Robot vacuum cleaner, cleaning system, and control method for robot vacuum cleaner

Abstract

The present application belongs to the technical field of cleaning tools, and in particular relates to a robot vacuum cleaner, a cleaning system, and a control method for a robot vacuum cleaner. The robot vacuum cleaner comprises: a mobile carrier; a self-propelling mechanism, which drives the mobile carrier to move along a surface to be cleaned; an air duct, which is arranged in the mobile carrier; a negative-pressure device, which is mounted in the mobile carrier and connected to the air duct and is used for extracting air from the air duct, such that an airflow is generated in the air duct; a dust collection container, which is accommodated in the air duct; and a measurement unit, which is mounted in the mobile carrier and is used for collecting specific physical information of the robot vacuum cleaner, wherein the specific physical information is physical information that can change as the loading state of the dust collection container changes. The measurement unit can collect the specific physical information, and thus the full-load state of the dust collection container can be accurately determined, so as to give a user a timely prompt to clean the dust collection container, thereby ensuring the cleaning effect and prolonging the service life.

Description

Sweeping machine, cleaning system and control method of sweeping machine

[0001] The present application claims priority to the Chinese patent application No. 202410446891.7, filed on April 15, 2024, and entitled "Sweeping machine, cleaning system and control method of sweeping machine", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application belongs to the technical field of cleaning tools, and particularly relates to a sweeping machine, a cleaning system and a control method of the sweeping machine. BACKGROUND

[0003] Sweeping robots are generally equipped with dust boxes for collecting garbage. In order to facilitate users to clean garbage, the dust box is generally set as a disposable consumable in the prior art. When the dust box is full, the user can take out and discard the garbage together with the dust box. However, there is a lack of products capable of detecting the use state of the dust box in the prior art. The user can only judge when to replace the dust box according to experience. When the dust box is not replaced in time, the working performance of the sweeping machine will be seriously affected. If the user wants to know the state of the dust box in time, the user must frequently disassemble the shell of the sweeping machine for inspection, which increases the burden of the user and affects the use experience.

[0004] SUMMARY

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a sweeping machine, a cleaning system and a control method of the sweeping machine, which can enable the user to discover that the dust collecting container is full in time, thereby improving the cleaning efficiency and reducing the burden of the user.

[0006] To achieve the above-mentioned purpose and other related purposes, the present application provides a sweeping machine, comprising:

[0007] a mobile carrier equipped with a self-walking mechanism to drive the mobile carrier to walk along a surface to be cleaned;

[0008] an air duct arranged on the mobile carrier;

[0009] a negative pressure device installed on the mobile carrier and connected to the air duct, for pumping air from the air duct to generate an air flow in the air duct;

[0010] a dust collecting container received in the air duct, a first air inlet being arranged on the windward side of the dust collecting container, at least a part of the area of the dust collecting container being made of filter material, so that the dust collecting container can be passed through by the air flow, and the garbage carried by the air flow is retained in the dust collecting container;

[0011] A detection unit is installed on the mobile carrier to collect specific physical information of the sweeper, which is physical information that can change with the change of the dust collection container filling state.

[0012] The advantages of such an arrangement are that the sweeper is equipped with a self-walking mechanism that can drive the mobile carrier to walk along the surface to be cleaned, realizing the function of autonomous cleaning without the need for additional operation. The cleaning system composed of the air duct, the negative pressure device and the dust collection container can generate airflow to suck the garbage into the dust collection container, ensuring efficient cleaning of the ground. The design of the dust collection container can allow the garbage carried in the airflow to be retained in the container, and the use of filter material to make part of the area can effectively filter the air, so that the dust collection container can continuously and efficiently collect garbage. The detection unit can collect specific physical information to accurately determine the full load state of the dust collection container, so as to timely remind the user to clean the dust collection container, ensure the cleaning effect and prolong the service life; the feedback unit can generate a sensory signal that the user can perceive, so that the user can take action in time. The sweeper has the functions of autonomous movement, efficient cleaning, intelligent detection and user-friendly feedback, which can improve the cleaning efficiency, reduce the use cost and improve the user experience.

[0013] In an optional embodiment of the present application, the negative pressure device includes a fan, and the sweeper further includes a controller, the fan being electrically connected to the controller, and the controller being configured to control the fan to work at a constant current, and the detection unit includes a rotation speed detection unit for detecting the rotation speed of the fan.

[0014] The advantages of such an arrangement are that by detecting the rotation speed of the fan, the cleaning work can be closely combined with the actual needs, improving the working efficiency while ensuring the cleaning effect. Regular cleaning of the dust collection container can effectively prolong the service life of the sweeper. Detecting the rotation speed of the fan can remind the user to clean the dust collection container in time, avoiding the long-term retention of garbage that can cause the performance of the machine to decline or even be damaged, thereby prolonging the service life and stability of the equipment.

[0015] In an optional embodiment of the present application, the negative pressure device includes a fan, and the sweeper further includes a controller, the fan being electrically connected to the controller, and the controller being configured to control the fan to work at a constant rotation speed, and the detection unit includes a current detection unit for detecting the working current of the fan.

[0016] The beneficial effect of such an arrangement is that by monitoring the current consumption of the fan in real time, the filling state of the dust container can be indirectly reflected. When the dust container is filled to a certain extent, the fan needs more power to maintain normal dust suction efficiency, and at this time the current consumption of the fan will relatively increase. The system can set a current threshold, and when the fan current exceeds the threshold, the system can determine that the dust container has reached the full load state, triggering the corresponding processing measures, such as reminding the user to empty the dust container.

[0017] In an optional embodiment of the present application, the detection unit includes a wind speed detection unit and / or a gas pressure detection unit arranged in the air duct.

[0018] The beneficial effect of such an arrangement is that by monitoring the change of wind speed in the dust suction air duct, the filling state of the dust container can be more accurately determined to ensure that the user is reminded to clean the dust container at the right time, avoiding dust overflow or affecting the dust suction effect. Unlike current detection, wind speed detection is not affected by factors such as current fluctuations, is more stable and reliable, and can accurately reflect the actual filling condition of the dust container. Gas pressure detection can accurately reflect the change of internal pressure of the dust container, so as to accurately determine the filling state of the dust container and ensure that the user is reminded to clean the dust container at the right time; gas pressure detection is relatively stable and is not affected by external factors, so it can reliably monitor the filling state of the dust container and provide stable detection results.

[0019] In an optional embodiment of the present application, the moving carrier includes a first structural member and a second structural member, and at least the dust container is mounted on the first structural member. The first structural member is assembled such that at least part of its weight acts on the second structural member. The detection unit includes a weight detection unit arranged between the first structural member and the second structural member to detect the weight change of the first structural member.

[0020] The beneficial effect of such an arrangement is that the accumulation of dust and debris inside the dust container will cause the weight of the dust container to increase. During the working process of the robot, the weight change of the dust container can be monitored by the built-in weighing sensor, and when the preset weight threshold is reached, the system can determine that the dust container has reached the full load state, triggering the corresponding processing measures, such as reminding the user to clean the dust container or automatically stopping working, etc.

[0021] In an optional embodiment of the present application, the dust container is made of flexible material, and the dust container is assembled such that its volume can expand as the amount of garbage collected inside increases. The detection unit includes a volume detection unit for detecting the volume change of the dust container.

[0022] The beneficial effect of such an arrangement is that as the dust and debris in the dust container accumulates, the volume of the dust container made of flexible material gradually expands, and when the dust container is full, the volume change will reach a specific threshold. By monitoring the volume change of the dust container, the system can determine whether the dust container is full, thereby triggering the corresponding processing measures, such as reminding the user to clean the dust container or automatically stopping work.

[0023] In an optional embodiment of the present application, the dust container is made of flexible material, the mobile carrier is provided with a compression mechanism for compressing the dust container, and the detection unit includes a stroke detection unit for detecting the compression stroke of the compression mechanism or a pressure detection unit for detecting the pressure change of the compression mechanism.

[0024] The beneficial effect of such an arrangement is that as the dust and debris in the dust container accumulates, the dust container is squeezed by the mechanical device of the robot, and the filling degree of the dust container is determined by detecting the change of the squeezing stroke or the pressure generated by the squeezing. When the dust and debris in the dust container reach a certain amount, the squeezing stroke or the squeezing pressure will change significantly, and the system can determine whether the dust container is full by monitoring such changes, thereby triggering the corresponding processing measures.

[0025] In an optional embodiment of the present application, at least a position of the dust container close to the first air inlet is provided with a light-transmitting area, the detection unit includes a photoelectric detection unit for detecting whether there is garbage in the first air inlet, and the photoelectric detection unit is arranged opposite to the light-transmitting area.

[0026] The beneficial effect of such an arrangement is that when the dust and debris in the dust container reach a certain height, they will block or shield the light emitted by the photoelectric sensor, causing the sensor to detect a change in the signal. The system determines the filling degree of the dust container by monitoring the signal change output by the photoelectric sensor, and when the signal reaches a preset threshold, the system can determine that the dust container is full, thereby triggering the corresponding processing measures, such as reminding the user to clean or automatically stopping work.

[0027] In an optional embodiment of the present application, the air duct is provided with a cavity for accommodating the dust container, the cavity is provided with a second air inlet and a second air outlet, the first air inlet is arranged opposite to the second air inlet, and the filter material is arranged at least in the area of the dust container opposite to the second air outlet.

[0028] The beneficial effects of such an arrangement are that the dust collecting container is independently accommodated in the cavity, which can effectively isolate the garbage and dust in the dust collecting container, avoid pollution or damage to other components of the robot, and ensure stable operation of the device. The first air inlet and the second air inlet are arranged opposite to each other, which can effectively guide and control the flow of air, improve the dust collection efficiency, and ensure that the garbage and dust can be effectively sucked into the dust collecting container. The filter material arranged on the dust collecting container can filter the air, remove the dust and bacteria in the air, and improve the air quality while separating the dust collecting container, thereby keeping the indoor environment clean. The arrangement of the dust collecting container in the cavity makes it more convenient and fast to clean and replace the dust collecting container, reduces the complexity and time consumption of maintenance work, and improves the overall maintainability of the device.

[0029] In an optional embodiment of the present application, the container wall of the dust collecting container is made of a breathable material, and the container wall of the dust collecting container itself constitutes the filter material.

[0030] The beneficial effects of such an arrangement are that the container wall of the dust collecting container made of a breathable material itself constitutes the filter material, which can effectively filter the dust, bacteria and other particulate matter in the air, reduce the entry of these dust into the environment or be emitted into the air again, and improve the air quality. The container wall of the dust collecting container can prevent dust from being discharged again after entering the dust collecting container, reduce the accumulation of dust in other components inside the robot, reduce the cleaning and maintenance frequency, and prolong the service life of the device. Since the container wall itself is the filter material, the use of independent filter screens or filter cartridges and other elements is reduced, the maintenance cost is reduced, and the frequency and cost of replacing the filter material are also reduced. The container wall of the dust collecting container made of a breathable material usually has good wear resistance and easy cleaning, and the cleaning and maintenance process is more convenient and fast, so that the user can easily clean the dust collecting container and keep it clean and sanitary. The container wall of the dust collecting container itself constitutes the filter material, which can fully utilize the entire container wall as a filter, improve the dust collection efficiency, and ensure that the sucked dust and dirt are effectively captured and stored.

[0031] In an optional embodiment of the present application, the container wall of the dust collecting container is made of a high polymer film, the area of the dust collecting container opposite to the second air outlet is provided with a first air outlet, and the filter material is arranged at the first air outlet.

[0032] The beneficial effects of such an arrangement are that the dust collecting container made of a high polymer film is more lightweight, and since the area of the dust collecting container other than the filter material is made of a material that is not breathable, the dust can be effectively prevented from entering the inner cavity of the robot shell through the container wall, thereby reducing the maintenance cost of the robot and prolonging the service life of the robot.

[0033] In an optional embodiment of the present application, a first support is arranged on the side of the dust collecting container opposite to the second air inlet, and the first support is detachably connected to the edge of the second air inlet.

[0034] The beneficial effect of such an arrangement is that the first support can effectively support the first air inlet of the dust collection container, avoiding phenomena such as folding, collapse, etc. of the first air inlet, which can prevent the airflow from smoothly entering the dust collection container.

[0035] In an optional embodiment of the present application, a second support is arranged on the side of the dust collection container opposite the second air outlet, and the second support is detachably connected to the edge of the second air outlet.

[0036] The beneficial effect of such an arrangement is that the second support can effectively support the filter material of the dust collection container, preventing phenomena such as folding, collapse, etc. of the filter material.

[0037] In an optional embodiment of the present application, the second air inlet and the second air outlet are located on the same side of the cavity, and a fixed support is arranged on the side of the dust collection container opposite the second air inlet and the second air outlet, and the fixed support is detachably connected to the inner wall of the cavity where the second air inlet and the second air outlet are located.

[0038] The beneficial effect of such an arrangement is that since the second air inlet and the second air outlet are located on the same side of the cavity, the dust collection container only needs to be provided with a fixed support on this side.

[0039] In an optional embodiment of the present application, the air duct is provided with a main air inlet at the end away from the negative pressure device, and the main air inlet is arranged on the bottom surface of the mobile carrier.

[0040] In an optional embodiment of the present application, the main air inlet is provided with a receiving cavity for receiving a rolling brush, the rolling brush is rotationally arranged in the receiving cavity, and part of the roller surface of the rolling brush protrudes below the bottom surface of the mobile carrier.

[0041] The beneficial effect of such an arrangement is that the rolling brush located at the air inlet can directly contact the ground, effectively sweeping away dust, hair and debris on the ground, improving the cleaning efficiency. The rotation of the rolling brush can bring dust and debris into the dust suction air duct, ensuring more thorough cleaning. The rolling brush at the air inlet can effectively stir the dust on the ground, making it easier to be sucked into the dust suction air duct, increasing the dust suction intensity and improving the dust suction effect. The rolling brush at the air inlet can pretreat the ground, such as loosening stubborn dirt and entangled hair on the ground, providing better preparation for subsequent dust suction work and ensuring more thorough dust suction effect. Arranging the rolling brush at the air inlet can effectively prevent large particles from blocking the dust suction air duct, reducing the risk of air duct blockage and maintaining the dust suction efficiency and stability of the dust suction robot. Arranging the rolling brush at the air inlet can help reduce the possibility of damage to the rolling brush during operation, prolong the service life of the rolling brush and reduce replacement costs.

[0042] In an optional embodiment of the present application, the sweeping machine further comprises a feedback unit mounted on the mobile carrier, for generating a reminder signal according to the specific physical information collected by the detection unit. The feedback unit comprises at least one of a light module, a speaker module, a vibration module, and a display module.

[0043] To achieve the above object and other related objects, the present application further provides a cleaning system, comprising:

[0044] a sweeping machine provided with a dust collecting container;

[0045] a base station provided with a receiving portion for receiving the sweeping machine;

[0046] the sweeping machine and / or the base station is provided with a detection unit for collecting specific physical information of the sweeping machine, which is physical information capable of changing with the change of the dust collecting container filling state;

[0047] the sweeping machine and / or the base station is provided with a wireless communication module, and the sweeping machine and / or the base station is configured to send a dust full alarm information through the wireless communication module when the detection unit detects that the dust collecting container is full.

[0048] The above arrangement has the following advantages: the user can receive the dust full state of the dust collecting container in real time through a mobile terminal such as a mobile phone, and timely understand the working condition of the sweeping machine, so as to facilitate the user to arrange the cleaning operation in time, and improve the convenience and timeliness of the operation; the user does not need to personally go to the vicinity of the sweeping machine or the base station to know the state of the dust collecting container, and can remotely monitor and check the cleaning condition at any time and anywhere through the mobile terminal, thereby improving the user experience.

[0049] To achieve the above object and other related objects, the present application further provides a control method of a sweeping machine, comprising the following steps:

[0050] when the negative pressure device works in a normal cleaning mode, the detection unit detects a first measurement value of the specific physical information;

[0051] comparing the first measurement value with a preset critical value of the specific physical information, and determining whether the first measurement value exceeds the critical value;

[0052] if yes, controlling the negative pressure device to work in an obstacle removal mode for a preset time and then restore the normal cleaning mode for working, and obtaining a second measurement value of the specific physical information detected by the detection unit at this time; the obstacle removal mode is a working mode for removing the air duct blockage fault;

[0053] comparing the second measurement value with the threshold value, and determining whether the second measurement value exceeds the threshold value

[0054] If yes, the dust full state is identified.

[0055] In an optional embodiment of the present application, the normal cleaning mode is that the negative pressure device works at a first suction force, and the obstacle removal mode is that the negative pressure device works at a second suction force, the second suction force being greater than the first suction force; or

[0056] The normal cleaning mode is that the negative pressure device works at a first air flow direction, and the obstacle removal mode is that the negative pressure device works at a second air flow direction.

[0057] In an optional embodiment of the present application, the method further comprises the following steps:

[0058] When the negative pressure device stops working, the detection unit detects a third measurement value of the specific physical information;

[0059] The third measurement value is compared with a preset threshold value of the specific physical information, and it is determined whether the third measurement value exceeds the threshold value;

[0060] If yes, the dust full state is identified.

[0061] In an optional embodiment of the present application, the dust collecting container is made of a flexible material, the mobile carrier is provided with a compression mechanism for compressing the dust collecting container, and the detection unit comprises a stroke detection unit for detecting a compression stroke of the compression mechanism or a pressure detection unit for detecting a pressure change of the compression mechanism;

[0062] The method further comprises the following steps:

[0063] When a preset condition is met, a control signal is sent to the compression mechanism to control the compression mechanism to work until the stroke or the pressure of the compression mechanism reaches a preset value, and the preset condition refers to that a preset time interval has been separated since the last time the compression mechanism is started or the robot cleaner has run a preset distance;

[0064] A first limit measurement value of the specific physical information detected by the detection unit during the compression process of the compression mechanism is obtained;

[0065] The first limit measurement value is compared with a preset threshold value of the specific physical information, and it is determined whether the first limit measurement value exceeds the threshold value;

[0066] If yes, the dust full state is identified.

[0067] The technical effect of the present application is that the detection unit can collect specific physical information, accurately determine the full load state of the dust collection container, and timely prompt the user to clean the dust collection container, thereby ensuring the cleaning effect and prolonging the service life. The sweeping machine has the functions of autonomous movement, efficient cleaning, intelligent detection and user-friendly feedback, which can improve the cleaning efficiency, reduce the use cost and improve the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0068] Fig. 1 is a perspective view of a dust collection container of a sweeping machine in a disassembled state according to an embodiment of the present application;

[0069] Fig. 2 is another perspective view of the dust collection container of the sweeping machine in the disassembled state according to an embodiment of the present application;

[0070] Fig. 3 is a bottom view of the sweeping machine according to an embodiment of the present application;

[0071] Fig. 4 is an A-A sectional view of Fig. 3;

[0072] Fig. 5 is a perspective view of the dust collection container according to an embodiment of the present application;

[0073] Fig. 6 is another perspective view of the dust collection container according to an embodiment of the present application;

[0074] Fig. 7 is a working principle diagram of a detection unit according to an embodiment 1 of the present application;

[0075] Fig. 8 is a working principle diagram of a detection unit according to an embodiment 2 of the present application;

[0076] Fig. 9 is a working principle diagram of a detection unit according to an embodiment 3 of the present application;

[0077] Fig. 10 is a working principle diagram of a detection unit according to an embodiment 4 of the present application;

[0078] Fig. 11 is a structural principle diagram of a detection unit according to an embodiment 5 of the present application;

[0079] Fig. 12 is a structural principle diagram of a detection unit according to an embodiment 6 of the present application;

[0080] Fig. 13 is a structural principle diagram of a detection unit according to an embodiment 7 of the present application;

[0081] Fig. 14 is a structural principle diagram of a detection unit according to an embodiment 8 of the present application;

[0082] Fig. 15 is a structural principle diagram of a detection unit according to an embodiment 9 of the present application;

[0083] Fig. 16 is a structural principle diagram of a detection unit according to an embodiment 10 of the present application;

[0084] FIG. 17 is a scenario diagram of the cleaning system according to Embodiment 11 of the present application;

[0085] FIG. 18 is a control flowchart of the robot cleaner according to the present application;

[0086] FIG. 19 is a control flowchart of the robot cleaner according to Embodiments 1-4 of the present application;

[0087] FIG. 20 is a control flowchart of the robot cleaner according to Embodiments 5-7 of the present application;

[0088] FIG. 21 is a control flowchart of the robot cleaner according to Embodiment 8 of the present application;

[0089] FIG. 22 is a control flowchart of the base station according to Embodiment 9 of the present application;

[0090] FIG. 23 is a control flowchart of the base station according to Embodiment 10 of the present application;

[0091] FIG. 24 is a control flowchart of the cleaning system according to Embodiment 11 of the present application;

[0092] FIG. 25 is a structural block diagram of the cleaning apparatus according to the present application;

[0093] FIG. 26 is an exploded view of another dust collecting container and a robot cleaner according to the present application;

[0094] FIG. 27 is a perspective view of another dust collecting container according to the present application;

[0095] Reference numerals: 100, robot cleaner; 10, mobile carrier; 101, cover plate; 102, first structural member; 103, second structural member; 1001, rotation speed detection unit; 1002, current detection unit; 1003, wind speed detection unit; 1004, air pressure detection unit; 1005, first weight detection unit; 1006, volume detection unit; 1007, photoelectric detection unit; 1008, first stroke detection unit; 1009, first pressure detection unit; 11, air duct; 111, cavity; 112, second air inlet; 1121, movable door; 113, second air outlet; 114, main air inlet; 12, negative pressure device; 13, rolling brush; 14, first magnetic attraction unit; 15, driving wheel; 16, steering wheel; 17, side brush; 18, disc mop; 20, dust collection container; 21, first air inlet; 22, first air outlet; 23, first support; 24, second support; 25, second magnetic attraction unit; 26, light transmission region; 27, fixed support; 30, first compression mechanism; 40, feedback unit; 41, controller; 42, alarm execution unit; 200, base station; 2001, second weight detection unit; 2002, second stroke detection unit; 2003, second pressure detection unit; 210, second compression mechanism; 300, mobile terminal. DETAILED DESCRIPTION

[0096] The present application is herein described, by way of example only, with the assistance of specific details to facilitate a comprehensive understanding of the application. Certain natural alternatives, modifications, or equivalents of the concepts described herein are possible in the absence of specific details. The application is also not limited to the described embodiments but can be practiced or carried out in other ways. Each detail herein may, in the absence of specific contraindications, be modified or replaced by other technically equivalent elements or methods to serve the same or similar purposes without departing from the spirit of the application. It should be noted that the features in the following examples and the features in the examples can be combined with each other in the absence of conflicts.

[0097] It should be noted that the diagrams provided in the following examples only schematically illustrate the basic concepts of the present application, and only the components related to the present application are shown in the diagrams, not the number, shape, and size of the components when actually implemented. The shapes, numbers, and proportions of the components when actually implemented can be arbitrarily changed, and the layout of the components can be more complex.

[0098] A robot vacuum cleaner typically consists of a chassis, a laser radar, sensors, electric motors, a central processor, and a battery. The chassis of the robot vacuum cleaner usually has wheels or tracks for moving and navigating the entire cleaning area. The chassis is usually equipped with electric motors to drive the movement of the robot vacuum cleaner. The robot vacuum cleaner is equipped with a laser radar sensor to scan and perceive the surrounding environment, create a map and identify obstacles, so as to safely and efficiently clean the entire room. The robot vacuum cleaner is usually equipped with various sensors, such as collision sensors, fall sensors, ground sensors, etc., to detect obstacles, prevent the robot from falling off the edge of the stairs, and detect the dirt level of the ground, etc. Electric motors are usually used to drive the brushes, wheels or suction devices of the robot vacuum cleaner, and to rotate the laser radar for environmental perception. The central processor built into the robot vacuum cleaner is used to process sensor data, laser radar data, execute navigation algorithms, and control the work of various components. The robot vacuum cleaner perceives the surrounding environment through the laser radar and other sensors, creates a map, and plans a cleaning path to ensure that the entire cleaning area is covered. Then, according to the pre-planned path, the movement is driven by the electric motor, while the ground cleaning work is carried out through the suction device, brush, etc., while the dirt level of the ground is detected according to the sensor. The robot vacuum cleaner can adjust the path in real time during cleaning, avoid obstacles, and return to the charging station for charging according to the remaining battery capacity, and continue cleaning work after charging is completed. The structure and working principle of the robot vacuum cleaner enable it to autonomously perceive and plan a cleaning path, achieve autonomous cleaning and charging, and thus provide an efficient and convenient home cleaning solution for users.

[0099] As an important representative of modern household cleaning tools, the dust collection principle and design of the dust collection system of the sweeping robot play a crucial role in its cleaning effect. The dust collection system of the sweeping robot is usually composed of a motor, a dust suction port, a filter system, and a dust collection box. The motor is the core component of the sweeping robot that generates vacuum suction. It can generate negative pressure through high-speed rotation to suck dust, hair, debris, and other particles on the ground into the dust suction port. The dust suction port is usually located at the bottom of the sweeping robot. Through the movement of the robot on the ground, the dust suction port can effectively absorb the dirt on the ground. Once the dirt is sucked into the dust suction port of the sweeping robot, it will be sent to the dust collection box through the pipeline. In this process, the filter system plays an important role. The filter system is generally composed of a filter screen, filter cotton, and a HEPA filter. They can filter dust particles in the air while allowing clean air to pass through. In particular, the HEPA filter can effectively filter small particle matter, improve air quality, and reduce the spread of allergens. The dust collection box, as a container for collecting dust, its design and capacity will also affect the dust collection effect of the sweeping robot. Generally speaking, the larger the capacity of the dust collection box, the longer the sweeping robot can clean without frequent emptying of the dust collection box; on the contrary, the smaller the capacity of the dust collection box, the more frequent the cleaning is needed. When the dust collection box is full, it will have a significant impact on the dust collection effect. Because the dust collection box space is filled, it cannot continue to suck in dust, resulting in a decline in dust collection effect. For users, it is particularly important to empty the dust collection box in a timely manner. Emptying the dust collection box can be done by opening the dust collection box of the sweeping robot, pouring out the dust in it, and cleaning the inside of the dust collection box, and then placing it back into the sweeping robot. This can ensure that the sweeping robot maintains good dust collection effect, maintains the cleanliness and comfort of the home environment.

[0100] In order to further facilitate the user to clean the garbage of the dust collecting box, the dust collecting box is designed as a disposable dust bag. The disposable dust bag of the robot vacuum cleaner can collect and contain dust, debris and other dirt generated during the cleaning process. The disposable dust bag is usually composed of filter paper, dust nozzle and connecting components. The filter paper is the main body of the dust bag, which has good filtering performance and can effectively filter dust particles to ensure clean air. The dust nozzle is located at one end of the dust bag and is responsible for absorbing dust and dirt. The connecting component is a component that connects the dust bag and the dust suction port of the robot vacuum cleaner, which plays a fixing and sealing role. When removing the disposable dust bag, first stop the work of the robot vacuum cleaner, make sure the power is off and disconnect the power cord. Find the installation position of the dust bag, which is usually located at the bottom, side or top of the robot vacuum cleaner. According to the instructions or illustrations, find the component (usually buckle or clasp) that fixes the disposable dust bag. Open or unfasten the fixing component, and then take out the disposable dust bag. When installing the disposable dust bag, make sure that the new disposable dust bag is structurally complete. According to the shape of the dust bag and the design of the connecting component, correctly install the dust bag into the robot vacuum cleaner, make sure the connecting component is firmly fixed, make sure the dust bag is installed in the correct position, the dust nozzle is aligned with the dust suction port, and the connecting component is tightly fixed.

[0101] Periodic replacement of disposable dust bags is the key to maintaining the dust collection effect of the robot vacuum cleaner. However, the existing robot vacuum cleaner lacks dust full detection function for disposable dust bags, which can cause a series of problems. First, the robot vacuum cleaner cannot timely remind the user to replace the dust bag, which may cause the user to replace the dust bag too early, wasting the cleaning capacity and materials that have not been fully utilized. This will increase the user's use cost, especially in the long-term use process, which will cause not small cost. Second, when the disposable dust bag is filled with too much dust, hair and other debris, its dust collection efficiency will gradually decrease, affecting the cleaning effect and performance of the robot vacuum cleaner. If the user does not replace the dust bag in time, it may cause the robot vacuum cleaner to fail to clean the floor, or even scatter dust and dirt on the floor during cleaning, thus greatly reducing the cleaning effect. In addition, the user needs to manually check the status of the dust bag regularly to determine whether it needs to be replaced, which increases the user's workload and maintenance difficulty, especially for some busy users, who are easy to ignore or forget this step, which affects the normal operation of the robot vacuum cleaner. Finally, if the user does not replace the dust bag for a long time, the suction of the robot vacuum cleaner may be affected, or even cause overheating and damage of the equipment, which reduces the service life of the equipment, which will cause the user to need additional repair or replacement cost, increasing the overall cost of using the robot vacuum cleaner.

[0102] The application provides a sweeping machine, a base station, a cleaning system, a control method and a cleaning device capable of automatically identifying whether a dust bag is full according to the physical state change of the dust bag before and after being full. The dust level and debris level in the dust bag are detected by a sensor to automatically identify whether the dust bag is full. The user does not need to manually check the dust bag state. The system can intelligently manage and monitor the use of the dust bag, providing a more convenient user experience. The user can avoid replacing the dust bag too early before it is fully utilized, thereby saving the use of dust bags and other resources. By maximizing the capacity of each dust bag, the cleaning efficiency can be improved and the frequency of replacing the dust bag can be reduced, saving the user's cost and effort. Replacing the full dust bag in time can maintain the dust collection performance and cleaning efficiency of the sweeping machine and avoid the cleaning effect from being reduced due to excessive accumulation of the dust bag. The automatic identification function can ensure that the sweeping machine is always in the best working state, improve the cleaning efficiency and reduce the possibility of secondary cleaning. Regularly replacing the dust bag can maintain the normal operation of the sweeping machine device and avoid excessive wear and damage. The system for automatically identifying whether the dust bag is full can help the user replace the dust bag in time, prolong the service life of the sweeping machine device and reduce the repair and replacement cost. This intelligent system can provide a more intelligent and convenient cleaning experience, allowing the user to not need to frequently pay attention to the dust bag state and enjoy a more relaxed and efficient cleaning process. The user can confidently let the sweeping machine manage the dust bag by itself and focus on other matters, improving the overall user experience. The intelligent control system based on the dust bag state can automatically adjust the working mode and cleaning path of the cleaning machine according to the real-time situation, optimize the cleaning efficiency and energy consumption management. This intelligent control method can make the cleaning device more intelligent and efficient.

[0103] The technical solutions of the application are described in detail below in combination with specific embodiments.

[0104] Example 1: Please refer to Figures 1 to 7 . The sweeping robot provided in this embodiment includes a mobile carrier 10 , an air duct 11 , a negative pressure device 12 , a dust collecting container 20 , a detection unit and a feedback unit 40 . The mobile carrier 10 is equipped with a self-propelled mechanism to drive the mobile carrier 10 to move along the surface to be cleaned; the air duct 11 is arranged on the mobile carrier 10; the negative pressure device 12 is installed on the mobile carrier 10 and connected to the air duct 11, for exhausting the air duct 11 to generate airflow in the air duct 11; the dust collecting container 20 is accommodated in the air duct 11, and the windward side of the dust collecting container 20 is provided with a first air inlet 21, and at least a part of the area of ​​the dust collecting container 20 is made of filter material, so that the dust collecting container 20 can be passed through by the airflow and the garbage carried in the airflow is retained in the dust collecting container 20; the detection unit is installed on the mobile carrier 10, for collecting specific physical information of the sweeper, which is physical information that can change with the change of the filling state of the dust collecting container 20; the feedback unit 40 is installed on the mobile carrier 10, for generating a reminder signal according to the specific physical information collected by the detection unit.

[0105] The sweeper is equipped with a self-propelled mechanism that can drive the mobile carrier 10 to move along the surface to be cleaned, realizing autonomous cleaning without the need for additional control. The cleaning system composed of the air duct 11, the negative pressure device 12 and the dust collection container 20 can generate airflow to suck the garbage into the dust collection container 20, ensuring efficient cleaning of the ground. The design of the dust collection container 20 allows the garbage carried in the airflow to be retained in the container. The partial area made of filter material can effectively filter the air, so that the dust collection container 20 can continuously and efficiently collect garbage. The detection unit can collect specific physical information and accurately determine the full load status of the dust collection container 20, thereby promptly prompting the user to clean the dust collection container 20, ensuring the cleaning effect and extending the service life; the feedback unit 40 can generate sensory signals that the user can perceive, allowing the user to take timely action. The sweeper has autonomous movement, efficient cleaning, intelligent detection and user-friendly feedback functions, which can improve cleaning efficiency, reduce usage costs and enhance user experience.

[0106] The sweeping robot provided in this application can detect the dust full signal through the control method shown in FIG18 , which specifically includes the following steps:

[0107] S11: Acquire a measurement value of the specific physical information detected by the detection unit;

[0108] S12: comparing the measured value with a preset critical value of the specific physical information to determine whether the measured value exceeds the critical value;

[0109] S13: If yes, it is identified as a dust full state, and the feedback unit 40 can be controlled to generate a reminder signal.

[0110] If no, return to step S11.

[0111] The control method provides the general idea of dust full signal detection and feedback, and the specific implementation mode needs to be adjusted according to the specific type of the detection unit, which will be described in detail in the description of the subsequent embodiments, and will not be repeated here.

[0112] Please refer to FIG. 7, in the embodiment, the negative pressure device 12 includes a fan, and the sweeper further includes a controller 41, the fan is electrically connected with the controller 41, the controller 41 is configured to control the fan to work at a constant current, and the detection unit includes a rotating speed detection unit 1001 for detecting the rotating speed of the fan.

[0113] It should be understood that, in the case of the fan working at a constant current, when the garbage accumulation in the dust container 20 reaches a certain degree, the rotating speed of the fan will be affected, and by monitoring the change of the rotating speed, it can be accurately identified whether the dust container 20 needs to be cleaned. Once the abnormal rotating speed of the fan is detected, it indicates that the dust container 20 may have been full, and the system can timely send a warning signal or a reminder to let the user know and take cleaning measures. This timely reminder can avoid the situation that the dust container 20 overflows, resulting in a decline in cleaning effect or even damage to the device. By monitoring the rotating speed of the fan, accurate judgment of the filling condition of the dust container 20 can be realized. In addition, different degrees of garbage accumulation will cause different changes in the rotating speed of the fan, and the system can determine the cleaning needs of the dust container 20 according to these changes, effectively avoiding the waste or untimely cleaning caused by misjudgment.

[0114] Timely cleaning of the dust container 20 can maintain the efficient cleaning ability of the sweeper, and avoid the influence of accumulated garbage on the cleaning effect. By detecting the rotating speed of the fan, the cleaning work can be closely combined with the actual needs, ensuring the cleaning effect while improving the work efficiency. Regular cleaning of the dust container 20 can effectively prolong the service life of the sweeper. Detecting the rotating speed of the fan can remind the user to clean the dust container 20 in time, avoid long-term retention of garbage, and cause the machine performance to decline or even be damaged, thereby prolonging the service life and stability of the equipment. In specific embodiments, an openable cover plate 101 can be arranged on the top of the mobile carrier 10 to facilitate disassembly of the dust container 20.

[0115] Referring to FIGS. 1, 2, and 4, in an embodiment, the air duct 11 is provided with a cavity 111 for accommodating the dust collection container 20. The cavity 111 is provided with a second air inlet 112 and a second air outlet 113. The first air inlet 21 is arranged opposite to the second air inlet 112. The filter material is arranged at least on the area of the dust collection container 20 opposite to the second air outlet 113. It should be understood that the cavity 111 can independently accommodate the dust collection container 20, effectively isolating the garbage and dust in the dust collection container 20, avoiding pollution or damage to other parts of the robot, and ensuring stable operation of the device. The first air inlet 21 is arranged opposite to the second air inlet 112, which can effectively guide and control the flow of air, improve the dust collection efficiency, and ensure that the garbage and dust can be effectively sucked into the dust collection container 20. The filter material arranged on the dust collection container 20 can filter the dust and bacteria in the air, improve the air quality, and keep the indoor environment clean while separating the dust collection container 20. The arrangement of the dust collection container 20 in the cavity 111 makes it more convenient and faster to clean and replace the dust collection container 20, reduces the complexity and time consumption of maintenance work, and improves the overall maintainability of the device.

[0116] In an optional embodiment of the present application, the container wall of the dust collection container 20 is made of a breathable material, and the container wall of the dust collection container 20 itself constitutes the filter material. It should be understood that the container wall of the dust collection container 20 made of a breathable material itself constitutes the filter material, which can effectively filter the dust, bacteria, and other particulate matter in the air, reduce the entry of these dust into the environment or be emitted into the air again, and improve the air quality. The container wall of the dust collection container 20 can prevent dust from being emitted again after entering the dust collection container 20, reduce the accumulation of dust on other parts inside the robot, reduce the cleaning and maintenance frequency, and prolong the service life of the device. Since the container wall itself is the filter material, the use of independent filter screens or filter cartridges and other elements is reduced, the maintenance cost is reduced, and the frequency and cost of replacing the filter material are also reduced. The container wall of the dust collection container 20 made of a breathable material usually has good wear resistance and easy cleaning, and the cleaning and maintenance process is more convenient and fast. Users can easily clean the dust collection container 20 and keep it clean and sanitary. The container wall of the dust collection container 20 itself constitutes the filter material, which can fully utilize the entire container wall as a filter, improve the dust collection efficiency, and ensure that the sucked dust and dirt are effectively captured and stored.

[0117] It should be noted that the dust collecting container 20 can also be made of other air impermeable materials, for example, in some other embodiments, the container wall of the dust collecting container 20 is made of a high polymer film, the area of the dust collecting container 20 opposite the second air outlet 113 is provided with a first air outlet 22, and the filter material is arranged at the first air outlet 22. The dust collecting container 20 made of a high polymer film is more portable, and since the area of the dust collecting container 20 other than the filter material is made of an air impermeable material, the passage of fine dust through the container wall into the inner cavity of the sweeper can be effectively avoided, the maintenance cost of the sweeper is reduced, and the service life of the sweeper is improved.

[0118] In an optional embodiment of the present application, the side of the dust collecting container 20 opposite the second air inlet 112 is provided with a first support 23, and the first support 23 is detachably connected to the edge of the second air inlet 112. The first support 23 can effectively support the first air inlet 21 of the dust collecting container 20, so that the first air inlet 21 does not fold, collapse or the like, and the air flow cannot smoothly enter the dust collecting container 20. In a further specific embodiment, the first support 23 can be provided with a quick connection structure capable of being quickly connected to the inner wall of the cavity 111. For example, the quick connection structure can be a first magnetic attraction unit 14 arranged on the inner wall of the cavity 111 and a second magnetic attraction unit 25 arranged on the first support 23, or a buckle and a clamping groove arranged on the inner wall of the cavity 111 and the first support 23, respectively.

[0119] In an optional embodiment of the present application, the side of the dust collecting container 20 opposite the second air outlet 113 is provided with a second support 24, and the second support 24 is detachably connected to the edge of the second air outlet 113. Similarly, the second support 24 can effectively support the filter material of the dust collecting container 20 to prevent the filter material from folding, collapsing or the like. It should be noted that since the second air outlet 113 has a suction force, the dust collecting container 20 can naturally unfold under the action of negative pressure, so the second support 24 is not necessary, and in some embodiments, the second support 24 can be removed.

[0120] Please refer to FIGS. 26 and 27, in another specific embodiment, the second air inlet 112 and the second air outlet 113 can be located on the same side of the cavity 111, and the side of the dust collecting container opposite the second air inlet 112 and the second air outlet 113 is provided with a fixed support 27, and the fixed support 27 is detachably connected to the inner wall of the cavity 111 where the second air inlet 112 and the second air outlet 113 are located. In this embodiment, since the second air inlet 112 and the second air outlet 113 are located on the same side of the cavity 111, the dust collecting container 20 only needs to be provided with the fixed support 27 on this side.

[0121] Please refer to FIG. 3, in an optional embodiment of the present application, the air duct 11 is provided with a main air inlet 114 at one end away from the negative pressure device 12, and the main air inlet 114 is arranged on the bottom surface of the mobile carrier 10. Further, the bottom surface of the robot cleaner can also be provided with a sweeping assembly and a mopping assembly, wherein the sweeping assembly can include, for example, a side brush 17 and a roller brush 13, and the mopping assembly can include, for example, a disc-shaped mop 18 rotatably arranged. The self-walking mechanism of the robot cleaner can include, for example, a drive wheel 15 and a steering wheel 16 arranged on the bottom surface.

[0122] In an optional embodiment of the present application, the main air inlet 114 is provided with a receiving cavity for receiving the roller brush 13, the roller brush 13 is rotatably arranged in the receiving cavity, and part of the roller surface of the roller brush 13 protrudes below the bottom surface of the mobile carrier 10. The roller brush 13 located at the air inlet can directly contact the ground, effectively sweeping dust, hair and debris on the ground, improving the cleaning efficiency, and the rotation of the roller brush 13 can bring dust and debris into the dust suction air duct 11, ensuring more thorough cleaning. The roller brush 13 at the air inlet can effectively agitate the dust on the ground, making it easier to be sucked into the dust suction air duct 11, increasing the dust suction intensity and improving the dust suction effect. The roller brush 13 at the air inlet can pretreat the ground, such as loosening stubborn dirt and entangled hair on the ground, providing better preparation for subsequent dust suction work, ensuring more thorough dust suction effect. Arranging the roller brush 13 at the air inlet can effectively prevent large particles from blocking the dust suction air duct 11, reducing the risk of air duct 11 blockage, maintaining the dust suction efficiency and stability of the dust suction robot. Arranging the roller brush 13 at the air inlet can help reduce the possibility of damage to the roller brush 13 during operation, prolong the service life of the roller brush 13, and reduce the replacement cost.

[0123] Please refer to FIG. 7, in an optional embodiment of the present application, the feedback unit 40 can include a controller 41 and an alarm execution unit 42, wherein the controller 41 can be multiplexed with the controller 41 of the fan mentioned above, or a separate controller can be used, and the alarm execution unit 42 can include at least one of a light module, a speaker module, a vibration module and a display module.

[0124] Embodiment 2

[0125] Please refer to FIG. 8, the difference between this embodiment and embodiment 1 is only that the type of detection unit is different, specifically, in this embodiment, the controller 41 is configured to control the fan to work at a constant speed, and the detection unit includes a current detection unit 1002 for detecting the working current of the fan.

[0126] It should be understood that as the dust and debris in the dust collection container 20 increase, the fan needs to consume more power to generate sufficient suction to suck the waste into the dust collection container 20. Therefore, the change of the filling state of the dust collection container 20 will cause the load of the fan to change, and in turn the current consumption of the fan will change. By monitoring the current consumption of the fan in real time, the filling state of the dust collection container 20 can be indirectly reflected. When the dust collection container 20 is full, the fan needs more power to maintain normal suction efficiency, and at this time the current consumption of the fan will relatively increase. The system can set a current threshold, and when the fan current is monitored to exceed the threshold, the system can determine that the dust collection container 20 has reached the full load state, triggering corresponding processing measures, such as reminding the user to empty the dust collection container 20. Therefore, by detecting the filling state of the dust collection container 20 through the change of the fan current, the function of automatically identifying whether the dust collection container 20 needs to be replaced can be realized. The method of detecting the filling state of the dust collection container 20 based on the current can enable the robot vacuum cleaner to have an intelligent reminding function, timely informing the user that the dust collection container 20 is full, guiding the user to clean the dust collection container 20 in time, and avoiding dust overflow or affecting the dust suction effect. Replacing the dust collection container 20 in time can avoid dust clogging the air duct 11 and the fan, reduce the additional burden of the equipment during operation, prolong the service life of the equipment, and maintain the efficient working state of the robot vacuum cleaner. Ensuring that the dust collection container 20 always maintains an appropriate filling state can ensure that the robot vacuum cleaner continuously provides efficient cleaning effect and ensures the smooth progress of the cleaning work. Automatically detecting the filling state of the dust collection container 20 and reminding the user to clean reduces the user's operation burden, improves the use experience, and makes the robot vacuum cleaner more user-friendly.

[0127] Embodiment 3

[0128] Please refer to FIG. 9, the difference between the present embodiment and embodiment 1 is only that the type of the detection unit is different, specifically, in the present embodiment, the detection unit comprises a wind speed detection unit 1003 arranged in the air duct 11.

[0129] It should be understood that as the dust and debris in the dust collection container 20 continuously accumulate, the wind speed detection unit 1003 can monitor the change of the airflow in the dust suction air duct 11. When the dust collection container 20 is full of dust, the airflow in the dust suction air duct 11 is blocked, and the wind speed will decrease accordingly. The system can set a wind speed threshold, and when the wind speed in the dust suction air duct 11 is monitored to be lower than the threshold, the system can determine that the dust collection container 20 has reached the full load state, triggering corresponding processing measures, such as reminding the user to empty the dust collection container 20.

[0130] The wind speed detection has the following advantages: by monitoring the change of wind speed in the dust suction air duct 11, the filling state of the dust collection container 20 can be more accurately judged, and the user can be reminded to clean the dust collection container 20 at the right time, so as to avoid dust overflow or affect the dust suction effect. Unlike current detection, wind speed detection is not affected by factors such as current fluctuation, is more stable and reliable, and can accurately reflect the actual filling condition of the dust collection container 20. The application range of the wind speed detection unit 1003 is relatively wide, and it is not limited by specific circuits or power supply conditions, and is suitable for various types of sweeping robots, and has strong universality. The use of the wind speed detection unit 1003 to judge the filling state of the dust collection container 20 does not increase the additional current burden, and does not affect the running stability and power consumption of the equipment. The full load judgment method based on wind speed detection can make the sweeping robot have an intelligent prompting function, so that the user can clean the dust collection container 20 in time, and improve the convenience and comfort of use.

[0131] In summary, the use of wind speed detection to judge whether the dust collection container 20 is full has the advantages of accurate judgment, stability and reliability, wide applicability, no additional current burden, and intelligent prompting, etc., which provides users with a more intelligent and convenient cleaning experience, and improves the working efficiency and user friendliness of the sweeping robot.

[0132] Embodiment 4

[0133] Please refer to FIG. 10, the difference between the present embodiment and embodiment 1 is only in the type of detection unit, specifically, in the present embodiment, the detection unit includes a gas pressure detection unit 1004 arranged in the air duct 11.

[0134] It should be understood that the continuous accumulation of dust and debris in the dust collection container 20 will cause the change of the internal pressure of the dust collection container 20. When the dust collection container 20 is full, the air pressure downstream of the dust collection container 20 will decrease due to the increase of wind resistance. The system can set a gas pressure threshold, when the air pressure downstream of the dust collection container 20 is lower than the threshold, the system can judge that the dust collection container 20 is full, and trigger the corresponding processing measures, such as reminding the user to empty the dust collection container 20.

[0135] The air pressure detection can accurately reflect the change of the internal pressure of the dust collection container 20, so as to accurately determine the filling state of the dust collection container 20, and ensure that the user is reminded to clean the dust collection container 20 at the appropriate time. The air pressure detection is relatively stable and is not disturbed by external factors, and can reliably monitor the filling state of the dust collection container 20 and provide stable detection results. Since the air pressure change is relatively sensitive, the air pressure detection unit 1004 can quickly respond to the change of the filling state of the dust collection container 20, timely remind the user to clean, and avoid affecting the dust collection effect or the operation of the equipment. The air pressure detection does not require additional power supply, so it does not increase the additional power consumption of the equipment, and does not affect the operation efficiency and stability of the equipment. The full load judgment method based on air pressure detection can make the sweeping robot have an intelligent prompting function, remind the user that the dust collection container 20 is full, and make the cleaning process more intelligent and convenient.

[0136] In summary, the air pressure detection unit 1004 has multiple advantages such as accuracy, stability, fast response, no power consumption, and intelligent function for determining whether the dust collection container 20 is full, which provides a more intelligent and convenient cleaning experience for the user and improves the working efficiency and user friendliness of the sweeping robot.

[0137] The above embodiments 1-4 all use the relationship between the filling state of the dust collection container 20 and the air flow to identify the full load state of the dust collection container 20, so the dust full signal can be detected by the same control strategy in the above embodiments 1-4, as follows:

[0138] Referring to FIG. 19, a control method applied to the sweeping robot includes the following steps:

[0139] S21: Obtain a first measurement value of the specific physical information detected by the detection unit when the negative pressure device 12 works in a normal cleaning mode; it should be understood that the normal cleaning mode refers to the mode in which the sweeping robot works with a normal suction force during the normal cleaning process, and the suction force is usually 1000 to 2000 Pa.

[0140] S22: Compare the first measurement value with a preset critical value of the specific physical information, and determine whether the first measurement value exceeds the critical value; in combination with the above embodiments 1-4, the first measurement value can be the current, speed, air speed of the air duct 11, or air pressure in the air duct 11. The critical value can be determined by prior experiments or according to the experience of technicians.

[0141] S23: If yes, control the negative pressure device 12 to work in a barrier removal mode for a preset time and then return to the normal cleaning mode, and obtain a second measurement value of the specific physical information detected by the detection unit at this time; the barrier removal mode is a working mode for removing the air duct blockage fault, for example, in the barrier removal mode, the air blower can be controlled to adopt a greater suction force than the normal cleaning mode to suck out the blockage fault, specifically, the normal cleaning mode is that the negative pressure device works with a first suction force, and the barrier removal mode is that the negative pressure device works with a second suction force, the second suction force being greater than the first suction force; or the air blower is controlled to reverse to remove the blockage fault by the way of back blowing, specifically, the normal cleaning mode is that the negative pressure device works in a first airflow direction, and the barrier removal mode is that the negative pressure device works in a second airflow direction; it should be understood that when the airflow in the air duct 11 is abnormal, in addition to the case that the dust container is full, the air duct 11 can also be blocked, so it is necessary to avoid false alarms caused by this situation, and therefore, the application adopts a greater suction force than the normal working time to dredge the air duct 11, so as to avoid the occurrence of the false alarm.

[0142] S24: Compare the second measurement value with the critical value to determine whether the second measurement value exceeds the critical value; it should be understood that since the influence of the blockage of the air duct 11 is removed in advance, the second measurement value can truly reflect the filling state of the dust container 20.

[0143] S25: If yes, identify as the dust full state. At this time, the feedback unit 40 can be controlled to generate a reminder signal.

[0144] The control method realizes intelligent control and feedback by detecting specific physical information such as the current, speed, air speed or air pressure of the fan, and judging the state of the dust collection container 20 according to the measurement value, thereby improving the autonomy and intelligence level of the robot. When judging whether the dust collection container 20 is full, the method considers abnormal situations such as blockage of the air duct 11, and uses the second suction force to unblock the air duct 11, avoiding false positives and effectively eliminating false recognition caused by abnormal air duct 11, thereby improving the reliability and stability of the system. By controlling the negative pressure device 12 to work at the second suction force when detecting that the dust collection container 20 is full, the air duct 11 is cleaned to achieve the effect of unblocking the air duct 11, thereby ensuring that the robot works in the best state and improving the cleaning efficiency and cleaning effect. When the detection unit detects that the dust collection container 20 is full or the air duct 11 is abnormal, the system can generate a feeling signal through the feedback unit 40 to remind the user to clean or process in time, ensuring that the user can understand the equipment state in time and enhancing the convenience and experience. According to the experimental results or the experience of the technical personnel to determine the critical value, the system is more personalized and adaptive, and the parameters can be adjusted according to the specific situation, thereby improving the flexibility and adaptability of the system.

[0145] In summary, the robot control method has the advantages of intelligence, fault elimination, improved cleaning efficiency, timely feedback and personalized adaptation, etc., providing more intelligent and efficient cleaning services for users and improving the performance and user experience of the robot.

[0146] Embodiment 5

[0147] Referring to FIG. 11, the main difference between the present embodiment and embodiment 1 is the type of detection unit. Specifically, the mobile carrier 10 includes a first structural member 102 and a second structural member 103, and at least the dust collection container 20 is installed on the first structural member 102. The first structural member 102 is assembled such that at least part of its weight acts on the second structural member 103. The detection unit includes a first weight detection unit 1005 arranged between the first structural member 102 and the second structural member to detect the weight change of the first structural member 102.

[0148] It should be understood that the accumulation of dust and debris inside the dust collection container 20 will cause the weight of the dust collection container 20 to increase. During the working process of the robot, the weight change of the dust collection container 20 can be monitored by the built-in weighing sensor. When the preset weight threshold is reached, the system can judge that the dust collection container 20 is full and trigger the corresponding processing measures, such as reminding the user to clean the dust collection container 20 or automatically stopping working, etc.

[0149] The method of detecting the full load state of the dust collecting container 20 by weight change has the following advantages: the weight change inside the dust collecting container 20 can accurately reflect the filling state of the dust collecting container 20, ensuring accurate detection of the full load state and timely reminding the user to clean; the weight change detection method can monitor the state of the dust collecting container 20 in real time, without the need to wait until the container is completely filled before detection, and can more timely remind the user to perform cleaning operations; in the robot cleaner, the cost of integrating a weight sensor is relatively low and does not occupy much space, so it is a relatively simple and cost-effective way for design and manufacturing; compared with other detection methods, weight change detection does not require additional energy supply, so it does not increase the power consumption of the device, maintaining the working efficiency of the device; the weight change-based detection method can make the robot cleaner more intelligent, automatically stopping work or reminding the user to clean when the dust collecting container 20 is full, improving user experience and operational convenience.

[0150] In summary, using weight change to detect the full load state of the dust collecting container 20 of the robot cleaner has multiple benefits such as accuracy, real-time monitoring, simplicity and cost, no additional energy consumption, and intelligent operation, providing users with a more intelligent and convenient cleaning experience and improving the working efficiency and user friendliness of the robot cleaner.

[0151] Embodiment 6

[0152] Referring to FIG. 12, the main difference between this embodiment and embodiment 1 is the type of detection unit. Specifically, the dust collecting container 20 is made of flexible material, and the dust collecting container 20 is assembled such that its volume can expand as the amount of garbage collected inside it increases. The detection unit includes a volume detection unit 1006 for detecting the volume change of the dust collecting container 20.

[0153] It should be understood that as the dust and debris continuously accumulate inside the dust collecting container 20, the volume of the dust collecting container 20 made of flexible material will gradually expand, and when the dust collecting container 20 is full, the volume change will reach a certain threshold. By monitoring the volume change of the dust collecting container 20, the system can determine whether the dust collecting container 20 is full, thereby triggering appropriate processing measures, such as reminding the user to clean the dust collecting container 20 or automatically stopping work.

[0154] The advantages of this detection method include: detecting the full load state by using the volume change of the dust collection container 20, real-time monitoring of the state of the dust collection container 20, timely reminding the user to clean, and not needing to wait until the container is completely filled before detection; the volume change of the dust collection container 20 can accurately reflect the filling state of the dust collection container 20, accurately determine the full load state, and avoid false positives or omissions; using flexible materials and volume changes of the dust collection container 20 to detect the full load state, without additional sensors or electronic components, simplifying the design and manufacturing complexity and reducing costs; this detection method does not require additional energy supply, does not increase the power consumption of the equipment, and meets the concept of energy saving and environmental protection.

[0155] In summary, using a dust collection container 20 made of flexible material and detecting the full load state by using its volume change has multiple benefits such as real-time monitoring, accuracy, simplified design, energy saving and environmental protection, and extended maintenance period, providing users with a more intelligent and convenient cleaning experience and improving the working efficiency and user friendliness of the robot.

[0156] Embodiment 7

[0157] Referring to FIG. 13, the main difference between this embodiment and embodiment 1 is the type of detection unit. Specifically, the dust collection container 20 is provided with a light transmission area 26 at least near the first air inlet 21, and the detection unit includes a photoelectric detection unit 1007 for detecting whether there is garbage in the first air inlet 21, and the photoelectric detection unit 1007 is arranged opposite the light transmission area 26.

[0158] It should be understood that when the dust and debris in the dust collection container 20 reach a certain height, they will block or block the light emitted by the photoelectric sensor, causing the sensor to detect a change in the signal. The system monitors the change in the signal output by the photoelectric sensor to determine the filling level of the dust collection container 20, and when the signal reaches a preset threshold, the system can determine that the dust collection container 20 is full, triggering appropriate handling measures such as reminding the user to clean or automatically stopping work.

[0159] The advantages of this detection method include: the photoelectric sensor can accurately detect the filling state of the dust collection container 20, and immediately trigger detection when the dust and debris reach a certain height, achieving fast response and accurate judgment of the full load state; the photoelectric sensor can monitor the state change of the dust collection container 20 in real time, so users do not need to wait until the container is completely filled before detecting, and timely remind users to clean, improving cleaning efficiency and user experience; the photoelectric sensor is very sensitive to the height change of dust and debris inside the dust collection container 20, and can accurately reflect the filling condition of the dust collection container 20, avoiding false positives or false negatives; the photoelectric sensor consumes relatively less energy during detection, does not increase the additional power consumption of the device, saves energy costs, and meets the concept of energy saving and environmental protection; the photoelectric sensor has small size and is easy to install, and can be easily integrated inside the dust collection container 20, without occupying too much space, maintaining the compactness and aesthetics of the device.

[0160] In summary, the method of using a photoelectric sensor to detect whether the dust collection container 20 is full has multiple advantages such as accuracy, real-time monitoring, high sensitivity, energy saving, and easy integration, providing users with a more intelligent, efficient, and convenient cleaning experience, and improving the performance and user-friendliness of the robot.

[0161] The above embodiments 5-7 respectively detect whether the dust collection container 20 is full by detecting the volume or weight change of the dust collection container 20. In order to ensure the reliability of the detection result, the above three embodiments should be detected in the standby state of the robot, and the control logic is similar, so the same control strategy can be used, as follows:

[0162] Referring to FIG. 20, a control method applied to the robot includes the following steps:

[0163] S31: Determine whether the negative pressure device is stopped working;

[0164] S32: If yes, obtain a third measurement value of the specific physical information detected by the detection unit; in combination with the above embodiments 5-7, the third measurement value can be the volume change amount of the dust collection container 20 or the weight change amount of the dust collection container 20.

[0165] S33: Compare the third measurement value with a preset critical value of the specific physical information, and determine whether the third measurement value exceeds the critical value; the critical value can be determined through preliminary experiments or according to the experience of technical personnel.

[0166] S34: If yes, identify as a full dust state. At this time, the feedback unit 40 can be controlled to generate a reminder signal.

[0167] The control method can intelligently judge the filling state of the dust collecting container 20 of the sweeping machine, compare the measurement value of the specific physical information with the preset critical value in real time, and realize intelligent full load detection. Once the measurement value exceeds the preset critical value, the control feedback unit 40 can generate a feeling signal to timely remind the user that the dust collecting container 20 may be full and needs to be cleaned, thereby improving the user experience and cleaning efficiency. The control method uses the volume change or weight change of the dust collecting container 20 as the measurement value of the specific physical information according to the actual situation, can be flexibly selected according to the requirements of different models of sweeping machines or different application scenarios, and enhances the applicability and universality of the control method; by comparing the measurement value of the specific physical information with the preset critical value, the judgment logic of the full load state is simplified, the system complexity is reduced, and the actual application and maintenance are easy; the control method generates a feeling signal when detecting the full load state, realizes timely reminding the user to clean, can reduce the energy waste caused by long-time overload, and meets the concept of energy saving and environmental protection.

[0168] In summary, the above-mentioned sweeping machine control method has intelligent full load detection, timely feedback, flexibility, simplified operation, energy saving and environmental protection and multiple advantages, provides users with a more intelligent, efficient and convenient cleaning experience, and improves the performance and user friendliness of the sweeping robot.

[0169] Embodiment 8

[0170] Please refer to FIG. 14, the main difference between the embodiment and embodiment 1 is that the type of detection unit is different, specifically, the dust collecting container 20 is made of flexible material, the mobile carrier 10 is provided with a first compression mechanism 30 for compressing the dust collecting container 20, and the detection unit includes a first stroke detection unit 1008 for detecting the compression stroke of the first compression mechanism 30, or a first pressure detection unit 1009 for detecting the pressure change of the first compression mechanism 30. In a further specific embodiment, the compression of the dust collecting container 20 can be realized by pressurizing the second support 24, in order to avoid garbage overflowing from the first air inlet 21 when the dust collecting container 20 is compressed, a louvered movable door 1121 can be provided outside the first air inlet 21, the movable door 1121 can be closed when the compression is carried out, and the movable door 1121 is opened again after the compression detection is completed.

[0171] When the dust and debris in the dust collecting container 20 continuously accumulate, the sweeping machine will use mechanical devices to extrude the dust collecting container 20, and the filling degree of the dust collecting container 20 is judged by detecting the change of the extrusion stroke or the pressure generated by the extrusion. When the dust and debris in the dust collecting container 20 reach a certain amount, the extrusion stroke or the extrusion pressure will change obviously, and the system can monitor this change to judge whether the dust collecting container 20 is full, so as to trigger the corresponding processing measures.

[0172] The detection of full load has the following advantages: by detecting the change of the extrusion stroke or the extrusion pressure to judge the filling state of the dust container 20, the real-time monitoring of the full load state is realized, and the user can be reminded in time to perform cleaning operation, so as to maintain the efficient working state of the sweeping robot. The extrusion of the dust container 20 can accurately reflect the filling condition inside the dust container 20. When the dust and debris reach a certain degree, the extrusion stroke or the extrusion pressure will change obviously, which can accurately judge the full load state of the dust container 20, and avoid misjudgment or omission. The extrusion of the dust container 20 is suitable for various types of sweeping robots, whether it is a wheeled or a track type design, the extrusion stroke or the extrusion pressure can be used to judge the full load state of the dust container 20, which has strong applicability and universality. The full load detection of the dust container 20 by mechanical extrusion is more reliable and stable than other more complex detection methods, which reduces the failure rate and improves the reliability and stability of the system. After judging the full load state of the dust container 20 by the extrusion stroke or the extrusion pressure, the system can automatically trigger the cleaning mechanism to realize the automatic cleaning of the dust container 20, which further improves the intelligence and automation level of the sweeping robot and provides a more convenient use experience for the user.

[0173] In summary, the detection method of using the extrusion stroke or the extrusion pressure to judge whether the dust container 20 is full has many advantages such as real-time monitoring, accuracy, strong applicability, mechanical processing and automatic cleaning, and is an effective and reliable full load detection method, which provides better protection for the performance and user experience of the sweeping robot.

[0174] Referring to FIG. 21, based on the above embodiment 8, the application provides a control method of a sweeping robot, comprising the following steps:

[0175] S41: judging whether the negative pressure device stops working;

[0176] S42: if yes, judging whether the sweeping robot has been separated from the last time the compression mechanism is started for a preset time length, or whether the sweeping robot has run a preset distance; it should be understood that the detection means provided in this embodiment requires the compression mechanism to perform active compression action, therefore this detection method is not suitable for real-time detection, but needs to be detected intermittently according to the pre-set period, so as to reduce the energy consumption of the equipment.

[0177] S43: if yes, sending a control signal to the compression mechanism to control the compression mechanism to work until the stroke or pressure of the compression mechanism reaches a preset value;

[0178] S44: Obtain a first limit measurement value of the specific physical information detected by the detection unit during the compression process of the compression mechanism;

[0179] S45: Compare the first limit measurement value with a preset critical value of the specific physical information, and determine whether the first limit measurement value exceeds the critical value;

[0180] S46: If yes, identify the dust full state. At this time, the feedback unit 40 can be controlled to generate a reminder signal.

[0181] The above control method detects the dust collection container 20 according to a preset period, effectively reducing the energy consumption of the device. By controlling the working time of the compression mechanism, the waste of energy caused by continuous work is avoided, the energy utilization efficiency is improved, and energy saving and consumption reduction are achieved. The preset time or distance is used to determine whether the compression mechanism needs to work, so that the dust collection container 20 can be detected in time before it is fully loaded, the efficient working state of the robot is maintained, the dust collection container 20 is prevented from being overloaded, and timely cleaning is performed, thereby improving the cleaning efficiency and performance stability. By comparing the limit measurement value of the specific physical information detected during the compression process of the compression mechanism with the preset critical value, the full load state of the dust collection container 20 is accurately determined, false positives or false negatives are avoided, and the reliability and accuracy of the system are ensured. The method controls the working of the compression mechanism through a control signal, determines whether to generate a sensory signal according to the change of the detection value, realizes intelligent detection and processing control of the full load state of the dust collection container 20, and improves the user experience and the intelligent level of the system. By using the intermittent detection method, the frequent interference of the full load state detection of the dust collection container 20 on the device can be reduced, the maintenance cost and failure rate of the device are reduced, and the service life of the device is prolonged.

[0182] In summary, the above-mentioned method for detecting the full load state of the dust collection container 20 of the robot has the advantages of energy saving and consumption reduction, preventive reminder, accurate judgment, intelligent control, and reduced maintenance cost, which provides comprehensive and effective protection for the performance and user experience of the robot.

[0183] Embodiment 9

[0184] Please refer to FIG. 15, in this embodiment, the base station 200 is used to detect the dust collection container 20 of the robot 100 to identify whether it is fully loaded, which is as follows:

[0185] The embodiment provides a base station 200, which comprises a base station body, a detection unit and a feedback unit 40; the base station body is provided with a containing part for containing a sweeping robot 100; the detection unit is installed on the base station body and is used for collecting specific physical information of the sweeping robot 100 in the containing part, the specific physical information being physical information that is significantly different under full-load and non-full-load states of a dust collecting container 20 of the sweeping robot 100; the feedback unit 40 is installed on the base station body and is used for receiving detection data of the detection unit and generating a sensory signal that can be perceived by a user. Specifically, the detection unit comprises a second weight detection unit 2001 used for detecting the weight of the sweeping robot 100.

[0186] It should be understood that when the sweeping robot 100 returns to the base station 200, the base station 200 can weigh the sweeping robot 100, and the base station 200 obtains current weight data of the sweeping robot 100 through a weighing sensor. By comparing the current weight with the weight in the empty state or the preset full-load weight, the base station 200 can determine the increase of dust and sundries in the dust collecting container 20, so as to identify the full-load state of the dust collecting container 20.

[0187] The method for detecting the full load of the dust collecting container 20 has the following advantages: the base station 200 can accurately obtain the current weight data of the sweeping robot 100 through the weighing sensor, so as to accurately identify the full-load state, avoid misjudgment or omission, and improve the accuracy and reliability of identification. The identification of the full-load state of the dust collecting container 20 through the weighing method can realize real-time monitoring of the state of the dust collecting container 20, can timely remind the user to perform cleaning operation, and can maintain the efficient working state of the sweeping robot 100; the method for identifying the full-load state by weighing through the base station 200 is relatively simple and easy to implement, does not need complex sensors or control systems, reduces the complexity and maintenance cost of the system, and is suitable for different types of sweeping robots 100, whether it is a wheeled or a track type design, the full-load state of the dust collecting container 20 can be determined through the weighing method of the base station 200, and has strong universality and applicability; after the full-load state is identified by weighing through the base station 200, the system can automatically trigger the cleaning mechanism to realize automatic cleaning of the dust collecting container 20, enhances the intelligence and automation degree of the sweeping robot 100, and improves the user experience.

[0188] In summary, the method for identifying the full-load state of the dust collecting container 20 of the sweeping robot 100 by weighing through the base station 200 has the advantages of high accuracy, real-time monitoring, simple implementation, strong applicability and automatic processing, and is an effective and reliable full-load state identification method, which provides comprehensive protection for the performance and user experience of the sweeping robot 100.

[0189] Referring to FIG. 22, based on the above-mentioned embodiment 9, the application provides a control method applied to the base station 200, comprising the following steps:

[0190] S51: When the sweeper 100 returns to the base station 200, the measurement value of the specific physical information detected by the detection unit is obtained; specifically, the measurement value is the whole-machine weight of the sweeper 100.

[0191] S52: The measurement value is compared with the preset critical value of the specific physical information, to determine whether the measurement value exceeds the critical value; the critical value represents the weight of the sweeper 100 when it is fully loaded, which can be determined through preliminary experiments or according to the experience of technicians.

[0192] S53: If yes, it is identified as the dust-full state. At this time, the feedback unit 40 can be controlled to generate a reminder signal.

[0193] The control method compares the whole-machine weight of the sweeper 100 with the preset critical value of the full-load weight, to determine whether the dust collection container 20 is fully loaded, which realizes simple and intuitive control logic, is easy to implement and operate; when the sweeper 100 returns to the base station 200, the whole-machine weight information is immediately obtained and compared, which can respond to the full-load state of the dust collection container 20 in real time, improving the real-time and agility of the system; the critical value can be adjusted according to experimental results or the experience of technicians, which has certain flexibility and personalized customization to adapt to different environments and needs; by measuring the whole-machine weight and comparing it with the critical value, the full-load state of the dust collection container 20 can be accurately determined, avoiding misjudgment or omission and improving the accuracy and reliability of identification; this method only obtains weight information for comparison when needed, effectively reducing energy consumption, saving system operation cost and improving energy utilization efficiency; when it is determined that the dust collection container 20 is fully loaded, the feedback unit 40 is controlled to generate a perceptual signal, which can automatically trigger a cleaning mechanism or an alarm reminder, realizing intelligent processing of the dust collection container 20 and improving the intelligent level of the system.

[0194] In summary, the above-mentioned base station 200 control method has the advantages of simplicity, real-time response, personalized setting, high accuracy, energy saving and intelligent processing, etc., and provides an effective and reliable control means for the dust collection container 20 management of the sweeper 100 robot.

[0195] Embodiment 10

[0196] Please refer to FIG. 16, the main difference between the embodiment and embodiment 9 is that the type of detection unit is different, specifically, in the embodiment, the base station body is provided with a second compression mechanism 210 for compressing the dust collection container 20, and the detection unit includes a second stroke detection unit 2002 for detecting the compression stroke of the second compression mechanism 210, or a second pressure detection unit 2003 for detecting the pressure change of the second compression mechanism 210. The top cover of the robot cleaner 100 can be provided with an openable cover plate, which can expose the dust collection container 20 when the cover plate is opened. At this time, the second compression mechanism 210 provided in the base station 200 can extrude the dust collection container 20, and the base station 200 can determine the full load state of the dust collection container 20 by the stroke change or pressure change of the second compression mechanism 210.

[0197] When the robot cleaner 100 returns to the base station 200, the second compression mechanism 210 in the base station 200 will perform a compression operation on the dust collection container 20 of the robot cleaner 100, and the dust and debris in the dust collection container 20 will be compressed by mechanical force to reduce the volume of the container. During the compression of the dust collection container 20, the base station 200 will detect the stroke or pressure change of the second compression mechanism 210 through the sensor. According to the stroke or pressure change of the second compression mechanism 210, the base station 200 can determine the density change of the dust and debris in the dust collection container 20, thereby identifying the full load state of the dust collection container 20.

[0198] The advantages of this detection method include: the base station 200 uses a compression mechanism to compress the dust collection container 20, and identifies the full load state by detecting the stroke or pressure of the compression mechanism, which can realize real-time monitoring of the state of the dust collection container 20, timely remind the user to clean, and maintain the efficient working state of the robot cleaner 100; compared with continuous monitoring, this method only compresses and detects when needed, reducing energy waste, reducing device energy consumption, and improving energy utilization efficiency; by detecting the stroke or pressure change of the compression mechanism to determine the full load state of the dust collection container 20, the density change of the dust and debris in the container can be accurately determined, which has high accuracy and reliability; after identifying the full load state of the dust collection container 20, the system can automatically trigger the cleaning mechanism to realize automatic cleaning of the dust collection container 20, which improves the intelligence and automation level of the robot cleaner 100, and enhances the user experience; this method uses mechanical compression to identify the full load state of the dust collection container 20, which is more reliable and stable than other more complex detection methods, reduces the failure rate, and improves the reliability and stability of the system.

[0199] In summary, the base station 200 extrudes the dust collection container 20 of the robot 100 by using the compression mechanism, and detects the full state of the dust collection container 20 by detecting the stroke or pressure of the compression mechanism, which has the advantages of real-time monitoring, energy saving, high reliability, automatic processing and mechanical processing, and provides comprehensive protection for the performance and user experience of the robot 100.

[0200] Referring to FIG. 23, based on the base station 200 described in Embodiment 10, the application provides a control method of the base station 200, including the following steps:

[0201] S61: When the robot 100 returns to the base station 200, a control signal is sent to the second compression mechanism 210 to control the second compression mechanism 210 to work until the stroke or pressure of the second compression mechanism 210 reaches a preset value.

[0202] S62: Obtain the second limit measurement value of the specific physical information detected by the detection unit during the compression process of the second compression mechanism 210; specifically, the second limit measurement value is the limit stroke or limit pressure of the second compression mechanism 210.

[0203] S63: Compare the second limit measurement value with the critical value of the specific physical information, and determine whether the second limit measurement value exceeds the critical value; the critical value can be obtained through preliminary experiments.

[0204] S64: If yes, it is identified as a full state. At this time, the feedback unit 40 can be controlled to generate a reminder signal.

[0205] The base station 200 control method described above can more accurately obtain the physical information inside the dust collection container 20 by controlling the second compression mechanism 210 to work until the stroke or pressure reaches the preset value and obtaining the limit measurement value during compression, thereby improving the accuracy of determining the full load state; the limit measurement value is obtained during compression and compared with the critical value to determine whether it is exceeded, thereby realizing real-time monitoring of the state of the dust collection container 20, timely determination of the full load condition, and improvement of the response speed and accuracy of the system; the automation control and determination of the state of the dust collection container 20 are realized by sending a control signal to the second compression mechanism 210 and monitoring the physical information during compression, thereby reducing manual intervention and improving the intelligent degree of the system; the control method can accurately identify the full load state and generate a sensory signal, which can timely trigger a cleaning action, thereby improving the cleaning efficiency and use experience of the dust collection container 20; the method only compresses and detects the dust collection container 20 when needed, thereby saving energy and system resource consumption, improving the resource utilization efficiency of the system, and reducing operating costs; by generating a sensory signal, the state of the dust collection container 20 can be fed back to the user in a timely manner, helping the user to understand the cleaning condition, and improving the user's control and management ability of the robot 100.

[0206] In summary, the base station 200 control method described above has many advantages such as high accuracy, real-time monitoring, automation control, improved cleaning efficiency, resource saving, and data feedback, and provides a more intelligent and efficient control means for the dust collection container 20 management of the robot 100, thereby improving the performance and user experience of the system.

[0207] It should be noted that, in addition to the above-mentioned embodiments 9 and 10, the base station 200 can also use other ways to detect the dust fullness of the dust collection container 20 of the robot 100, for example, the detection unit includes a volume detection unit 1006 for detecting the volume of the dust collection container 20 or a photoelectric detection unit 1007 for detecting whether there is garbage at the garbage inlet of the dust collection container 20.

[0208] Embodiment 11

[0209] Referring to FIG. 17, the main difference between the present embodiment and other embodiments is the interaction mode of the feedback signal. Specifically, the present embodiment provides a cleaning system, which includes a robot 100, a base station 200, and a mobile terminal 300. The robot 100 is provided with a dust container 20. The base station 200 is provided with a receiving portion for receiving the robot 100. The mobile terminal 300 is in communication connection with the robot 100 and / or the base station 200. The robot 100 and / or the base station 200 is provided with a detection unit for collecting specific physical information of the robot 100. The specific physical information is physical information that is significantly different between the full load state and the non-full load state of the dust container 20. The robot 100 and / or the base station 200 is configured to send dust full alarm information to the mobile terminal 300 when the detection unit detects that the dust container 20 is full.

[0210] Referring to FIG. 24, based on the present embodiment, the present application further provides a control method applied to the cleaning system, which includes the following steps:

[0211] S71: Obtain the measurement value of the specific physical information detected by the detection unit. The specific elements of the measurement value can refer to the solutions described in Embodiments 1-10, which will not be described here again.

[0212] S72: Compare the measurement value with the preset critical value of the specific physical information, and determine whether the measurement value exceeds the critical value.

[0213] S73: If yes, it is identified as a dust full state. At this time, dust full alarm information can be sent to the mobile terminal 300.

[0214] It should be understood that in the embodiment, the user can receive the dust full state of the dust collection container 20 in real time through the mobile terminal 300 such as a mobile phone, and timely understand the working condition of the sweeping robot 100, so as to facilitate the user to arrange the cleaning operation in time, and improve the convenience and timeliness of the operation; the user does not need to personally go to the vicinity of the sweeping robot 100 or the base station 200 to know the state of the dust collection container 20, and can remotely monitor and check the cleaning condition at any time and anywhere through the mobile terminal 300, thereby improving the user experience; the intelligent reminding function can be realized through the mobile terminal 300, such as setting a periodic reminder for the user to clean the dust collection container 20, or sending an alarm to the user to process in time when the dust collection container 20 is full, thereby improving the management and maintenance ability of the user to the sweeping robot 100; the detection result can be stored as historical data after being sent to the mobile terminal 300, the user can check the historical record of the state of the dust collection container 20, help the user to understand the use condition and cleaning period, so as to better manage the sweeping robot 100; the mobile terminal 300 is a commonly used device of the user, and has a friendly interface and simple operation, so that the user can easily obtain the state information of the dust collection container 20, thereby improving the user experience; the detection result is sent through the mobile terminal 300, and the working condition of the device can also be tracked and recorded by the sweeping robot 100 or the base station 200, thereby providing a basis for maintenance and service, and helping to improve the reliability and continuous operation ability of the device.

[0215] In summary, the dust full detection of the dust collection container 20 of the sweeping robot 100 or the base station 200, and the interactive mode of sending the detection result to the mobile terminal 300 such as a mobile phone have the advantages of real-time reminding, remote monitoring, intelligent reminding, data storage, user-friendly and tracking maintenance, and the like, thereby providing a more convenient and intelligent management experience for the user, and improving the operability and user satisfaction of the device.

[0216] The application further provides a cleaning device including a storage medium and a processor, the storage medium stores a computer program, and the computer program is run by the processor to realize the steps of the method in the above embodiments 1-11.

[0217] In summary, the sweeping machine 100, the base station 200, the cleaning system, the control method and the cleaning device provided by the present application can detect the dust and debris level in the dust bag through the sensor, thereby automatically identifying whether the dust bag is full. The user does not need to manually check the dust bag status, and the system can intelligently manage and monitor the use of the dust bag, providing a more convenient user experience. The user can avoid replacing the dust bag too early before it is fully utilized, thereby saving the use of the dust bag and other resources. By maximizing the capacity of each dust bag, the cleaning efficiency can be improved and the frequency of replacing the dust bag can be reduced, saving the user's cost and effort. Replacing the full dust bag in time can maintain the dust collection performance and cleaning efficiency of the sweeping machine 100, and avoid the decline of the cleaning effect caused by excessive accumulation of the dust bag. The automatic identification function can ensure that the sweeping machine 100 is always in the best working state, improve the cleaning efficiency, and reduce the possibility of secondary cleaning. Regularly replacing the dust bag can maintain the normal operation of the sweeping machine 100 device and avoid excessive wear and damage. The system that automatically identifies whether the dust bag is full can help the user replace the dust bag in time, prolong the service life of the sweeping machine 100 device, and reduce maintenance and replacement costs. This intelligent system can provide a more intelligent and convenient cleaning experience, allowing the user to focus on other matters without frequently checking the dust bag status, and enjoy a more relaxed and efficient cleaning process. The user can confidently let the sweeping machine 100 manage the dust bag by itself, improving the overall user experience. The intelligent control system based on the dust bag status can automatically adjust the working mode and cleaning path of the cleaning machine according to the real-time situation, optimize the cleaning efficiency and energy consumption management, and the intelligent control method can make the cleaning device more intelligent and efficient.

[0218] The above embodiments are only illustrative of the principles and effects of the present application, and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical idea of the present application should be covered by the claims of the present application.

[0219] In the description herein, many specific details are provided, such as examples of components and / or methods, to provide a thorough understanding of embodiments of the present application. Persons skilled in the art, however, will recognize that the application can be practiced without one or more of the specific details. In other instances, well-known structures, materials, or operations are not shown or described in detail in order to avoid obscuring aspects of the embodiments of the present application.

Claims

1. A robot vacuum cleaner, characterized in that, The application relates to a cleaning robot, comprising: a mobile carrier; a self-propelled mechanism for driving the mobile carrier to move on a surface to be cleaned; an air duct arranged on the mobile carrier; a negative pressure device mounted on the mobile carrier and connected to the air duct, for drawing air from the air duct to generate an air flow in the air duct; a dust collecting container received in the air duct, a first air inlet being arranged on the windward side of the dust collecting container, at least a part of the dust collecting container being made of filter material, so that the dust collecting container can be penetrated by the air flow and the garbage carried by the air flow can be retained in the dust collecting container; and a detection unit mounted on the mobile carrier, for collecting specific physical information of the cleaning robot, the specific physical information being physical information that can change with the change of the filling state of the dust collecting container. The negative pressure device comprises a fan, and the detection unit comprises a rotating speed detection unit for detecting the rotating speed of the fan and / or a current detection unit for detecting the working current of the fan.

2. The robot of claim 1, wherein, The detection unit comprises an air speed detection unit and / or an air pressure detection unit arranged in the air duct.

3. The robot of claim 1, wherein, The mobile carrier comprises a first structural member and a second structural member, at least the dust collecting container being mounted on the first structural member, the first structural member being assembled in such a way that at least a part of the weight of the first structural member acts on the second structural member, and the detection unit comprises a weight detection unit arranged between the first structural member and the second structural member to detect the change of the weight of the first structural member.

4. The robot of claim 1, wherein, The dust collecting container is made of flexible material, the dust collecting container being assembled in such a way that the volume of the dust collecting container can expand with the increase of the garbage collected in the dust collecting container, and the detection unit comprises a volume detection unit for detecting the change of the volume of the dust collecting container.

5. The robot of claim 1, wherein, The dust collecting container is made of flexible material, the mobile carrier being provided with a compression mechanism for compressing the dust collecting container, and the detection unit comprises a stroke detection unit for detecting the compression stroke of the compression mechanism or a pressure detection unit for detecting the change of the pressure of the compression mechanism.

6. The robot of claim 1, wherein, The detection unit comprises a photoelectric detection unit for detecting whether the dust collecting container contains garbage.

7. The robot of claim 1, wherein, The air duct is provided with a cavity for receiving the dust collecting container, the cavity being provided with a second air inlet and a second air outlet, the first air inlet being arranged opposite to the second air inlet, and the filter material being arranged at least on the region of the dust collecting container opposite to the second air outlet.

8. The robot of claim 1, wherein, The container wall of the dust collecting container is made of air-permeable material, and the container wall of the dust collecting container itself constitutes the filter material.

9. The robot of claim 8, wherein, The container wall of the dust collecting container is made of a high polymer film, the region of the dust collecting container opposite to the second air outlet is provided with a first air outlet, and the filter material is arranged on the first air outlet.

10. The robot of claim 8, wherein, A first support is arranged on the side of the dust collecting container opposite to the second air inlet, and the first support is detachably connected to the edge of the second air inlet.

11. The robot of claim 8, wherein, A second support is arranged on the side of the dust collecting container opposite to the second air outlet, and the second support is detachably connected to the edge of the second air outlet.

12. The robot of claim 8, wherein, ​ 13. The robot of claim 8, wherein, The second air inlet and the second air outlet are located on the same side of the cavity, and a fixed support is arranged on the side of the dust collection container opposite to the second air inlet and the second air outlet.

14. The robot of claim 1, wherein, The air duct is provided with a main air inlet at an end away from the negative pressure device, and the main air inlet is provided with a receiving cavity for receiving the roller brush, and the roller brush is rotationally arranged in the receiving cavity.

15. The robot of claim 1, wherein, The feedback unit is installed on the mobile carrier and is configured to generate a reminder signal based on the specific physical information collected by the detection unit.

16. The robot of claim 15, wherein, The feedback unit includes at least one of a light module, a speaker module, a vibration module, and a display module.

17. A cleaning system characterized by, The base station is provided with a receiving portion for receiving the sweeping machine. The base station is provided with a receiving portion for receiving the sweeping machine. The detection unit is configured to collect specific physical information of the sweeping machine, which is physical information that can change with the change of the filling state of the dust collection container. The sweeping machine and / or the base station are provided with a wireless communication module, and the sweeping machine and / or the base station are configured to send a dust-full alarm message through the wireless communication module when the detection unit detects that the dust collection container is full.

18. The cleaning system of claim 17, wherein, 19. A control method of a sweeping machine, the sweeping machine comprising: a mobile carrier; a self-walking mechanism for driving the mobile carrier to walk along a surface to be cleaned; an air duct arranged on the mobile carrier; a negative pressure device installed on the mobile carrier and connected to the air duct, for pumping air in the air duct to generate an air flow in the air duct; a dust collection container received in the air duct, a windward side of the dust collection container being provided with a first air inlet, and at least a part of the dust collection container being made of filter material so that the dust collection container can be passed through by the air flow and the garbage carried by the air flow is retained in the dust collection container; and a detection unit installed on the mobile carrier for collecting specific physical information of the sweeping machine, which is physical information that can change with the change of the filling state of the dust collection container; characterized in that the method comprises the following steps: when the negative pressure device works in a normal cleaning mode, the detection unit detects a first measurement value of the specific physical information; comparing the first measurement value with a preset critical value of the specific physical information to determine whether the first measurement value exceeds the critical value; if yes, controlling the negative pressure device to work in an obstacle removal mode for a preset time and then restoring the normal cleaning mode, and obtaining a second measurement value of the specific physical information detected by the detection unit at this time; the obstacle removal mode is a working mode for removing air duct blockage fault; comparing the second measurement value with the critical value to determine whether the second measurement value exceeds the critical value if yes, identifying a dust-full state. ​ 20. The control method of the robot cleaner according to claim 19, wherein The normal cleaning mode is that the negative pressure device works at a first suction force, and the obstacle removing mode is that the negative pressure device works at a second suction force greater than the first suction force. Or The normal cleaning mode is that the negative pressure device works at a first airflow direction, and the obstacle removing mode is that the negative pressure device works at a second airflow direction.

21. The control method of the robot cleaner according to claim 19, wherein, Further comprising the following steps: When the negative pressure device stops working, the detection unit detects a third measurement value of the specific physical information; The third measurement value is compared with a preset critical value of the specific physical information to determine whether the third measurement value exceeds the critical value; If yes, it is identified as the dust full state.

22. The control method of the robot cleaner according to claim 19, wherein The dust collecting container is made of flexible material, the mobile carrier is provided with a compression mechanism for compressing the dust collecting container, and the detection unit comprises a stroke detection unit for detecting the compression stroke of the compression mechanism, or a pressure detection unit for detecting the pressure change of the compression mechanism. Further comprising the following steps: When a preset condition is met, a control signal is sent to the compression mechanism to control the compression mechanism to work until the stroke or pressure of the compression mechanism reaches a preset value, and the preset condition refers to that a preset time interval has been separated since the last start of the compression mechanism, or the robot cleaner has run a preset distance; A first limit measurement value of the specific physical information detected by the detection unit during the compression process of the compression mechanism is obtained; The first limit measurement value is compared with a preset critical value of the specific physical information to determine whether the first limit measurement value exceeds the critical value; If yes, it is identified as the dust full state.

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