop drive device are fixedly installed, the cleaning robot using the rotary water tank can perform mopping operations without detecting the mop support.

[0259] Table 1 below provides a detailed description of Example 1, wherein Table 1 is a table of signal values ​​for detecting the above four types of cleaning box components provided by an embodiment of the present invention.

[0260] Table 1

[0261]

[0262]

[0263] As shown in Table 1, the air pump current is used to drive the air pump to pump water onto the mop, and the function current is used to drive the corresponding function module to achieve the corresponding function.

[0264] When the cleaning box assembly is installed on the robot body, if the controller receives a tag set of (111), the controller can determine that the current cleaning box assembly is a disinfection water tank. Similarly, if the controller receives a tag set of (100), the controller can determine that the current cleaning box assembly is a dust box.

[0265] This invention provides Example 2, which also provides three types of cleaning box components: a dust box with a bucket, an electrically controlled water tank with a bucket, and a disinfection water tank with a bucket. The difference between the cleaning box component of Example 2 and the cleaning box component of Example 1 is that the cleaning box component of Example 2 supports maintenance by a maintenance station. That is, the cleaning robot of Example 2 can carry the cleaning box component to the maintenance station, and the maintenance station can perform automatic dust removal, automatic sewage removal, and automatic water replenishment on the cleaning box component.

[0266] Table 2 is provided below to illustrate Example 2 in detail. Table 2 is a table of signal values ​​for detecting the above four types of cleaning box components provided by the embodiments of the present invention.

[0267] Table 2

[0268]

[0269] As shown in Table 2, when the cleaning box assembly is installed on the robot body, if the controller receives a tag set of (100), the controller can determine that the current cleaning box assembly is a dustbin with a bucket. Similarly, if the controller receives a tag set of (110), the controller can determine that the current cleaning box assembly is an electrically controlled water tank with a bucket. If the controller receives a tag set of (111), the controller can determine that the current cleaning box assembly is a disinfection water tank with a bucket.

[0270] The present invention provides Example 3, which also provides 8 types of cleaning box components, namely dust box, electrically controlled water tank, disinfection water tank, rotary water tank, dust box with bucket, electrically controlled water tank with bucket, disinfection water tank with bucket and rotary water tank with bucket.

[0271] Table 3 is provided below to illustrate Example 3 in detail. Table 3 is a table of signal values ​​for detecting the above-mentioned 8 types of cleaning box components provided by the embodiments of the present invention.

[0272] Table 3

[0273]

[0274] As shown in Table 3, when the cleaning box assembly is installed on the robot body, if the controller receives a tag set of (1000), the controller can determine that the current cleaning box assembly is a dustbin. Similarly, if the controller receives a tag set of (1010), the controller can determine that the current cleaning box assembly is an electrically controlled water tank. If the controller receives a tag set of (1110), the controller can determine that the current cleaning box assembly is an electrically controlled water tank with a bucket. If the controller receives a tag set of (0111), the controller can determine that the current cleaning box assembly is a water tank with a rotating drum.

[0275] This concludes the detailed description of the present invention. The examples provided above do not constitute any undue limitation on the technical solutions claimed in this invention.

[0276] As another aspect of this invention, this embodiment provides a control method for a cleaning robot, wherein the cleaning robot can be the cleaning robot described in the above embodiments, and the cleaning robot includes a robot body and a cleaning box assembly detachably mounted on the robot body. Please refer to [link to relevant documentation]. Figure 15 The control methods for cleaning robots include:

[0277] S151: Obtain feature information when the cleaning box assembly is detachably mounted on the robot body.

[0278] S152: Determine the target housing type of the cleaning box assembly based on the feature information.

[0279] S153: Based on the target container type, control the cleaning robot to enter the working mode supported by the target container type.

[0280] The cleaning robot provided in this embodiment is compatible with cleaning box components of various box types, thereby enabling it to select the working mode supported by the target box type corresponding to the cleaning box component. This avoids damage to the cleaning robot caused by mixing cleaning box components, thereby improving product reliability and product lifespan.

[0281] In some embodiments, the feature information includes at least one feature signal, and S152 includes: determining the target housing type of the cleaning housing assembly based on the at least one feature signal.

[0282] In some embodiments, determining the target housing type of the cleaning box assembly based on at least one feature signal includes: determining the target housing type of the cleaning box assembly based on a combination of multiple feature signals.

[0283] In some embodiments, determining the target housing type of the cleaning box assembly based on a combination of multiple feature signals includes: determining the label corresponding to each feature signal based on each feature signal, combining the labels of each feature signal to obtain a label set, searching for a reference label set corresponding to the label set in a preset label library, and selecting the housing type corresponding to the reference label set as the target housing type.

[0284] In some embodiments, S153 includes: the feature signal includes a dust box feature signal; when the dust box feature signal is a first type of dust box feature signal, it is determined that the target housing type of the cleaning housing assembly supports an automatic dust removal working mode; when the dust box feature signal is a second type of dust box feature signal, it is determined that the target housing type of the cleaning housing assembly supports a manual dust removal working mode.

[0285] In some embodiments, S153 includes: if the signal type of the dust box feature signal is determined to be a first signal type, then the dust box feature signal is a first type of dust box feature signal; if the signal type of the dust box feature signal is determined to be a second signal type, then the dust box feature signal is a second type of dust box feature signal.

[0286] In some embodiments, S153 includes: the feature signal includes a water tank feature signal; when the water tank feature signal is a first type of water tank feature signal, it is determined that the target tank type of the cleaning tank assembly supports a normal mopping working mode; when the water tank feature signal is a second type of water tank feature signal, it is determined that the target tank type of the cleaning tank assembly supports a special mopping working mode.

[0287] In some embodiments, S153 includes: if the signal type of the water tank feature signal is determined to be a third signal type, then the water tank feature signal is a first type of water tank feature signal; if the signal type of the water tank feature signal is determined to be a fourth signal type, then the water tank feature signal is a second type of water tank feature signal.

[0288] In some embodiments, the cleaning box assembly may be configured with or without a functional module. The robot body has a reserved target detection part for electrical connection to the functional module. S153 includes: applying a drive signal to the target detection part, collecting a loop characteristic signal corresponding to the target detection part, determining whether the target detection part is electrically connected to the functional module based on the loop characteristic signal, and if it is determined that the target detection part is electrically connected to the functional module, then determining that the target box type of the cleaning box assembly supports the working mode corresponding to the functional module.

[0289] In some embodiments, determining whether a target detection unit is electrically connected to a functional module based on a loop characteristic signal includes: determining whether a loop characteristic signal satisfies a preset functional condition; if so, the target detection unit is electrically connected to the functional module; if not, the target detection unit is not electrically connected to the functional module.

[0290] In some embodiments, determining whether a loop characteristic signal exists and satisfies a preset functional condition includes determining whether the absolute value of the loop characteristic signal is greater than or equal to a preset threshold value.

[0291] It should be noted that in the above embodiments, there is no necessarily a certain order between the steps. Those skilled in the art can understand from the description of the embodiments of the present invention that the above steps may have different execution orders in different embodiments, that is, they may be executed in parallel or in turn, etc.

[0292] As another aspect of the present invention, an embodiment of the present invention provides a control device for a cleaning robot. The control device for the cleaning robot can be a software module, which includes several instructions stored in a memory. A processor can access the memory, invoke the instructions, and execute them to complete the control method for the cleaning robot described in the various embodiments above.

[0293] In some embodiments, the control device of the cleaning robot can also be built from hardware devices. For example, the control device of the cleaning robot can be built from one or more chips, which can work together to complete the control method of the cleaning robot described in the above embodiments. As another example, the control device of the cleaning robot can also be built from various logic devices, such as general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), microcontrollers, ARM (ArcRI SC Machinie) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0294] Please see Figure 16 The control device 160 of the cleaning robot includes an information acquisition module 161, a type determination module 162, and a work control module 163.

[0295] The information acquisition module 161 is used to acquire feature information when the cleaning box assembly is detachably installed on the robot body. The type determination module 162 is used to determine the target box type of the cleaning box assembly based on the feature information. The work control module 163 is used to control the cleaning robot to enter the working mode supported by the target box type based on the target box type.

[0296] The cleaning robot provided in this embodiment is compatible with cleaning box components of various box types, thereby enabling it to select the working mode supported by the target box type corresponding to the cleaning box component. This avoids damage to the cleaning robot caused by mixing cleaning box components, thereby improving product reliability and product lifespan.

[0297] In some embodiments, the feature information includes at least one feature signal, and the operation control module 163 is specifically used to: determine the target box type of the cleaning box assembly based on the at least one feature signal.

[0298] In some embodiments, the operation control module 163 is specifically configured to: determine the target housing type of the cleaning housing assembly based on a combination of multiple characteristic signals.

[0299] In some embodiments, the work control module 163 is specifically used to: determine the label corresponding to each feature signal according to each feature signal, combine the labels of each feature signal to obtain a label set, search for a reference label set corresponding to the label set in a preset label library, and select the box type corresponding to the reference label set as the target box type.

[0300] In some embodiments, the operation control module 163 is specifically configured to: determine that the target housing type of the cleaning housing assembly supports an automatic dust removal working mode when the characteristic signal includes a dust box characteristic signal, and when the dust box characteristic signal is a first type of dust box characteristic signal. When the dust box characteristic signal is a second type of dust box characteristic signal, determine that the target housing type of the cleaning housing assembly supports a manual dust removal working mode.

[0301] In some embodiments, the working control module 163 is specifically used to: determine if the signal type of the dust box feature signal belongs to a first signal type, then the dust box feature signal is a first type of dust box feature signal; determine if the signal type of the dust box feature signal belongs to a second signal type, then the dust box feature signal is a second type of dust box feature signal.

[0302] In some embodiments, the work control module 163 is specifically configured to: determine that the target tank type of the cleaning tank assembly supports a normal mopping working mode when the characteristic signal includes a water tank characteristic signal, and determine that the target tank type of the cleaning tank assembly supports a special mopping working mode when the water tank characteristic signal is a second type of water tank characteristic signal.

[0303] In some embodiments, the working control module 163 is specifically used to: determine if the signal type of the water tank feature signal belongs to the third signal type, then the water tank feature signal is a first type of water tank feature signal; determine if the signal type of the water tank feature signal belongs to the fourth signal type, then the water tank feature signal is a second type of water tank feature signal.

[0304] In some embodiments, the cleaning box assembly may be configured with or without functional modules. The robot body has a reserved target detection part for electrical connection to the functional module. The working control module 163 is specifically used to: apply a drive signal to the target detection part, collect the loop characteristic signal corresponding to the target detection part, determine whether the target detection part is electrically connected to the functional module based on the loop characteristic signal, and if it is determined that the target detection part is electrically connected to the functional module, then determine that the target box type of the cleaning box assembly supports the working mode corresponding to the functional module.

[0305] In some embodiments, the working control module 163 is specifically used to: determine whether the loop characteristic signal meets the preset functional conditions; if it does, the target to be detected is electrically connected to the functional module; if it does not, the target to be detected is not electrically connected to the functional module.

[0306] In some embodiments, the working control module 163 is specifically used to: determine whether the absolute value of the loop characteristic signal is greater than or equal to a preset threshold value.

[0307] It should be noted that the control device for the cleaning robot described above can execute the control method for the cleaning robot provided in the embodiments of the present invention, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in the embodiments of the control device for the cleaning robot can be found in the control method for the cleaning robot provided in the embodiments of the present invention.

[0308] Please see Figure 17 , Figure 17 This is a circuit schematic diagram of a controller provided as an embodiment of the present invention. Figure 17 As shown, the controller 170 includes one or more processors 171 and a memory 172. Wherein, Figure 17 Take a processor 171 as an example.

[0309] Processor 171 and memory 172 can be connected via a bus or other means. Figure 17 Taking the example of a connection between China and Israel via a bus.

[0310] The memory 172, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the control method of the cleaning robot in the embodiments of the present invention. The processor 171 executes various functional applications and data processing of the control device for the cleaning robot by running the non-volatile software programs, instructions, and modules stored in the memory 172, thereby realizing the control method for the cleaning robot provided in the above method embodiments and the functions of each module or unit in the above device embodiments.

[0311] Memory 172 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 172 may optionally include memory remotely located relative to processor 171, and such remote memory may be connected to processor 171 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0312] The program instructions / modules are stored in the memory 172 and, when executed by one or more processors 171, execute the control method of the cleaning robot in any of the above method embodiments.

[0313] This invention also provides a storage medium storing computer-executable instructions that are executed by one or more processors, for example... Figure 17 One of the processors 171 enables the one or more processors to execute the control method of the cleaning robot in any of the above method embodiments.

[0314] This invention also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions that, when executed by a controller, cause the controller to perform any of the control methods for the cleaning robot described above.

[0315] The device or equipment embodiments described above are merely illustrative. The unit modules described as separate components may or may not be physically separate. The components shown as module units may or may not be physical units; that is, they may be located in one place or distributed across multiple network module units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0316] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0317] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cleaning robot, characterized in that, include: Robot body; The cleaning tank assembly is detachably mounted on the robot body and supports at least one working mode; A detection system, installed on the robot body, is used to collect feature information of the cleaning box assembly based on its in-situ status, the feature information including at least one feature signal; A controller, electrically connected to the detection system, is used to determine the target housing type of the cleaning box assembly based on the at least one feature signal, so as to control the cleaning robot to enter the working mode supported by the target housing type. The target housing type includes a set of at least one working mode type, which includes one or more of the following: ordinary mopping type, special mopping type, automatic dust removal type, manual dust removal type, automatic water replenishment type, manual water replenishment type, automatic sewage discharge type, manual sewage discharge type, disinfection and sterilization type, and non-disinfection and sterilization type. The detection system is used to sense at least one part to be detected on the cleaning box assembly to collect at least one feature signal. Each feature signal is used to characterize the functional characteristics of the cleaning box assembly, and different feature signals characterize different functional characteristics of the cleaning box assembly. The controller is specifically used to: determine the tag corresponding to each feature signal based on each feature signal, combine the tags of each feature signal to obtain a tag set, search for a reference tag set corresponding to the tag set in a preset tag library, select the box type corresponding to the reference tag set as the target box type, different feature signals correspond to different tags, and different tags correspond to different types of working modes.

2. The cleaning robot according to claim 1, characterized in that, The detection system includes a first sensor and / or a second sensor. The first sensor is used to sense a first part to be detected on the cleaning box assembly to collect the dust box characteristic signal of the cleaning box assembly. The second sensor is used to sense a second part to be detected on the cleaning box assembly to collect the water tank characteristic signal of the cleaning box assembly.

3. The cleaning robot according to claim 2, characterized in that, When the first sensor collects the characteristic signal of the first type of dust box, the controller is used to determine the target box type of the cleaning box assembly that supports the automatic dust removal working mode; When the first sensor collects the characteristic signal of the second type of dust box, the controller is used to determine that the target box type of the cleaning box assembly supports the manual dust removal working mode.

4. The cleaning robot according to claim 2, characterized in that, When the second sensor collects the first type of water tank characteristic signal, the controller is used to determine that the target tank type of the cleaning tank assembly supports the normal mopping working mode; When the second sensor collects the second type of water tank characteristic signal, the controller is used to determine the target tank type of the cleaning tank assembly that supports a special mopping working mode.

5. The cleaning robot according to claim 1, characterized in that, The cleaning box assembly may or may not be configured with functional modules, and the at least one part to be detected includes a target part to be detected. When the cleaning box assembly is a box type with configured functional modules, the target part to be detected is configured as a reserved power supply part of the corresponding functional module; when the cleaning box assembly is a box type without configured functional modules, the target part to be detected is configured as a non-conductive part. The detection system includes a sensor that is mounted on the robot body along with the cleaning box assembly and interfaces with the target part to be detected, allowing the sensor to collect loop characteristic signals on the target part to be detected, the loop characteristic signals being used to characterize whether the target part to be detected is electrically connected to a functional module.

6. The cleaning robot according to claim 5, characterized in that, When the absolute value of the loop characteristic signal is greater than or equal to a preset threshold value, the loop characteristic signal is used to characterize the electrical connection functional module of the target detection part; When the absolute value of the loop characteristic signal is less than a preset threshold value, the loop characteristic signal is used to characterize that the target detection part is not electrically connected to the functional module.

7. The cleaning robot according to claim 1, characterized in that, The cleaning box assembly can be configured with at least one of a variety of functional modules. The cleaning box assembly is provided with multiple pairs of first metal electrodes. The multiple pairs of first metal electrodes are configured to correspond to the target to be detected parts of the various functional modules respectively. Each pair of first metal electrodes forms a target to be detected part. The detection system includes multiple pairs of second metal electrodes, each pair of second metal electrodes forming a sensor; The multiple pairs of first metal electrodes are installed on the robot body along with the cleaning box assembly and are respectively connected to the multiple pairs of second metal electrodes to allow the sensor to collect the loop characteristic signal on the target to be detected at the corresponding position. The loop characteristic signal is used to characterize whether the target to be detected at the corresponding position is electrically connected to the functional module.

8. The cleaning robot according to claim 7, characterized in that, The absolute value of the loop characteristic signal is greater than or equal to a preset critical value, which is used to characterize the electrical connection function module of the target to be detected at the corresponding position. The absolute value of the loop characteristic signal is less than a preset threshold value, which is used to characterize that the target to be detected at the corresponding position is not electrically connected to the functional module.

9. The cleaning robot according to claim 7, characterized in that, The at least one pair of first metal electrodes is integrated on the first module, and the at least one pair of second metal electrodes is integrated on the second module, wherein the first module is mounted on the cleaning box assembly, and the second module is mounted on the robot body.

10. The cleaning robot according to claim 5, characterized in that, The cleaning box assembly can be configured with any one or more of the following functional modules: air pump, water pump, rotary mop drive device, tracked mop drive device, vibrating mop drive device, disinfection module, ultraviolet lamp module, humidifier module, and fan.

11. The cleaning robot according to any one of claims 1 to 10, characterized in that, The cleaning box assembly may selectively have a trigger element or not have a trigger element configured at at least one part to be detected; The detection system includes at least one sensor, which is mounted on the robot body along with the cleaning box assembly and aligned with each of the at least one part to be detected, so as to allow the sensor to collect feature signals on the part to be detected at the corresponding position.

12. The cleaning robot according to claim 11, characterized in that, When the absolute value of the feature signal is greater than or equal to a preset threshold value, the feature signal is used to characterize the target box type of the cleaning box assembly as the first box type; When the absolute value of the feature signal is less than a preset threshold, the feature signal is used to characterize the target box type of the cleaning box assembly as the second box type.

13. The cleaning robot according to claim 11, characterized in that, The trigger is a magnetic component, the sensor is a magnetic field sensor, and the feature signal is a magnetic feature signal.

14. The cleaning robot according to claim 13, characterized in that, The magnetic field sensor is a single-output omnipolar Hall sensor.

15. The cleaning robot according to any one of claims 1 to 10, characterized in that, The cleaning box assembly has at least one trigger at at least one part to be detected; The detection system includes at least one sensor, which is mounted on the robot body along with the cleaning box assembly and is aligned and close to each of the at least one trigger, so as to allow the sensor to collect feature signals on the part to be detected at the corresponding position.

16. The cleaning robot according to claim 15, characterized in that, The characteristic signal is a magnetic pole characteristic signal; When the characteristic signal is a first magnetic pole characteristic signal, the first magnetic pole characteristic signal is used to characterize that the target box type of the cleaning box assembly is a third box type; When the characteristic signal is the second magnetic pole characteristic signal, the second magnetic pole characteristic signal is used to characterize the target box type of the cleaning box assembly as the fourth box type, wherein the first magnetic pole characteristic signal and the second magnetic pole characteristic signal are magnetic field signals with opposite magnetic properties.

17. The cleaning robot according to claim 15, characterized in that, The trigger is a magnetic component, the sensor is a magnetic sensor, and the feature signal is a magnetic pole feature signal.

18. The cleaning robot according to claim 17, characterized in that, The magnetic sensor is a dual-output unipolar Hall sensor.

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