Motion control method and cleaning system

Abstract

The application discloses a motion control method and a cleaning system. The method is applied to a sweeping robot. The sweeping robot comprises a sweeping and sucking port, a sweeping cover arranged at the outer periphery of the sweeping and sucking port, and a sweeping and scraping member arranged at one end of the sweeping and sucking port and capable of being turned over. A dust collection and charging device comprises a base, a dust collection port arranged at the base, and a dust collection port sealing member arranged at the outer periphery of the dust collection port. The method comprises the following steps: advancing to a first set position of the base, at which time the matching relationship at the first set position is configured such that the sweeping and scraping member is turned over under the action of the dust collection port sealing member and turned over above the dust collection port sealing member to lift the sweeping cover; continuing to advance to a second set position of the base, at which time the matching relationship at the second set position is configured such that the sweeping and scraping member is located in the dust collection port; and retreating to the first set position of the base, at which time the matching relationship at the first set position is configured such that the sweeping cover is in corresponding connection with the dust collection port sealing member, and the sweeping and scraping member is located in the dust collection port. The application can improve the dust collection effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sweeping robots, in particular to a motion control method and a cleaning system. BACKGROUND

[0002] In the automatic dust collection scheme of the related technology, the sweeping and suction port of the sweeping robot and the dust collection port of the charging pile sometimes do not form a seal due to the structure or the direction of motion during the charging process of the sweeping robot on the charging pile, causing dust leakage during dust collection. SUMMARY

[0003] The present application aims to solve the technical problem of the related technology mentioned in the background technology: the sweeping and suction port of the sweeping robot and the dust collection port of the dust collection and charging device do not form a seal due to the structure, causing dust leakage during dust collection. A motion control method and a cleaning system are provided.

[0004] The technical solution adopted by the present application to solve its technical problem is: a motion control method is constructed and applied to a sweeping robot, which includes a sweeping and suction port, a sweeping cover arranged on the outer periphery of the sweeping and suction port, and a sweeping and scraping member arranged at one end of the sweeping and suction port and capable of being flipped;

[0005] The dust collection and charging device includes a base, a dust collection port arranged on the base, and a dust collection port sealing member arranged on the outer periphery of the dust collection port;

[0006] The method includes the following steps:

[0007] Proceed to the first set position on the base of the dust collection and charging device, at which time the cooperation relationship is configured such that the sweeping and scraping member is flipped under the action of the dust collection port sealing member and flipped above the dust collection port sealing member to lift the sweeping cover;

[0008] Continue to proceed to the second set position on the base of the dust collection and charging device, at which time the cooperation relationship is configured such that the sweeping and scraping member is located in the dust collection port;

[0009] Retreat to the first set position on the base of the dust collection and charging device, at which time the cooperation relationship is configured such that the sweeping cover corresponds to the dust collection port sealing member, and the sweeping and scraping member is located in the dust collection port.

[0010] In some embodiments, proceeding to the first set position on the base of the dust collection and charging device further includes:

[0011] When receiving the back charging signal emitted by the dust collection and charging device or judging that the power is lower than the threshold, move in the direction of the dust collection and charging device and align with the dust collection and charging device.

[0012] In some embodiments, the advancing to the first set position on the base of the dust collecting and charging device comprises:

[0013] The advancing to the first set position on the base of the dust collecting and charging device is confirmed by detecting that the dust collecting and charging device starts charging;

[0014] And / or, the advancing to the first set position on the base of the dust collecting and charging device is confirmed by establishing communication with the dust collecting and charging device.

[0015] In some embodiments, the continuing to advance to the second set position on the base of the dust collecting and charging device comprises at least one of the following three ways:

[0016] The continuing to advance to the second set position on the base of the dust collecting and charging device is confirmed by calculating the advancing time to reach a time set value;

[0017] The continuing to advance to the second set position on the base of the dust collecting and charging device is confirmed by calculating the advancing distance to reach a distance set value;

[0018] The sweeping robot further comprises a guard, and the continuing to advance to the second set position on the base of the dust collecting and charging device is confirmed by detecting that the guard contacts the dust collecting and charging device.

[0019] In some embodiments, the distance set value is the length of the exposed sweeping cover in the sweeping and scraping component overturning state plus a preset length of excess.

[0020] In some embodiments, the retreating to the first set position on the base of the dust collecting and charging device comprises:

[0021] The retreating to the first set position on the base of the dust collecting and charging device is confirmed by calculating the retreating time to reach a time set value;

[0022] And / or, the retreating to the first set position on the base of the dust collecting and charging device is confirmed by calculating the retreating distance to reach a distance set value.

[0023] In some embodiments, the sweeping robot further comprises a moving assembly on both sides, and the dust collecting and charging device further comprises a track on both sides of the base;

[0024] The first set position is the low point of the track, and the second set position is the high point of the track;

[0025] The retreating to the first set position on the base of the dust collecting and charging device comprises:

[0026] The retreating to the low point of the track from the high point of the track along the track by gravity is achieved by releasing the moving assembly on both sides.

[0027] In some embodiments, the track has a structure of high in the middle and low at both ends.

[0028] In some embodiments, the track surface is inclined or curved from the middle of the track to the two ends.

[0029] In some embodiments, the track surface is provided with an anti-skid structure.

[0030] In some embodiments, the robot further comprises a collection container connected to the sweeping and sucking opening, and the dust collection and charging device further comprises a dust collection fan, an integrated channel connected to the inlet end of the dust collection fan and the dust collection opening, and a dust collection container located at the outlet end of the dust collection fan.

[0031] The robot further comprises the following steps:

[0032] The robot further comprises the following steps:

[0033] The robot further comprises the following steps:

[0034] By implementing the present application, the following advantages are achieved:

[0035] The motion control method of the present application can solve the problem that the sweeping and scraping member does not enter the dust collection opening and the sweeping cover is lifted to form a seal between the sweeping and sucking opening and the dust collection opening, thereby improving the dust collection effect. In addition, since no additional structures or support structures are added, the production cost and material cost can be reduced by using the improved motion control method. BRIEF DESCRIPTION OF DRAWINGS

[0036] The present application will be further described below with reference to the accompanying drawings and embodiments. In the drawings:

[0037] Figure 1 A flow chart of an embodiment of the motion control method of the present application is shown;

[0038] Figure 2 A structure diagram of an embodiment of the robot is shown;

[0039] Figure 3 A structure diagram of an embodiment of the robot is shown;

[0040] Figure 4 A structure diagram of an embodiment of the dust collection and charging device is shown;

[0041] Figure 5 A structure diagram of an embodiment of the robot advancing to the first position on the base of the dust collection and charging device is shown;

[0042] Figure 6 a partial enlarged view of Figure 5 is shown;

[0043] Figure 7 a cross-sectional view showing an embodiment of the present application in which the robotic sweeper is shown in a first position on the base of the dust collection charging device;

[0044] Figure 8 a partial enlarged view of Figure 7 is shown. DETAILED DESCRIPTION

[0045] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0046] It should be noted that the flowchart shown in the accompanying drawings is only an exemplary illustration, and does not necessarily include all the contents and operations / steps, nor does it necessarily have to be executed in the order described. For example, some operations / steps can be further broken down, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to the actual situation.

[0047] The block diagram shown in the accompanying drawings is only a functional entity, and does not necessarily have to correspond to a physically independent entity. That is, these functional entities can be implemented in the form of software, or in one or more hardware modules or dust collection circuits, or in different network and / or processor devices and / or microcontroller devices.

[0048] Some embodiments of the present application disclose a motion control method, applied to a robotic sweeper 1 as shown in Figure 2 and Figure 3 The robotic sweeper 1 includes a suction port 11, a cover 12 arranged on the outer periphery of the suction port 11, and a sweeping scraper 13 arranged at one end of the suction port 11 and capable of being flipped. Specifically, the suction port 11 is located at the bottom of the robotic sweeper 1, and the sweeping scraper 13 is a sweeping scraper strip, which is only an example and does not limit the present application, and can also be other.

[0049] The dust collection charging device 2 as shown in Figure 4 includes a base 21, a dust collection port 22 arranged on the base 21, and a dust collection port sealing member 23 arranged on the outer periphery of the dust collection port 22. Specifically, the base 21 is an outwardly extending seat body, the dust collection port sealing member 23 is a dust collection port sealing ring, and corresponds in shape to the cover 12, and the two can form a seal after being connected, and the dust collection port sealing ring is only an example and does not limit the present application, and can also be other.

[0050] As shown in Figure 1 , the method comprises the following steps:

[0051] moves forward to the first set position 241 on the base 21 of the dust collection charging device 2, at which time the cooperation at the first set position 241 is configured such that the sweeping scraper 13 is flipped over under the action of the dust collection port seal 23 and flipped over above the dust collection port seal 23 to lift up the sweeping cover 12; Figure 5 and Figure 6 moves forward to the first set position 241 on the base 21 of the dust collection charging device 2, at which time the cooperation at the first set position 241 is configured such that the sweeping scraper 13 is flipped over under the action of the dust collection port seal 23 and flipped over above the dust collection port seal 23 to lift up the sweeping cover 12;

[0052] continues to move forward to the second set position 242 on the base 21 of the dust collection charging device 2, at which time the cooperation at the second set position 242 is configured such that the sweeping scraper 13 is located in the dust collection port 22, and it can be understood that the second set position 242 is a distance from the first set position 241;

[0053] moves backward to the first set position 241 on the base 21 of the dust collection charging device 2, at which time the cooperation at the first set position 241 is configured such that the sweeping cover 12 corresponds to the dust collection port seal 23 and is in contact, i.e., forms a seal, and the sweeping scraper 13 is located in the dust collection port 22. Figure 7 Figure 8 moves backward to the first set position 241 on the base 21 of the dust collection charging device 2, at which time the cooperation at the first set position 241 is configured such that the sweeping cover 12 corresponds to the dust collection port seal 23 and is in contact, i.e., forms a seal, and the sweeping scraper 13 is located in the dust collection port 22.

[0054] The motion control method of the embodiment can solve the problem that the sweeping scraper 13 does not enter the dust collection port 22 and the sweeping cover 12 is lifted up to cause the sweeping suction port 11 and the dust collection port 22 not to form a seal, thereby improving the dust collection effect. In addition, since no other structures such as auxiliary structures or support structures are added, the production cost and material cost can be reduced by the improved motion control method.

[0055] In some embodiments, moving forward to the first set position 241 on the base 21 of the dust collection charging device 2 further includes:

[0056] Upon receiving the return charging signal emitted by the dust collection charging device 2 or determining that the power is lower than the threshold, moving in the direction of the dust collection charging device 2 and aligning with the dust collection charging device 2, so that the sweeping robot 1 is directly opposite the dust collection charging device 2, and then the sweeping robot 1 can move straight forward in the direction of the dust collection charging device 2.

[0057] In some embodiments, moving forward to the first set position 241 on the base 21 of the dust collection charging device 2 includes:

[0058] Moving forward to the first set position 241 on the base 21 of the dust collection charging device 2 is confirmed by detecting that charging with the dust collection charging device 2 has started. Specifically, the sweeping robot 1 further includes a charging end, and the dust collection charging device 2 further includes a charging spring 28. When it is detected that the charging end is in contact with the charging spring 28 and charging has started, it can be confirmed that the sweeping robot 1 has moved forward to the first set position 241 on the base 21 of the dust collection charging device 2.​

[0059] And / or, in some other embodiments, advancing to the first set position 241 on the base 21 of the dust collection charging device 2 includes:

[0060] The advancement to the first set position 241 on the base 21 of the dust collection charging device 2 is confirmed by establishing communication with the dust collection charging device 2. Specifically, the sweeping robot 1 further includes a low-power infrared emitting unit, and the dust collection charging device 2 further includes an infrared receiving unit. The low power is 10mA to 100mA, which is well known in the art. The infrared light waves emitted by the low-power infrared emitting unit have a short range. Only when the sweeping robot 1 reaches the first set position 241, the infrared receiving unit can receive the infrared light waves, so as to establish infrared tube communication between the sweeping robot 1 and the dust collection charging device 2. Here, the infrared tube communication is only an example and does not limit the present application. It can also be other.

[0061] In some embodiments, continuing to advance to the second set position 242 on the base 21 of the dust collection charging device 2 includes at least one of the following three ways. It can be understood that the at least one can be one, two or three. When at least two ways are included, at least two ways need to meet the requirements:

[0062] First: The advancement to the second set position 242 on the base 21 of the dust collection charging device 2 is confirmed by calculating the advancement time to reach a time set value. Specifically, the time set value is calculated according to the advancement speed of the sweeping robot 1 and the distance between the first set position 241 and the second set position 242, for example, 2 seconds. When the advancement time is calculated to reach 2 seconds from the start of the advancement of the sweeping robot 1 from the first set position 241, it is confirmed that the sweeping robot 1 continues to advance to the second set position 242 on the base 21 of the dust collection charging device 2. Here, 2 seconds is only an example and does not limit the present application. It can also be other.

[0063] Second: The advancement to the second set position 242 on the base 21 of the dust collection charging device 2 is confirmed by calculating the advancement distance to reach a distance set value. For example, the distance set value is 0.3m. When the advancement distance is calculated to reach 0.3m from the start of the advancement of the sweeping robot 1 from the first set position 241, it is confirmed that the sweeping robot 1 continues to advance to the second set position 242 on the base 21 of the dust collection charging device 2. Here, 0.3m is only an example and does not limit the present application. It can also be other.

[0064] The distance set value is the distance obtained by adding a preset margin length to the length of the sweeping cover 12 exposed in the flipped state of the sweeping and scraping piece 13. It should be noted that the sweeping and scraping piece 13 flips around the shaft, and the shaft is perpendicular to the advancement direction.

[0065] The third type: The robotic vacuum cleaner 1 also includes a protective component. The system detects contact between the protective component and the dust collection and charging device 2 to confirm that the robot will continue moving to the second predetermined position 242 on the base 21 of the dust collection and charging device 2. Specifically, the length by which the protective component protrudes relative to the main body of the robotic vacuum cleaner 1 is equal to the distance between the first predetermined position 241 and the second predetermined position 242. Therefore, when contact between the protective component and the dust collection and charging device 2 is detected, it can be confirmed that the robotic vacuum cleaner 1 will continue moving to the second predetermined position 242 on the base 21 of the dust collection and charging device 2.

[0066] In some embodiments, retracting to the first predetermined position 241 on the base 21 of the dust collection and charging device 2 includes at least one of the following three methods. It is understood that at least one method can be one, two, or three. When at least two methods are included, at least two methods must meet the requirements:

[0067] The first method: The robot vacuum cleaner 1 confirms that it has retreated to the first set position 241 on the base 21 of the dust collection and charging device 2 when the retreat time reaches the set time value. For example, if the set time value is 2 seconds, the robot vacuum cleaner 1 starts to retreat from the second set position 242 and the retreat time reaches 2 seconds, then it can be confirmed that it has retreated to the first set position 241 on the base 21 of the dust collection and charging device 2.

[0068] The second method involves calculating the backward movement distance to determine when the robot vacuum cleaner 1 has reached the first set position 241 on the base 21 of the dust collection and charging device 2. For example, if the distance set value is 0.3m, when the robot vacuum cleaner 1 starts calculating backward movement from the second set position 242, it can be confirmed that the robot vacuum cleaner 1 has reached the first set position 241 on the base 21 of the dust collection and charging device 2 when the calculated backward movement distance reaches 0.3m.

[0069] The third type: such as Figure 3 As shown, the robotic vacuum cleaner 1 also includes moving components 14 located on both sides. For example, the moving components 14 are moving wheels. The moving wheels here are just an example and are not intended to limit this application. They can also be other types.

[0070] like Figure 4 As shown, the dust collection and charging device 2 also includes tracks 24 disposed on both sides of the base 21. In some embodiments, the track surface of the track 24 is provided with an anti-slip structure, such as reinforcing ribs or protrusions, to prevent the robot vacuum from slipping. The first set position 241 is the low point of the track 24, and the second set position 242 is the high point of the track 24. For example, the track 24 has a structure that is high at both ends and low in the middle, and the track surface from the middle to both ends of the track 24 is an inclined surface or a curved surface.

[0071] Accordingly, by releasing the two mobile assemblies 14, the sweeper robot 1 slides along the track 24 from the high point to the low point of the track 24 by gravity.

[0072] It can be understood that sometimes the sweeper robot 1 will tilt on the base 21, that is, there is an angle between the moving direction of the mobile assembly 14 and the direction of the track 24, and when the sweeper robot 1 is at the high point, the two mobile assemblies 14 can not be on the same horizontal line, but by releasing the two mobile assemblies 14, the sweeper robot 1 slides along the track 24 from the high point to the low point of the track 24 by gravity, so that the sweeper robot 1 is calibrated on the first set position 241 of the track 24.

[0073] In some embodiments, as shown in Figure 7 and Figure 8 The sweeper robot 1 further comprises a collection container 15 connected to the suction opening 11, and the sweeper robot 1 can temporarily store dust and garbage in the collection container 15 through the suction opening 11 during the sweeping and suction operation.

[0074] The dust collection and charging device 2 further comprises a dust collection fan 25, an integrated channel 26 connected to the inlet end of the dust collection fan 25 and the dust collection port 22, and a dust collection container 27 located at the outlet end of the dust collection fan 25.

[0075] The sweeper robot 1 further comprises a dust collection and charging device 2, and the base 21 of the dust collection and charging device 2 comprises a first set position 241 corresponding to the high point of the track 24.

[0076] The dust collection and charging device 2 further comprises a dust collection fan 25, an integrated channel 26 connected to the inlet end of the dust collection fan 25 and the dust collection port 22, and a dust collection container 27 located at the outlet end of the dust collection fan 25.

[0077] Some embodiments of the present application further disclose a cleaning system comprising a sweeper robot 1 and a dust collection and charging device 2, wherein the sweeper robot 1 is used to implement the motion control method of any of the above embodiments, which will not be repeated here.

[0078] By implementing the present application, the following beneficial effects are achieved:

[0079] The sweeping robot 1 of the present application will be flipped by the dust collection port seal 23 when advancing to the first set position 241 on the base 21 of the dust collection and charging device 2, and flipped to above the dust collection port seal 23 to lift the sweeping cover 12, then the sweeping robot 1 continues to advance to the second set position 242 on the base 21 of the dust collection and charging device 2, the sweeping blade 13 will be located in the dust collection port 22, and finally the sweeping robot 1 retreats to the first set position 241 on the base 21 of the dust collection and charging device 2, the sweeping cover 12 will be in corresponding contact with the dust collection port seal 23, and the sweeping blade 13 is located in the dust collection port 22. The movement control method can solve the problem that the sweeping blade 13 does not enter the dust collection port 22, and the sweeping cover 12 is lifted to form a seal between the sweeping port 11 and the dust collection port 22, thereby improving the dust collection effect. In addition, since no other structures such as auxiliary structures or supporting structures are added, the improved movement control method can reduce the production cost and material cost.

[0080] It can be understood that the above embodiments only express some embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent of the present application. It should be noted that for ordinary skilled in the art, the above-mentioned embodiments or technical features can be freely combined without departing from the concept of the present application, and several modifications and improvements can be made, which belong to the protection scope of the present application, i.e. the embodiments described in "in some embodiments" can be freely combined with any embodiment above and below. Therefore, any equivalent transformation and modification within the scope of the claims of the present application shall belong to the scope of the claims of the present application.

Claims

1. A motion control method applied to a sweeping robot (1), characterized in that, The sweeper robot (1) comprises a sweeping and sucking opening (11), a sweeping cover (12) arranged at the outer periphery of the sweeping and sucking opening (11), and a sweeping and scraping member (13) arranged at one end of the sweeping and sucking opening (11) and capable of being flipped; The dust collecting and charging device (2) comprises a base (21), a dust collecting opening (22) arranged on the base (21), and a dust collecting opening sealing member (23) arranged at the outer periphery of the dust collecting opening (22); The method comprises the following steps: Advancing to a first set position (241) on the base (21) of the dust collecting and charging device (2), at which time the cooperation relationship at the first set position (241) is configured such that the sweeping and scraping member (13) is flipped under the action of the dust collecting opening sealing member (23) and flipped to above the dust collecting opening sealing member (23) to lift the sweeping cover (12); Continuing to advance to a second set position (242) on the base (21) of the dust collecting and charging device (2), at which time the cooperation relationship at the second set position (242) is configured such that the sweeping and scraping member (13) is located in the dust collecting opening (22); Retreating to the first set position (241) on the base (21) of the dust collecting and charging device (2), at which time the cooperation relationship at the first set position (241) is configured such that the sweeping cover (12) corresponds to the dust collecting opening sealing member (23) and the sweeping and scraping member (13) is located in the dust collecting opening (22).

2. The motion control method according to claim 1, characterized by, Before advancing to the first set position (241) on the base (21) of the dust collecting and charging device (2), it further comprises: When receiving the charging signal emitted by the dust collecting and charging device (2) or judging that the electric quantity is lower than the threshold value, moving towards the direction of the dust collecting and charging device (2) and aligning with the dust collecting and charging device (2).

3. The motion control method of claim 1, wherein, Advancing to the first set position (241) on the base (21) of the dust collecting and charging device (2) comprises: Confirming that the first set position (241) on the base (21) of the dust collecting and charging device (2) is advanced to by detecting that the charging with the dust collecting and charging device (2) starts; And / or, confirming that the first set position (241) on the base (21) of the dust collecting and charging device (2) is advanced to by establishing communication with the dust collecting and charging device (2).

4. The motion control method of claim 1, wherein Continuing to advance to the second set position (242) on the base (21) of the dust collecting and charging device (2) comprises at least one of the following three ways: Confirming that the second set position (242) on the base (21) of the dust collecting and charging device (2) is continued to be advanced to by calculating the advancing time to reach the time set value; Confirming that the second set position (242) on the base (21) of the dust collecting and charging device (2) is continued to be advanced to by calculating the advancing distance to reach the distance set value; The sweeper robot (1) further comprises a protection member, and confirming that the second set position (242) on the base (21) of the dust collecting and charging device (2) is continued to be advanced to by detecting that the protection member contacts the dust collecting and charging device (2).

5. The motion control method according to claim 4, wherein, The distance set value is the distance obtained by adding a preset excess length to the length of the sweeping and scraping member (13) exposed when the sweeping cover (12) is in the flipped state.

6. The motion control method of claim 1, wherein, Retreating to the first set position (241) on the base (21) of the dust collecting and charging device (2) comprises: The first set position (241) on the base (21) of the dust collecting and charging device (2) is confirmed by calculating the retreat time to reach the time set value; And / or, the first set position (241) on the base (21) of the dust collecting and charging device (2) is confirmed by calculating the retreat distance to reach the distance set value.

7. The motion control method according to claim 1 or 6, characterized by, The sweeping robot (1) further comprises a moving assembly (14) on both sides, and the dust collecting and charging device (2) further comprises a track (24) on both sides of the base (21); The first set position (241) is the low point of the track (24), and the second set position (242) is the high point of the track (24); The first set position (241) on the base (21) of the dust collecting and charging device (2) includes: The moving assembly (14) on both sides is released, and the retreat is realized by sliding along the track (24) from the high point of the track (24) to the low point of the track (24) by gravity.

8. The motion control method according to claim 7, wherein, The track (24) has a structure of high in the middle and low at both ends.

9. The motion control method of claim 8, wherein, The track surface from the middle to both ends of the track (24) is a slope or an arc surface.

10. The motion control method of claim 7, wherein, The track surface of the track (24) is provided with an anti-skid structure.

11. The motion control method of claim 1, wherein, The sweeping robot (1) further comprises a collection container (15) connected with the sweeping and sucking port (11), and the dust collecting and charging device (2) further comprises a dust collecting fan (25), an integrated channel (26) connecting the inlet end of the dust collecting fan (25) and the dust collecting port (22), and a dust collecting container (27) at the outlet end of the dust collecting fan (25); The first set position (241) on the base (21) of the dust collecting and charging device (2) further includes: The working instruction is sent to the dust collecting and charging device (2), and the working instruction is used to drive the dust collecting fan (25) to suck the dust in the collection container (15) into the dust collecting container (27) through the integrated channel (26) and the sweeping and sucking port (11).

12. A cleaning system comprising a floor cleaning robot (1) and a dust collection charging device (2), characterized in that, The sweeping robot (1) is used to realize the motion control method of any one of claims 1-11.

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