Cleaning robot and dirt removal method thereof
By installing a robot on the cleaning robot, the function of automatically removing and handling dirt storage containers is solved, and the problem of dirt handling in the prior art requires users to manually participate in or rely on expensive base stations, improving user experience and reducing costs.
Patent Information
- Application Number
- CN202410944519.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-15
- Publication Date
- 2025-06-03
AI Technical Summary
The existing dirt treatment methods of cleaning robots require users to manually participate or rely on expensive docking base stations, which have poor user experience and high cost.
A cleaning robot is designed, equipped with a robot, which can automatically remove dirt storage containers and carry them to the target dirt treatment point for treatment, achieving dirt removal without the user's manual participation.
It realizes a cleaning robot that does not require users to manually handle dirt, improves user experience, and reduces the need to rely on expensive base stations.
Smart Images
Figure CN120078324A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of surface cleaning, and particularly to a cleaning robot and a method for removing dirt from the cleaning robot. Background Art
[0002] After the cleaning work is completed, a cleaning robot, such as a floor cleaning robot, needs to process the dirt in its own dirt collection container. In the prior art, for the dirt removal method of the robot, one type is that the user manually processes the dirt after removing the dirt collection from the robot; another type is to control the robot to return to a dedicated docking base for processing. The docking base is configured with a suction system, which can use the suction system to transfer the dirt in the dirt collection to the dirt container on the base.
[0003] Both of the above two types of dirt processing methods have defects. Manual dirt processing requires the user to handle it manually, which increases the labor of the user and results in a poor user experience. On the other hand, the docking base with a built-in suction system usually has a high cost, and its price limits the free choice of users. Moreover, after the dirt container on the base has been used for a period of time, it still requires the user to manually process the dirt. Summary of the Invention
[0004] To solve the above technical problems, the purpose of this application is to provide a cleaning robot and a method for removing dirt therefrom without the need for the user to manually process the dirt.
[0005] In a first aspect, this application provides a method for removing dirt from a cleaning robot. The cleaning robot includes a body capable of moving on the ground, a dirt collection container removably installed on the body, and a manipulator mounted on the body. The method for removing dirt includes: controlling the cleaning robot to perform at least one standard dirt processing operation after receiving a dirt processing instruction; wherein the standard dirt processing operation includes: controlling the cleaning robot to move to a target dirt processing point; and controlling the manipulator to remove the dirt collection container from the body and carry it to a target position at the target dirt processing point.
[0006] In some embodiments of the first aspect, preferably, the dirt processing instruction comes from the cleaning robot itself. The method further includes: obtaining the operation data of the cleaning robot during the working process; based on the operation data, determining whether the cleaning robot needs to perform dirt processing; and issuing the dirt processing instruction when it is determined that the cleaning robot needs to perform dirt processing.
[0007] In some embodiments of the first aspect, preferably, obtaining the operation data of the cleaning robot during operation and determining whether the cleaning robot needs to perform dirt treatment based on the operation data includes: obtaining the weight data of the dirt storage container; and determining whether the cleaning robot needs to perform dirt treatment based on whether the weight is greater than or equal to a preset weight threshold.
[0008] In some embodiments of the first aspect, preferably, the cleaning robot includes a suction motor, a dirt receiving chamber is provided in the dirt storage container, the dirt receiving chamber is in air flow communication with the suction motor, and obtaining the operation data of the cleaning robot during operation and determining whether the cleaning robot needs to perform dirt treatment based on the operation data includes: obtaining the pressure data of the dirt receiving chamber, and determining whether the cleaning robot needs to perform dirt treatment based on whether the pressure reaches a preset warning pressure value.
[0009] In some embodiments of the first aspect, preferably, obtaining the operation data of the cleaning robot during operation and determining whether the cleaning robot needs to perform dirt treatment based on the operation data includes: obtaining the operation time data of the cleaning robot working continuously; and determining whether the cleaning robot needs to perform dirt treatment based on whether the operation time is greater than or equal to a preset time threshold.
[0010] In some embodiments of the first aspect, preferably, the dirt treatment instruction comes from the cleaning robot itself, and the method further includes: determining whether the cleaning robot has completed the set cleaning work, and when it is determined that the cleaning robot has completed the set cleaning work, issuing the dirt treatment instruction.
[0011] In some embodiments of the first aspect, preferably, the dirt treatment instruction comes from an external device.
[0012] In some embodiments of the first aspect, preferably, the dirt storage container includes a housing with a dirt receiving chamber therein and a lid that can be selectively closed and opened, and the method further includes: opening the lid to release the dirt stored in the dirt receiving chamber.
[0013] In some embodiments of the first aspect, preferably, the dirt storage container includes a replaceable consumable, and the method further includes: controlling the manipulator to release the consumable.
[0014] The dust removal method of the cleaning robot according to the first aspect of the present application uses the manipulator of the cleaning robot itself to remove the dirt storage container and carry it to the target position at the target dirt treatment point, so as to realize the removal treatment of the dirt in the dirt storage container; this solution is simple and feasible, without the participation of the user, and improves the user experience.
[0015] In a second aspect, the present application provides a cleaning robot, characterized in that it includes: a main body, the main body includes a traveling mechanism for driving the cleaning robot to move on the ground; a dirt collection device including a dirt storage container removably mounted on the main body; a manipulator mounted on the main body; and a control system communicatively connected to the drive system and the manipulator for executing the dirt removal method described in the first aspect or the preferred mode of the first aspect.
[0016] In some embodiments of the second aspect, preferably, the cleaning robot further includes: a machine vision system including one or more cameras for capturing images of the operating environment of the cleaning robot; wherein the control system is communicatively connected to the machine vision system, and the control system determines the target dirt treatment point using the images fed back by the machine vision system.
[0017] In some embodiments of the second aspect, preferably, at least one of the cameras is arranged at the manipulator.
[0018] In some embodiments of the second aspect, preferably, the cleaning robot further includes: a data memory storing data required for the operation of the cleaning robot, the data including position coordinate information of the target dirt treatment point.
[0019] In some embodiments of the second aspect, preferably, the cleaning robot further includes: a locking device for locking the dirt storage container to the main body.
[0020] In some embodiments of the second aspect, preferably, the locking device is an electronic lock communicatively connected to the control system, and the electronic lock is configured to be unlocked under the control of an unlocking instruction sent by the control system.
[0021] In some embodiments of the second aspect, preferably, the locking device includes an unlocking operation button, and the manipulator is configured to trigger the unlocking operation button under the control of an unlocking instruction sent by the control system.
[0022] In some embodiments of the second aspect, preferably, the manipulator has a folded form and an unfolded form; the manipulator is in the folded form when the cleaning machine moves along the ground.
[0023] In some embodiments of the second aspect, preferably, the dirt storage container includes a housing with a dirt receiving chamber therein, a lid movable between a closed position and an open position, and an actuating mechanism for driving the movement of the lid. The actuating mechanism is communicatively connected to the control system and is configured to drive the lid to move to the open position or the closed position in response to an open / close lid command sent by the control system.
[0024] In some embodiments of the second aspect, preferably, the actuating mechanism has its own power supply.
[0025] In some embodiments of the second aspect, preferably, the cleaning robot further includes a weight meter installed on the body and near the dirt storage container. The weight meter is signal-connected to the control system and is configured to be able to measure the weight of the dirt storage container.
[0026] In some embodiments of the second aspect, preferably, the dirt collection device includes a suction motor. A dirt receiving chamber is provided inside the dirt storage container, and the dirt receiving chamber is in air flow communication with the suction motor. A pressure sensor is provided inside the dirt receiving chamber, and the pressure sensor is signal-connected to the control system and is configured to be able to measure the pressure inside the dirt storage container.
[0027] The cleaning robot according to the second aspect of the present application is configured with a manipulator, enabling it to have the ability to remove the dirt storage container using the manipulator and carry it to the target dirt treatment point, so that the dirt removal work of the cleaning robot does not require the participation of the user, and the intelligence level of the cleaning robot is further improved.
[0028] The advantages of the preferred solution of the present application will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] Figure 1 is a three-dimensional schematic diagram of the cleaning robot provided by the embodiment of the present application; Figure 2 is a top view schematic diagram of the cleaning robot provided by the embodiment of the present application; Figure 3 is an Figure 2 cross-sectional schematic diagram along the A-A direction; Figure 4A flow chart of a method for removing dirt from a cleaning robot provided in an embodiment of the present application; Figure 5 A schematic diagram of a scene in which the cleaning robot provided in an embodiment of the present application moves toward a target waste treatment point; Figure 6 A schematic diagram of a scene in which the manipulator of the cleaning robot provided in an embodiment of the present application carries a dirt collection container and moves to above a trash can. DETAILED DESCRIPTION
[0030] The present application relates to a cleaning robot and a dirt removal method thereof. The cleaning robot herein refers to a robot that carries a dirt storage container, such as a floor cleaning robot. The floor cleaning robot may be a vacuuming robot with a suction function, or a sweeping robot without a vacuuming function, or a floor scrubbing robot with its own solution supply and waste liquid recovery. When performing cleaning work, the cleaning robot stores dirt in a dirt storage container. The dirt removal method of the cleaning robot of the present application refers to emptying the dirt in a dirt storage container. The dirt mentioned in the present application may be dry garbage or a mixture of solid and liquid garbage.
[0031] Figures 1-3 The schematic example of a cleaning robot is shown in FIG. 1. The cleaning robot 100 is a floor vacuuming robot, which comprises a body 1, a dirt collecting device 2, a manipulator 3, a machine vision system, a control system, a battery module 6, and the like.
[0032] The body 1 is provided with a traveling mechanism. In this example, the traveling mechanism includes a moving wheel 11 and a driving motor (not shown) arranged in a transmission manner with a plurality of the moving wheels 11. In other embodiments, the traveling mechanism may also include a crawler and a driving motor. Under the control of the control system, the traveling mechanism drives the cleaning robot 100 to move autonomously on the ground.
[0033] The dirt collection device 2 includes a suction motor (not shown in the figure), a dirt storage container 21 with a dirt receiving chamber (not shown in the figure), a roller brush assembly 22, a suction nozzle 23 facing the ground, etc.; the suction nozzle 23, the dirt receiving chamber and the suction motor will constitute a fluid connection in sequence. The dirt storage container 21 is removably arranged on the body 1. In this example, the dirt storage container 21 is arranged on the top of the body 1. A locking device is arranged between the dirt storage container 21 and the body 1. The locking device may include an electronic lock, which is connected to the control system signal, and the control system can control the electronic lock to unlock as needed; after the electronic lock is unlocked, the dirt storage container 21 can be taken out from the top of the body 1. In other embodiments, the locking device can also be a mechanical locking mechanism. When a mechanical locking mechanism is used, an unlocking operating member needs to be configured, which unlocks the locking device by triggering the unlocking operating member.
[0034] In some embodiments, in order to monitor the amount of dirt in the dirt receiving chamber of the dirt receiving container 21, a weight meter (not shown in the figure) may also be provided on the main body 1 or the dirt receiving container 21. It can be arranged near the dirt receiving container 21 or directly on the dirt receiving container. The weight meter is signal-connected to the control system and is configured to measure the weight of the dirt receiving container.
[0035] In some embodiments, one or more pressure sensors are further provided in the dirt receiving chamber inside the dirt receiving container 21, on the air flow path between the suction nozzle and the dirt receiving chamber, or on the air flow path between the dirt receiving chamber and the suction motor. These pressure sensors are signal-connected to the control system and are configured to monitor the pressure in the dirt receiving chamber or the air pressure on the corresponding air flow path.
[0036] The manipulator 3 is provided at a side wall of the main body 1 and is composed of an arm portion 31 and a hand portion 32. The number of axes of the arm portion 31 can be set according to requirements. The manipulator 3 can be transformed between an unfolded state and a folded state. As an automatic operating device capable of grasping, transporting objects or operating tools according to a fixed program, the manipulator 3 is controlled by the control system. The hand portion of the manipulator 3 in the present application is configured to be able to at least grasp the dirt receiving container 21. The structural form of the hand portion 32 is not limited. For example, mechanical clamps, bionic manipulators, mechanical hooks, suction cups, etc. can directly lift the dirt receiving container 21. When the hand is a mechanical claw, it can be two claws or multiple claws. The specific structural form of the manipulator 3 is not limited in the present application.
[0037] The machine vision system is usually composed of a camera and various sensors and is communicatively connected to the control system. The camera of the machine vision system can help capture images of the operating environment of the cleaning robot 100; the control system uses the images fed back by the vision system to identify the items around the operating environment, such as judging the types of obstacles, finding the dirt treatment points where trash cans or dirty collection buckets are located around the operating environment, etc.
[0038] The control system can receive sensor signals generated by one or more sensors and send control instructions for performing corresponding actions to external target components. In this application, the control system is simultaneously signal-connected to the drive motor of the traveling mechanism, the suction motor of the dirt collection device, the machine vision system, and the manipulator. The control system controls the drive motor to drive the cleaning robot to travel along a desired path. The control system controls the start and stop of the suction motor to collect garbage on the ground as needed. The control system can receive data sent by the machine vision system, such as picture data, etc. The control system can judge the external environment where the robot is located based on the data sent by the machine vision system to control the actions of the target components. The control system controls the manipulator to perform corresponding operations, such as picking up the dirt storage container, picking up the garbage on the ground, removing obstacles in the traveling direction, etc.
[0039] The data memory can store all data related to the operation of the cleaning robot 100. In one example, the data memory can store map data of the work site of the cleaning robot 100, the position coordinates of each target dirt treatment point on the map, standard image data for helping to judge and find a target dirt treatment point that meets the requirements in the workplace, etc. In one example, the cleaning robot 100 can use the data in the data memory to correctly locate the nearest target dirt treatment point and generate a control mode for driving the traveling mechanism to move the cleaning robot to the nearest target dirt treatment point.
[0040] The above-mentioned machine vision system and control system can either be all set on the body of the robot or some components can be arranged on the manipulator, such as Figure 2 as shown in, a camera 41 of a machine vision system is arranged on the manipulator.
[0041] Some dirt removal methods of the cleaning robot 100 are described below: When the cleaning robot 100 receives a dirt treatment instruction, it will control the cleaning robot 100 to perform at least one standard dirt treatment operation; the program of this standard dirt treatment operation is usually a fixed program stored in the data memory. The dirt treatment instruction can either be an instruction sent by an external device, such as a remote control, a handheld terminal in remote communication with the robot, etc.; or it can be an instruction issued by the cleaning robot 100 itself, such as when the control system judges that the robot needs to perform a dirt treatment operation based on the operating parameters of the robot; multiple condition programs for issuing dirt treatment instructions can be set inside the robot, and when any one condition is met, the robot can be triggered to issue a dirt treatment instruction.
[0042] In some embodiments, when the robot determines that a dirt treatment operation needs to be performed, it will issue a dirt treatment instruction. The method of determination includes: obtaining the operation data of the cleaning robot during operation; based on the operation data, determining whether the cleaning robot needs to perform a dirt treatment; and when it is determined that the cleaning robot needs to perform a dirt treatment, issuing the dirt treatment instruction.
[0043] In one example, the method of determining whether the cleaning robot needs to perform a dirt treatment includes: obtaining the weight data of the dirt collection container of the cleaning robot during operation; and based on whether the weight is greater than or equal to a preset weight threshold, determining whether the cleaning robot needs to perform a dirt treatment and issuing a dirt treatment instruction after obtaining an affirmative conclusion. In this example, by measuring the weight of the dirt collection container in real time, it is determined whether the cleaning robot needs to perform a dirt treatment operation. This solution can ensure that the manipulator can move the dirt collection container in subsequent operations. For example, the weight threshold is 0.5 kg. When it is determined that the dirt collection container carried by the robot reaches or exceeds 0.5 kg, the current cleaning operation is stopped or paused, and a dirt treatment operation is performed.
[0044] In one example, the method of determining whether the cleaning robot needs to perform a dirt treatment includes: obtaining the weight data of the dirt collection container of the cleaning robot during operation; and based on whether the weight is greater than or equal to a preset weight threshold, determining whether the cleaning robot needs to perform a dirt treatment and issuing a dirt treatment instruction after obtaining an affirmative conclusion. In this example, by measuring the weight of the dirt collection container in real time, it is determined whether the cleaning robot needs to perform a dirt treatment operation. This solution can ensure that the manipulator can move the dirt collection container in subsequent operations. For example, the weight threshold is 0.5 kg. When it is determined that the dirt collection container carried by the robot reaches or exceeds 0.5 kg, the current cleaning operation is stopped or paused, and a dirt treatment operation is performed.
[0045] In one example, the method for determining whether the cleaning robot needs to perform dirt treatment includes: obtaining the pressure in the dirt receiving chamber during the operation of the cleaning robot; and determining whether the cleaning robot needs to perform dirt treatment and issuing a dirt treatment instruction after obtaining an affirmative conclusion based on whether the pressure exceeds a preset warning pressure. In this example, by monitoring the pressure in the dirt receiving chamber, it is determined whether the cleaning robot needs to perform dirt treatment operations; since the pressure in the dirt receiving chamber reaches the warning pressure, it indicates that the amount of dirt in the dirt receiving chamber has reached the requirement for performing dirt removal, so this solution can ensure the normal passage of the suction air flow path. In other embodiments, such as setting pressure sensors on the air flow path between the suction nozzle and the dirt receiving chamber or between the dirt receiving chamber and the suction motor, the pressure on the corresponding air flow path can also be monitored through these pressure sensors, and by monitoring the pressure on these air flow paths, it can also be indirectly determined whether the dirt receiving chamber is full of dirt, so as to obtain a conclusion on whether dirt treatment is required.
[0046] In one example, the method for determining whether the cleaning robot needs to perform dirt treatment includes: obtaining the operating time data of the cleaning robot during continuous operation; and determining whether the cleaning robot needs to perform dirt treatment based on whether the operating time is greater than or equal to a preset time threshold. In this example, by monitoring the continuous operating time of the cleaning robot, it is determined whether the cleaning robot needs to perform dirt treatment operations. This solution can indirectly ensure that the amount of dirt in the dirt storage container is within a controllable range, so that the manipulator can move the dirt storage container in subsequent operations.
[0047] In one example, the method for determining whether the cleaning robot needs to perform dirt treatment includes: determining whether the cleaning robot has completed the set cleaning work, and issuing the dirt treatment instruction when it is determined that the cleaning robot has completed the set cleaning work. In this example, it is ensured that the cleaning robot performs dirt treatment once after completing the cleaning work, so as to keep the dirt storage container of the cleaning robot in the storage state clean.
[0048] Of course, it is also possible to set a timing program to remind the cleaning robot to perform dirt treatment operations, or to remind the cleaning robot to perform dirt treatment operations through a counting program (the number of times the robot performs cleaning operations), etc.; in this application, the generation of dirt treatment instructions is not limited.
[0049] In one example, the dirt treatment instruction comes from a dirt treatment instruction sent by a user through a terminal (such as a mobile phone, a tablet, a remote control, etc.) that can communicate with the cleaning robot.
[0050] See Figure 4As shown, the standard waste treatment operation includes the following steps: S1. Controlling the cleaning robot to move to a target waste treatment point; and S2. Controlling the manipulator to remove the waste collection container from the body of the cleaning robot and carry it to the target position at the target waste treatment point.
[0051] The "target waste treatment point" can be a location where a trash can is placed or a location that meets the requirements for dumping waste, and it can be determined according to the type of waste and the type of waste treatment device available externally. The "target position at the target waste treatment point" refers to the position where the waste collection container can obtain waste transfer, such as above the trash can, the suction port position of the suction treatment device, etc. The manipulator can carry the waste collection container to this position, thus facilitating the execution of the next step of waste release or transfer.
[0052] For step S1, the cleaning robot needs to first determine or find the target waste treatment point. In some embodiments, the position coordinate information of the target waste treatment point is stored in the data memory of the robot; in this case, the cleaning robot only needs to navigate to this position coordinate, and this position coordinate information can be set by the user or determined by the robot through executing a standard teaching program; in some embodiments, a position beacon, such as an infrared transmitter, is configured at the target waste treatment point, and the robot can trace to the target waste treatment point based on the signal emitted by the position beacon; in some other embodiments, the target waste treatment point is determined on-site by the robot's machine vision system in combination with the control system. For example, the robot first captures an image of the operation environment of the cleaning robot through the machine vision system and transmits it to the control system. The control system identifies these images to determine whether there is a collection container (such as a trash can) in the operation environment of the cleaning robot that can transfer waste. After determining its existence, the position where the collection container is located is used as the target waste treatment point.
[0053] As Figure 5 shown, after the cleaning robot 100 determines the target waste treatment point S 1 the cleaning robot 100 will, under the control of the control system, rely on the traveling mechanism to move along the ground S 0 to the target waste treatment point S 1 at.
[0054] In step S2, when the cleaning robot moves to the target waste treatment point, waste treatment will start. As Figure 6 shown, specifically: controlling the arm 31 of the manipulator 3 to expand, and using the hand 31 of the manipulator 3 to remove the waste collection container 21 from the body 1 of the cleaning robot 100 and carry it above the trash can 500 at the target waste treatment point S 1 at.
[0055] In some embodiments, the dirt collection container is held on the body of the robot by a locking device. For these robots, before controlling the manipulator to remove the dirt collection container from the body of the robot, the locking device needs to be unlocked first. If the locking device is an electronic lock, the electronic lock is communicatively connected to the control system of the robot, and an unlocking instruction is sent to the locking device through the control system to release the dirt collection container. If the locking device is equipped with an unlocking operation button, the manipulator can be configured to trigger the unlocking operation button under the control of the unlocking instruction sent by the control system.
[0056] After the locking device is unlocked, the manipulator can be controlled to remove the dirt collection container from the body and carry it to the target position placed at the target dirt treatment point, such as above the trash can. During the process from removal to placement at the target position, mainly the manipulator is in motion, and the cleaning robot itself can remain stationary or make small movements near the target dirt treatment point to help the manipulator accurately move the dirt collection container to the target position.
[0057] During the process of controlling the manipulator to remove the dirt collection container from the body and move it to the target position, the movement trajectory of the manipulator can be a set of standard trajectories. Under the standard trajectory, the lateral translation, up and down movement, and rotation angle of the robot, etc. are all set values. The movement trajectory of the manipulator can also be a temporarily formulated movement path based on the target position of the target dirt treatment point and with the help of the machine vision system and the control system.
[0058] After step S2 is completed, different actions can also be performed according to different types of the dirt collection container to complete the exclusion treatment of the dirt in the dirt collection container.
[0059] In some embodiments, continuing as Figure 6 shown, the dirt collection container 21 includes a housing 211 with a dirt receiving chamber therein and a lid 212 that can be selectively closed and opened. After step S2 is completed, the lid 212 will be controlled to open to release the dirt stored in the dirt receiving chamber.
[0060] Methods for opening the control cover vary depending on whether the waste storage container is equipped with its own cover-opening actuator or not. If the waste storage container is equipped with its own cover-opening actuator, the actuator is signal-connected to the control system and controlled by the control system. When it is necessary to control the cover to open, the control system sends an opening instruction to the actuator. If the waste storage container does not have its own cover-opening actuator, the opening action of the cover can be performed by controlling the manipulator. In the solution where the waste storage container is equipped with its own cover-opening actuator, the actuator usually comes with its own power supply, such as a battery. Of course, if the manipulator can form an electrical connection with the waste storage container when carrying the waste storage container, the power supply electrical energy from the robot's own battery can also be transmitted to the actuator of the waste storage container through the conductive wire on the manipulator.
[0061] After the waste treatment is completed, the cover of the waste storage container needs to be reset, and then the manipulator is used to send the waste storage container back to the body of the robot.
[0062] In some embodiments, the waste storage container includes replaceable consumables, such as disposable dust bags, replaceable dust boxes, etc. After step S2 is completed, the manipulator will be controlled to release the consumables on the waste storage container above the trash can. In some specific embodiments, if the waste storage container itself is composed of a replaceable consumable, the manipulator will be controlled to release the waste storage container. When the waste storage container includes replaceable consumables, after the manipulator releases the consumables, it usually needs to install a new consumable at the corresponding position of the waste storage container or the robot body.
[0063] The cleaning robot of the present application can perform waste treatment operations on the waste in the waste storage container through the manipulator provided by itself, which can replace the user's labor of dumping waste and improve the user experience.
[0064] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present application. Without departing from the spirit and scope of the present application, the present application will have various changes and improvements. The scope of protection required by the present application is defined by the appended claims, the specification and their equivalents.
Claims
1. A method for removing dirt from a cleaning robot, characterized in that: The cleaning robot includes a main body capable of moving on the ground, a dirt collection container removably mounted on the main body, and a manipulator attached to the main body, and the dirt removal method includes: controlling the cleaning robot to perform at least one standard dirt treatment operation after receiving a dirt treatment instruction; wherein the standard dirt treatment operation includes: controlling the cleaning robot to move to a target dirt treatment point; and controlling the manipulator to remove the dirt collection container from the main body and carry it to the target position of the target dirt treatment point.
2. The method according to claim 1, characterized in that The waste treatment instruction comes from the cleaning robot itself, and the method further includes: Acquiring operation data of the cleaning robot during operation; Based on the operation data, determining whether the cleaning robot needs to perform waste treatment; and When it is determined that the cleaning robot needs to perform waste treatment, the waste treatment instruction is issued.
3. The method for removing waste according to claim 2, characterized in that: The obtaining of the operating data of the cleaning robot during operation and judging whether the cleaning robot needs to perform waste disposal based on the operating data include: obtaining weight data of the waste collection container; and judging whether the cleaning robot needs to perform waste disposal based on whether the weight is greater than or equal to a preset weight threshold.
4. The method for removing waste according to claim 2, characterized in that: The cleaning robot includes a suction motor, and the dirt storage container is provided with a dirt receiving chamber, the dirt receiving chamber is connected to the suction motor by airflow, and the obtaining of operating data of the cleaning robot during operation and judging whether the cleaning robot needs to perform dirt treatment based on the operating data include: obtaining pressure data of the dirt receiving chamber, and judging whether the cleaning robot needs to perform dirt treatment based on whether the pressure reaches a preset warning pressure value.
5. The method for removing waste according to claim 2, characterized in that: The obtaining of the operating data of the cleaning robot during operation and judging whether the cleaning robot needs to perform waste disposal based on the operating data include: obtaining the operating time data of the continuous operation of the cleaning robot; and judging whether the cleaning robot needs to perform waste disposal based on whether the operating time is greater than or equal to a preset time threshold.
6. The waste removal method according to claim 1, characterized in that: The waste disposal instruction comes from the cleaning robot itself, and the method further comprises: judging whether the cleaning robot has completed the set cleaning work, and issuing the waste disposal instruction when judging that the cleaning robot has completed the set cleaning work.
7. The method according to claim 1, characterized in that The waste treatment instruction comes from an external device.
8. The method according to claim 1, characterized in that The dirt storage container comprises a shell with a dirt receiving chamber therein and a cover which can be selectively closed and opened, and the method further comprises: opening the cover to release the dirt stored in the dirt receiving chamber.
9. The method according to claim 1, characterized in that: The dirt collection container includes replaceable consumables, and the method further includes: controlling the robot arm to release the consumables.
10. A cleaning robot, characterized in that: include: A body, wherein the body comprises a traveling mechanism, and the traveling mechanism is used to drive the cleaning robot to move on the ground; A dirt collection device, comprising a dirt receiving container, wherein the dirt receiving container is removably mounted on the body; A manipulator, mounted on the body; as well as A control system is communicatively connected with the drive system and the manipulator, and is used to execute the waste removal method described in any one of claims 1 to 9.
11. The cleaning robot according to claim 10, characterized in that: Also includes: The machine vision system comprises: one or more cameras, which capture images of the operating environment of the cleaning robot; wherein the control system is communicatively connected to the machine vision system, and the control system uses the images fed back by the machine vision system to determine the target waste treatment point.
12. The cleaning robot according to claim 11, characterized in that: At least one of the cameras is arranged on the manipulator.
13. The cleaning robot according to claim 10, characterized in that: Also includes: A data storage device stores data required for the operation of the cleaning robot, wherein the data storage device stores data including position coordinate information of the target waste treatment point.
14. The cleaning robot according to claim 10, characterized in that: Also includes: The locking device is used to lock the dirt collection container on the body.
15. The cleaning robot according to claim 14, characterized in that: The locking device is an electronic lock, which is communicatively connected with the control system and is configured to be unlocked in response to an unlocking instruction sent by the control system.
16. The cleaning robot according to claim 15, characterized in that: The locking device comprises an unlocking operation button, and the manipulator is configured to be controlled by an unlocking instruction sent by the control system to trigger the unlocking operation button.
17. The cleaning robot according to claim 10, characterized in that: The manipulator has a folded state and an unfolded state; the manipulator is in the folded state when the cleaning machine moves along the ground.
18. The cleaning robot according to claim 10, characterized in that: The dirt collection container includes a shell with a dirt receiving chamber, a cover that can be moved between a closed position and an open position, and an action mechanism that drives the cover to move. The action mechanism is communicatively connected to the control system, and the action mechanism is configured to be controlled by an open / close cover instruction sent by the control system to drive the cover to move to the open position or the closed position.
19. The cleaning robot according to claim 18, characterized in that: The action mechanism has its own power supply.
20. The cleaning robot according to claim 10, characterized in that: Also includes: A weight meter is installed on the main body and located near the dirt receiving container. The weight meter is connected to the control system signal and is configured to measure the weight of the dirt receiving container.
21. The cleaning robot according to claim 10, characterized in that: The dirt collecting device includes a suction motor, and a dirt receiving chamber is arranged in the dirt storage container. The dirt receiving chamber is in airflow communication with the suction motor, and a pressure sensor is arranged in the dirt receiving chamber. The pressure sensor is connected to the control system signal and is configured to measure the pressure inside the dirt storage container.