Cleaning robot and working method thereof

Abstract

Provided in the embodiments of the present application are a cleaning robot and a working method thereof. The cleaning robot comprises: a cleaning unit, a first pump, a second pump, a squeegee and a dirt collection box. The first pump provides a cleaning solution to the cleaning unit, the dirt collection box collects dirt scraped off the cleaning unit, and the second pump extracts the dirt from the dirt collection box. The working method of the cleaning robot comprises: when the cleaning robot executes a cleaning task, the first pump works, and the second pump works at a first power; and when the cleaning robot detects an anomaly, the first pump stops working, and the second pump works at a second power, the second power being greater than the first power. The second pump increases the power to extract dirt from the dirt collection box, and no dirt leakage will occur even if the cleaning robot is overturned, lifted, climbs steep slopes, descends steep slopes or travels over bumpy surfaces. The solution of the present application can solve the problem of dirt overflow of the dirt collection box by controlling the second pump without modifying a hardware structure or adding additional hardware, which is easy to implement and low in cost.

Description

Cleaning robot and working method thereof

[0001] The present application claims priority to the Chinese patent application No. 202411345594.X, filed on September 25, 2024, and entitled "Cleaning robot and working method thereof", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of robots, in particular to a cleaning robot and a working method thereof. BACKGROUND

[0003] The existing sweeping and mopping integrated cleaning robot mostly adopts the mode of first dust collection and then mopping to clean the ground. For example, a cloth tray is arranged at the bottom of the cleaning robot, and the ground is mopped by the rotating cloth tray. However, the cloth tray mopping has the problem of dirtying, because the cloth tray does not have a self-cleaning function after being dirty. Later, a cleaning robot using a roller mop appeared.

[0004] This kind of cleaning robot has a roller, a clean water supply device, a scraping strip, and a sewage collection device. During each rotation of the roller, the roller receives clean water supplied by the clean water supply device, and after mopping is completed, the roller is self-cleaned by the scraping strip while cleaning, realizing the live water mopping of mopping while self-cleaning, which can improve the problem of dirtying. The dirt (small impurities and sewage) scraped off by the scraping strip enters the sewage collection device into the sewage collection box. The sewage collection box is open so that the dirt scraped off by the scraping strip can smoothly enter the sewage collection box. When the cleaning robot drives on most ground (such as flat ground and small slope ground), the sewage in the sewage collection box will not overflow. However, if the cleaning robot is overturned, lifted or climbed, descends a steep slope, or bounces, etc., the sewage in the sewage collection box is prone to overflow, such as overflowing onto the roller, the machine body and the ground. If the roller is contaminated, the cleaning effect of the robot is affected; if the machine body or the ground is contaminated, the user needs to clean manually. SUMMARY

[0005] In view of the above problems, the present application provides a cleaning robot and a working method thereof, which can reduce the probability of sewage overflow in the sewage collection box without changing the hardware structure.

[0006] In an embodiment of the present application, a working method of a cleaning robot is provided. The cleaning robot comprises:

[0007] a cleaning unit, configured to clean the ground;

[0008] a scraping strip, configured to scrape off the dirt on the cleaning unit;

[0009] a sewage collection box, configured to collect the dirt scraped off from the cleaning unit;

[0010] a first pump configured to provide cleaning liquid to the cleaning unit; and

[0011] a second pump configured to draw dirty from the dirt collection bin;

[0012] the cleaning robot working method comprises:

[0013] when the cleaning robot is performing a cleaning task, the first pump is working, and the second pump is working at a first power;

[0014] when the cleaning robot detects an abnormal condition, the first pump stops working, and the second pump works at a second power; wherein the second power is greater than the first power.

[0015] Optionally, the cleaning robot working method can further comprise at least one of the following:

[0016] when the cleaning robot is being moved, the abnormal condition is detected;

[0017] when the cleaning robot body is tilted at an angle greater than a first threshold, the abnormal condition is detected.

[0018] Optionally, the cleaning robot is provided with an anti-falling sensor; correspondingly, the method further comprises: when the driving wheel triggers the anti-falling sensor, the cleaning robot detects the abnormal condition.

[0019] Optionally, the cleaning robot is provided with at least two downward-looking sensors; when the distance between the cleaning robot and the ground is greater than a second threshold, the downward-looking sensor sends a first signal; and the method further comprises:

[0020] when the at least two downward-looking sensors all send the first signal, the cleaning robot detects the abnormal condition.

[0021] Optionally, the cleaning robot is provided with a gyroscope sensor; when the gyroscope sensor measures a roll angle greater than or equal to a third threshold or the gyroscope sensor measures a pitch angle greater than or equal to a fourth threshold, the gyroscope sensor sends a second signal; correspondingly, the method further comprises:

[0022] when the gyroscope sensor sends the second signal, the cleaning robot detects the abnormal condition.

[0023] Optionally, the cleaning robot is provided with an acceleration sensor; the acceleration sensor measures the gravitational acceleration of the z-axis, and when the rate of change of the gravitational acceleration of the z-axis measured by the acceleration sensor is greater than a fifth threshold, the acceleration sensor sends a third signal; correspondingly, the method further comprises:

[0024] The cleaning robot detects the abnormal condition when the acceleration sensor sends the third signal.

[0025] Optionally, the first pump intermittently operates at a third power when the cleaning robot performs the cleaning task, in the intermittent operation, the first pump operates at the third power in an operation period, and the first pump stops operating in a stop period; the operation period and the stop period are alternated.

[0026] Optionally, the cleaning robot working method further comprises: after the cleaning robot detects that the abnormal condition is removed, the first pump maintains the off state, the second pump stops operating, and a restart prompt information is outputted; or

[0027] After the cleaning robot detects that the abnormal condition is removed, the first pump starts operating, and the second pump operates at the first power.

[0028] In a second embodiment of the present application, a cleaning robot working method is provided. The cleaning robot comprises a cleaning unit, a second pump and a dirt collection box, and the cleaning robot working method comprises:

[0029] The cleaning robot performs a cleaning task, wherein when performing the cleaning task, the second pump operates at a first power to draw away dirt in the dirt collection box;

[0030] When the cleaning robot detects an abnormal condition, the second pump operates at a second power; wherein the second power is greater than the first power.

[0031] Optionally, the cleaning robot further comprises a first pump, and the first pump provides cleaning liquid to the cleaning unit; and the method further comprises:

[0032] When the cleaning robot performs the cleaning task,

[0033] The first pump intermittently operates at a third power,

[0034] In the intermittent operation, the first pump operates at the third power in an operation period, and the first pump stops operating in a stop period; the operation period and the stop period are alternated.

[0035] Optionally, the cleaning robot working method further comprises: when the cleaning robot detects the abnormal condition, the second pump operates at the second power for a set time length, and then the second pump stops operating.

[0036] In a third embodiment of the present application, a cleaning robot working method is provided. The cleaning robot comprises a cleaning unit, a first pump, a second pump and a dirt collection box, and the cleaning robot working method comprises:

[0037] The cleaning robot performs a cleaning task, wherein, in performing the cleaning task, the first pump provides cleaning liquid to the cleaning unit, and the second pump works to draw away dirty water in the dirt collection box;

[0038] The cleaning robot suspends the cleaning task, the first pump stops working, and the second pump stops working after a delay of a set time.

[0039] A fourth embodiment of the present application provides a cleaning robot. The cleaning robot comprises:

[0040] a body, which is provided with a cleaning unit, a first pump, a second pump, a squeegee, and a dirt collection box;

[0041] a controller, which is arranged on the body and is configured to perform the steps in the working method of the cleaning robot provided in the above embodiments.

[0042] In the technical solution provided in the embodiments of the present application, when the cleaning robot detects an abnormal condition, the first pump for providing cleaning liquid stops working, thereby reducing the amount of liquid; the second pump works at a higher power to quickly draw away dirty water in the dirt collection box. The dirty water (containing impurities and sewage, etc.) in the dirt collection box is drawn away, and even if the cleaning robot is turned over, lifted, or climbs a steep slope, descends a steep slope, or bounces, etc., the dirty water will not spill out. The solution provided in the embodiments of the present application does not need to modify the hardware structure or additionally increase hardware, and the problem of dirty water spilling out of the dirt collection box can be solved by controlling the second pump, which is easy to implement and low in cost. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

[0044] FIGS. 1a and 1b show structural schematic diagrams of a cleaning robot provided in an embodiment of the present application;

[0045] FIG. 2 shows a structural schematic diagram of the cleaning robot from another perspective provided in an embodiment of the present application;

[0046] FIG. 3 shows an exploded schematic diagram of the structure of the cleaning robot provided in an embodiment of the present application;

[0047] FIG. 4 shows an exploded schematic diagram of the structure of the mop-washing assembly in the cleaning robot provided in an embodiment of the present application;

[0048] Fig. 5 shows a cross-sectional view of a mop-washing assembly of a cleaning robot according to an embodiment of the present application;

[0049] Fig. 6 shows an exploded view of a mop-washing assembly of a cleaning robot according to an embodiment of the present application;

[0050] Fig. 7 shows a flowchart of a method for operating a cleaning robot according to an embodiment of the present application;

[0051] Fig. 8a shows a state diagram of a cleaning robot with driving wheels on the ground;

[0052] Fig. 8b shows a state diagram of a cleaning robot with driving wheels off the ground;

[0053] Fig. 9 shows a flowchart of a method for operating a cleaning robot according to another embodiment of the present application;

[0054] Fig. 10 shows a flowchart of a method for operating a cleaning robot according to another embodiment of the present application. DETAILED DESCRIPTION

[0055] To address the problems mentioned in the background, the second pump is always working at a high power to remove the dirty water in the dirt collection box in real time, i.e., a small amount of dirty water can be quickly removed, which can also solve the problem of dirty water overflow. However, the second pump working at a high power all the time has many problems. Since the amount of dirty water generated is limited, the second pump works at a high power for a long time, and the second pump is in a dry pumping state most of the time, which shortens the service life of the pump. In addition, the second pump working at a high power for a long time is noisy and power-consuming, which reduces the endurance of the robot. In addition, when the cleaning robot is working, the first pump on the cleaning robot provides cleaning liquid to the cleaning unit. When the cleaning robot is turned over, lifted, or climbs a steep slope, descends a steep slope, or bounces, the cleaning liquid pumped by the first pump will also overflow onto the ground and the robot body.

[0056] Therefore, the present application provides the following embodiments, which control the operation of the second pump according to different situations, such as increasing the power of the second pump to remove the dirty water in the dirt collection box when the cleaning robot is in an abnormal state, so as to avoid overflow.

[0057] The application will be further described below in conjunction with the accompanying drawings and embodiments. It is to be understood that the embodiments described herein are only used to explain the present application, and not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, and not all the structures. In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, can be fixedly connected, or can be detachably connected, or integrated; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "below" the second feature, which can include the direct contact between the first and second features, or the indirect contact between the first and second features through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes the first feature above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes the first feature below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature. In the description of the present embodiment, the terms "up", "down", "right", etc. orientation or position relationship is based on the orientation or position relationship shown in the drawings, only for the convenience of description and simplification of operation, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0058] Before introducing the schemes provided by the embodiments of the present application, the structure of the cleaning robot is briefly introduced. The cleaning unit in the embodiments of the present application can be, but is not limited to, a cleaning roller, a track-type cleaning element, etc. The cleaning roller can be a cylindrical roller, i.e., the surface of the cylindrical roller is provided with cleaning fluff. The track-type cleaning element, also referred to as a track-type roller, includes two track wheels arranged at intervals, and an annular track-shaped track-type wiping cloth is sleeved on the two track wheels. The track-type wiping cloth has cleaning fluff on the outward-facing surface thereof, and one surface of the track-type wiping cloth is in contact with the ground. With the rotation of the track wheels, the track-type wiping cloth moves relative to the ground, thereby achieving mopping and washing of the ground. In addition, the cleaning unit is driven by a cleaning unit motor. If the cleaning unit is a cleaning roller, the corresponding cleaning unit motor can be referred to as a roller motor, and the cleaning roller is driven to rotate by the roller motor to mop and wash the ground. If the cleaning unit is a track-type roller, the corresponding cleaning unit motor can be referred to as a track wheel motor, and the track wheel motor drives the track to rotate to drive the track-type wiping cloth to move to mop and wash the ground.

[0059] In the following embodiments, the cleaning unit is taken as an example of a cleaning roller.

[0060] Referring to FIGS. 1a, 1b, 2 and 3, the cleaning robot includes, but is not limited to, a body 1, a dust cleaning system 3, a mopping system, a traveling system 8, a sensing system 640, a control system and a brush assembly 7. The dust cleaning system 3, the mopping system, the traveling system 8, the sensing system 640 and the control system are all arranged on the body 1. The dust cleaning system 3 can include, but is not limited to, a dust box 301, a dust cleaning fan 302, a roller brush (not shown in the figures), etc.

[0061] The control system includes a hardware part and a software part. The hardware part is, for example, a mainboard 2, as shown in FIG. 3. The mainboard 2 can be provided with a controller (or referred to as a processor), a storage medium (such as a memory), etc. The software part is a computer program stored in the storage medium. The controller executes these computer programs to control the components of the cleaning robot, so that the cleaning robot has corresponding functions, such as mapping, path planning, obstacle recognition, cleaning around obstacles, edge cleaning, returning to a base station and completing docking, region recognition, cleaning mode switching (only dust cleaning, only mopping, or first dust cleaning and then mopping), etc. In addition, the storage medium also stores computer programs corresponding to the steps in the following method embodiments. The controller executes these computer programs to control the components on the cleaning robot, such as a first pump and a second pump, to prevent the dirt in the dirt collection box from overflowing. The specific content of the related method embodiments can be seen in the following.

[0062] The traveling system 8 can include driving wheels and driving wheel motors; the driving motors output corresponding power under the control of the controller to drive the driving wheels to rotate, realizing the forward movement, backward movement, stopping, turning, and the like of the cleaning robot. Further, the traveling system 8 can also include a universal wheel, which is a follow-up wheel and can be arranged at the front of the body 1. The side brush assembly 7 can be one or two. As shown in the example of FIG. 2, one side (e.g., the right side) of the front of the body 1 is provided with a side brush assembly 7. If the side brush assembly 7 is two, the two side brush assemblies can be arranged at the two sides (e.g., one on the left side and one on the right side) of the front of the body 1, respectively.

[0063] The mopping system can include, but is not limited to, the clean water tank 5, the dirty water tank 9 (as shown in FIGS. 1a and 1b), the mopping assembly 4, and the like. As shown in FIGS. 4 and 5, the mopping assembly 4 can include, but is not limited to, a roller motor 41, a cleaning roller 42, a liquid supply mechanism 45, and a dirt removal mechanism 44. The roller motor 41 is used to drive the cleaning roller 42 to rotate. As shown in the example of FIG. 4, the mopping assembly 4 further includes a mopping support 43; the mopping support 43 has a roller mounting cavity 51 with an opening downward. The roller motor 41 and the cleaning roller 42 are arranged in the roller mounting cavity 51. The cleaning roller 42 is in contact with the surface to be cleaned through the opening; the liquid supply mechanism 45 and the dirt removal mechanism 44 are arranged on the mopping support 43. The liquid supply mechanism 45 is in communication with the clean water tank 5 through a clean water pipe. As shown in FIG. 6, the clean water pipe can include a first pipe 443 in the drawing. The first pipe 443 can be a rigid pipe or a flexible pipe. The liquid supply mechanism 45 is used to supply cleaning liquid to the cleaning roller 42. The dirt removal mechanism 44 is in communication with the dirty water tank 9 through a dirty water pipe. The cleaning roller 42 rolls to clean the ground. The dirt removal mechanism 44 is used to scrape and collect the dirt on the cleaning roller.

[0064] The liquid supply mechanism 45 can include a first pump (not shown in the drawing), which is used to pump the cleaning liquid in the clean water tank 5 out for the cleaning roller 42. The dirt removal mechanism 44 can also include a second pump (not shown in the drawing), which is used to pump the dirt in the dirt collection box 442 into the dirty water tank 9 through a second pipe 456. The second pipe 456 can be a rigid pipe or a flexible pipe.

[0065] The first pump can work intermittently or continuously. If the first pump works continuously, the water pumping amount of the first pump needs to be controlled to avoid over-wetting of the cleaning unit. Over-wetting of the cleaning unit can cause the ground to be too wet. Another possible solution is that the first pump works intermittently, which can effectively solve the problem of over-wetting of the cleaning unit. Intermittent work can be simply understood as working for a period of time, stopping for a period of time, and then working for a period of time, and so on. For the convenience of description, the period of work is referred to as the working period, and the period of stop is referred to as the stop period. The length of the working period can be equal to or different from the length of the stop period. For example, the length of the working period is 10s, 20s, etc., and the length of the stop period is 15s, 35s, etc. Of course, the length of the working period can be equal to the length of the stop period.

[0066] The length of the working period and / or the length of the stop period can be determined according to the dryness of the cleaning unit. For example, the cleaning robot is provided with a cleaning unit dryness detection sensor, the dryness of the cleaning unit is detected in real time based on the dryness detection sensor, and the length of the working period and / or the length of the stop period of the first pump is controlled.

[0067] Alternatively, the length of the working period and / or the length of the stop period of the first pump can be determined according to the gear set by the user. For example, the cleaning robot has multiple cleaning mode gears. In the high-gear cleaning mode, the cleaning unit is slightly wet, that is, the length of the working period of the first pump is relatively long, and there is no stop period. In the low-gear cleaning mode, the cleaning unit is dry, that is, the length of the working period of the first pump is relatively short. The user can select the cleaning mode gear through the interactive device on the cleaning robot.

[0068] Alternatively, the cleaning robot is provided with a ground dirt detection sensor. The length of the working period and / or the length of the stop period of the first pump is determined according to the ground dirt degree detected by the ground dirt detection sensor in real time. For example, the ground dirt degree is high, the length of the working period of the first pump can be relatively long, and there is no stop period, so that the cleaning unit is slightly wet, so as to improve the ground cleaning degree.

[0069] During the working period, the first pump can work at a third power when the cleaning robot performs a cleaning task. The specific value of the third power is not limited in the embodiment, and can be determined based on the selection of the pump, the size of the cleaning unit, the material of the cleaning unit, the number of liquid outlets of the liquid supply mechanism, etc.

[0070] The second pump works at a first power continuously when the cleaning robot performs a cleaning task, so as to timely pump away the dirt in the dirt collection box. Similarly, the specific value of the first power is not limited in the embodiment.

[0071] It should be noted that, as can be seen from the components included in the mop-washing assembly 4, the mop-washing assembly 4 in the embodiment can mop the object to be cleaned (e.g. the floor), and at the same time, can realize self-cleaning function by using the liquid supply mechanism 45 and the dirt removal mechanism 44, so as to maintain the cleaning roller at a better cleaning degree.

[0072] As shown in FIGS. 4 and 5, the dirt removal mechanism 44 includes a scraping strip 441 and a dirt collection box 442. The end of the scraping strip 441 is in contact with the cleaning roller 42, and the dirt collection box 442 is located below the scraping strip 441. When the cleaning roller 42 rotates, the dirt (e.g. impurities, sewage, etc.) scraped off by the scraping strip 441 enters the dirt collection box 442. As shown in one implementation in FIGS. 5 and 6, the scraping strip 441 has an avoiding hole 446, and a dirt collection pipe 542 is arranged at the avoiding hole 446. One end of the dirt collection pipe 542 is in communication with the dirt collection box 442. The dirt collection box 442 is in communication with the sewage tank 9 through the second pipeline 456. The dirt scraped off by the scraping strip 441 from the cleaning roller 42 enters the dirt collection box 442.

[0073] As shown in FIGS. 1a and 1b, the dirt removal mechanism 44 can be located at the front side of the cleaning roller 42 (as shown in FIG. 1a), or can be located at the rear side of the cleaning roller 42 (as shown in FIG. 1b) along the direction in which the cleaning robot travels. That is, the dirt collection box 442 can be located at the front side or the rear side of the cleaning roller 42.

[0074] As can be seen from the cleaning robot provided in the above embodiment, especially from FIG. 5, the top of the dirt collection box 442 is open. This facilitates the collection of the dirt (e.g. impurities and sewage, etc.) scraped off by the scraping strip 441 from the cleaning roller 42. When the cleaning robot works, it performs a cleaning task. In the cleaning task, the first pump works to supply the cleaning liquid to the cleaning unit (e.g. the cleaning roller or the track-type cleaning member as listed in the above embodiment), the cleaning unit cleans the floor, the scraping strip 441 scrapes off the dirt on the cleaning unit, the dirt collection box 442 collects the dirt scraped off from the cleaning unit, and the second pump intermittently works to pump away the dirt in the dirt collection box 442.

[0075] If the cleaning robot is moved by a person or is kicked over by a person or an animal (e.g. a pet) during the cleaning task, the dirt in the dirt collection box 442 is likely to overflow from the opening, such as splashing onto the cleaning unit, the body and / or the floor. Alternatively, if the obstacle is high in height and the body is large in inclination when the cleaning robot surmounts the obstacle during the cleaning task, the dirt in the dirt collection box 442 is also likely to overflow from the opening. Alternatively, if the cleaning robot climbs a slope with a large slope during the cleaning task, the dirt in the dirt collection box 442 is also likely to overflow from the opening due to the large inclination of the body; and so on.

[0076] In view of the above problems, the present application provides the following method embodiments to solve the problem of dirt overflow without increasing or changing the hardware structure.

[0077] One embodiment of the present application provides a cleaning robot working method. The subject of the cleaning robot working method provided by the embodiment can be a mainboard 2 on the cleaning robot, and further can be a controller on the mainboard 2. Specifically, as shown in FIG. 7, the method comprises:

[0078] 101. When the cleaning robot performs a cleaning task, the first pump works, and the second pump works at a first power;

[0079] 102. When the cleaning robot detects an abnormal condition, the first pump stops working, and the second pump works at a second power.

[0080] The second power is greater than the first power.

[0081] In 101, when the cleaning robot performs a cleaning task, the cleaning robot travels according to a planned path, and a cleaning unit (such as a cleaning roller or a track-type cleaning element) rolls to clean the ground. The first pump works to provide cleaning liquid to the cleaning unit. The cleaning liquid can be liquid in a water tank. The dirty on the cleaning unit is scraped off by a scraper, and the scraped dirty falls into a dirt collection box. The first pump can work intermittently. The second pump works continuously at the first power to suck the dirty in the dirt collection box.

[0082] In 102, the abnormal condition can include but is not limited to conditions such as climbing a slope, descending a steep slope, being lifted, crossing an obstacle, being kicked over, etc. When the abnormal condition occurs, the controller controls the first pump to stop working to stop supplying cleaning liquid to the cleaning unit. At this time, the second pump is controlled to work at the second power, and the power is increased to quickly suck the dirty in the dirt collection box to reduce the probability of dirty overflow.

[0083] It can be seen that in the technical solution provided by the embodiment, when the cleaning robot detects an abnormal condition, the first pump for providing cleaning liquid stops working, which reduces the amount of liquid. The second pump works at an increased power to quickly suck the dirty in the dirt collection box. The dirty (including impurities and sewage, etc.) in the dirt collection box is sucked away, and even if the cleaning robot is overturned, lifted, or climbs or descends a steep slope, bounces, etc., there will be no dirty overflow. The solution provided by the embodiment of the present application does not need to modify the hardware structure or additionally increase the hardware, and the problem of dirty overflow in the dirt collection box can be solved by controlling the second pump, which is easy to implement and low in cost.

[0084] Further, the cleaning robot working method provided by the embodiment can further comprise at least one of the following:

[0085] When the cleaning robot is moved, it is detected that an abnormal condition occurs;

[0086] When the inclination angle of the cleaning robot body is greater than a first threshold, it is detected that an abnormal condition occurs.

[0087] The user picks up the cleaning robot horizontally, and the body of the cleaning robot does not tilt. When the user picks up the cleaning robot horizontally and walks, the body of the cleaning robot tilts and swings with the walking of the user, and the tilting angle of the body of the cleaning robot can be small, but the shaking can cause the dirt in the dust collection box to shake out. Therefore, the cleaning robot being moved should be regarded as an abnormal condition. The tilting of the body of the cleaning robot can cause the overflow, and the tilting of the body of the cleaning robot is regarded as an abnormal condition regardless of the tilting angle of the body of the cleaning robot, and the method of step 102 described above can greatly reduce the probability of dirt overflow.

[0088] In a specific implementation, the first threshold value can be determined according to the structure of the dust collection box. If the opening of the dust collection box is smaller and the depth of the box is deeper, the first threshold value can be set to be larger. If the opening of the dust collection box is larger and the depth of the box is shallower, the first threshold value needs to be set to be smaller. The present embodiment does not limit the value of the first threshold value. For example, the range of the first threshold value can be 5-30 degrees. For example, the first threshold value can be 15 degrees.

[0089] In an implementable technical solution, a fall-preventing sensor is arranged on the cleaning robot. Correspondingly, the method provided in the present embodiment can further include the following steps.

[0090] 103. When the driving wheel of the cleaning robot triggers the fall-preventing sensor, the cleaning robot detects an abnormal condition.

[0091] The fall-preventing sensor can be arranged on the body 1 of the cleaning robot, and further arranged in the traveling system 8. The fall-preventing sensor can detect whether the driving wheel is in a stressed state or detect the position of the driving wheel to determine whether the cleaning robot is on the ground. The driving wheel of the cleaning robot is off the ground, which can be divided into two cases. One case is that the cleaning robot has two driving wheels, and if both the driving wheels are off the ground, it means that the cleaning robot is picked up. The other case is that the cleaning robot is kicked, and at the moment when the body of the cleaning robot tilts, one driving wheel of the cleaning robot is off the ground, and the other driving wheel is not off the ground. The kicked body can recover to the state that both the driving wheels are on the ground, or the body can be turned upside down. In the state that the body is turned upside down, both the driving wheels are off the ground.

[0092] In this document, whether the two driving wheels are off the ground because the cleaning robot is picked up or at least one driving wheel is off the ground because the cleaning robot is kicked, it is determined that the cleaning robot is in an abnormal condition.

[0093] The number of anti-falling sensors provided on the cleaning robot is the same as the number of driving wheels, one anti-falling sensor is used to detect the force state or position of one driving wheel. When the anti-falling sensor detects that the corresponding driving wheel is not forced or the force is less than a set threshold, or detects that the driving wheel moves downward to a certain set position, the anti-falling sensor is triggered. Figure 8a shows a schematic diagram when the driving wheel 81 is in a normal state, and figure 8b shows a schematic diagram when the driving wheel 81 is in a forced state or position at a set position. In the case shown in figure 8b, the anti-falling sensor is triggered. The execution subject controller of the method of the embodiment responds to the trigger signal of the anti-falling sensor to determine that the cleaning robot is in an abnormal condition and needs to execute the step 102.

[0094] Therefore, in specific implementation, as long as the anti-falling sensor corresponding to at least one driving wheel of the cleaning robot is triggered, it can be determined that the cleaning robot is in an abnormal condition.

[0095] In another implementable scheme, at least two downward-looking sensors are provided on the cleaning robot; when the distance between the cleaning robot and the ground is greater than a second threshold, the downward-looking sensor is triggered, such as sending a first signal to the control system. Correspondingly, the method provided by the embodiment of the application can further include the following steps:

[0096] When the at least two downward-looking sensors all send the first signal, the cleaning robot detects an abnormal condition.

[0097] For example, two or more downward-looking sensors (also referred to as cliff detection sensors) are uniformly distributed along the circumference at the edge of the bottom of the body 1 of the cleaning robot. The downward-looking sensor includes a transmitter and a receiver. The transmitter transmits a signal (such as an infrared signal) to the ground every certain period of time. The receiver can receive the signal reflected back from the ground, and then determine the distance between the body chassis and the ground according to the strength of the reflected signal. Or, the receiver cannot receive the reflected signal for a long time or does not receive the reflected signal at all, which indicates that the distance between the body chassis and the ground is far. For example, the receiver of the downward-looking sensor determines the distance between the cleaning robot and the ground based on the reception of the reflected signal. When the distance is greater than a second threshold, the downward-looking sensor is triggered. Alternatively, the receiver of the downward-looking sensor determines whether the downward-looking sensor is triggered based on the strength of the received reflected signal. If the strength of the received reflected signal is less than a set value, the downward-looking sensor is triggered. After the downward-looking sensor is triggered, a first signal can be sent.

[0098] In determining whether the cleaning robot is lifted, only the downward-looking sensor can be relied on, or only the anti-falling sensor mentioned above can be relied on, or both the downward-looking sensor and the anti-falling sensor can be relied on, which is not limited by the embodiment.

[0099] In yet another implementable solution, the cleaning robot is provided with at least one pose detection sensor. Correspondingly, the method provided by the embodiments of the present application can further include the following steps:

[0100] Based on the detection information of the at least one pose detection sensor, the inclination angle of the cleaning robot is determined.

[0101] When the inclination angle of the cleaning robot is greater than a first threshold value, it is detected that an abnormal condition occurs.

[0102] Further, the at least one pose detection sensor can include a gyroscope sensor. The gyroscope sensor can detect the pose of the cleaning robot. In particular implementation, the gyroscope sensor determines whether the cleaning robot is inclined by detecting the change of roll (lateral roll angle) and pitch (pitch angle).

[0103] That is, in one implementable solution, the gyroscope sensor sends a second signal when the lateral roll angle measured by the gyroscope sensor is greater than or equal to a third threshold value or the pitch angle measured by the gyroscope sensor is greater than or equal to a fourth threshold value. Correspondingly, the working method of the cleaning robot provided by the embodiments of the present application can include the following steps:

[0104] When the gyroscope sensor sends the second signal, the cleaning robot detects that an abnormal condition occurs.

[0105] Further, the at least one pose detection sensor can also include an acceleration sensor. In particular implementation, the controller can read the gravity acceleration information of the x, y, z axes of the acceleration sensor, and determine the pose of the cleaning robot based on the gravity acceleration information of the x, y, z axes of the acceleration sensor. Ideally, the Z-axis acceleration on the horizontal ground = 1G, and the x, y axes = 0. After the inclination angle of the cleaning robot, the z-axis acceleration value decreases, and the x, y axis acceleration values also change. Therefore, the pose of the cleaning robot can be determined based on the gravity acceleration information of the x, y, z axes of the acceleration sensor, and it can be further determined whether an abnormal condition occurs.

[0106] That is, in one implementable solution, the cleaning robot is provided with an acceleration sensor. The acceleration sensor measures the gravity acceleration of the z-axis. When the change rate of the gravity acceleration of the z-axis measured by the acceleration sensor is greater than a fifth threshold value, the acceleration sensor sends a third signal. Correspondingly, the working method of the cleaning robot provided by the embodiments of the present application can further include the following steps:

[0107] When the acceleration sensor sends the third signal, the cleaning robot detects that an abnormal condition occurs.

[0108] It should be noted that the second threshold, the third threshold, the fourth threshold and the fifth threshold mentioned above are not limited in value, and can be determined according to actual product experimental data and / or theoretical calculation data.

[0109] As mentioned above, in order to achieve better anti-pollution overflow effect when the abnormal condition occurs, the first pump stops working and the second pump works at a higher power to quickly remove the dirt in the dirt collection box when the cleaning robot detects the abnormal condition. It can be seen that the scheme provided by the embodiment of the application can quickly remove the dirt in the dirt collection box by working at a higher power. Especially for some instantaneous abnormal conditions, such as the body of the cleaning robot being kicked, if the dirt can be quickly removed, the probability of pollution overflow will be greatly reduced. In addition, the embodiment of the scheme does not need to modify the hardware structure or additionally increase the hardware, and the problem of dirt overflow in the dirt collection box can be solved by controlling the second pump, which is easy to implement and low in cost.

[0110] When the cleaning robot performs a cleaning task, the first pump works intermittently at a third power. In the intermittent work, the first pump works at the third power in the working period, and stops working in the rest period; the working period and the rest period are alternated.

[0111] Of course, the second pump can work at two or more powers. Increasing the power of the second pump can increase one gear, or directly work at the maximum power of the second pump. The second power can be the power after increasing one gear based on the first power, or the maximum power of the second pump.

[0112] Further, the cleaning robot working method provided by the embodiment can further include:

[0113] 104. After the cleaning robot detects that the abnormal condition is removed, the first pump maintains the off state, the second pump stops working, and output restart prompt information; or

[0114] 104', after the cleaning robot detects that the abnormal condition is removed, the first pump starts working, and the second pump works intermittently at the first power.

[0115] In 104 above, the output restart prompt information can be but is not limited to: displaying the prompt information "suggesting to restart" on the display screen on the body of the cleaning robot; or playing the prompt voice "suggesting to restart" through the voice broadcast device on the body of the cleaning robot; and the like.

[0116] Further, "after the second pump works at the second power when the cleaning robot detects the abnormal condition", in the embodiment, can be specifically:

[0117] The second pump stops working when it is detected that the amount of dirt in the dirt collection box is less than a preset amount or no amount of dirt is detected.

[0118] The second pump stops working after working at the second power for a set time period when the cleaning robot detects an abnormal condition.

[0119] The set time period can be 5 seconds, 10 seconds or other values, which are not limited in the embodiment.

[0120] Another embodiment of the application provides a cleaning robot working method, which solves the problem of dirt overflow by delaying the working time of the second pump when an abnormal condition occurs. As shown in FIG. 9, the cleaning robot working method provided by the embodiment can be executed by the mainboard 2 of the cleaning robot, and further by the controller. Specifically, the method comprises:

[0121] 201. The cleaning robot performs a cleaning task, wherein the second pump works to suck the dirt in the dirt collection box during the cleaning task;

[0122] 202. The second pump stops working after working for a set time period when the cleaning robot detects an abnormal condition.

[0123] When the cleaning robot performs a cleaning task, the components in working state on the cleaning robot can include but are not limited to: a sensing system (such as a TOF sensor, a visual sensor, an edge sensor, etc.), a roller motor, a first pump, a second pump, a dust suction fan, a roller brush, etc.

[0124] When the cleaning robot detects an abnormal condition, such as being lifted or the body being tilted, the working components on the cleaning robot are stopped, and the second pump is stopped after working for a set time period, so as to suck the dirt in the dirt collection box and avoid overflow. When the cleaning robot has an abnormal condition, stopping the other working components can save power, and more importantly, protect the components from damage.

[0125] The set time period can be determined based on the power of the second pump, the amount of dirt in the dirt collection box, etc.

[0126] During the delayed working period, the second pump can work at a higher power, such as the second power mentioned above.

[0127] Further, the cleaning robot working method provided by the embodiment can further comprise:

[0128] 203. The second pump stops working and outputs a restart prompt information when the cleaning robot detects that the abnormal condition is removed; or

[0129] 203', after the cleaning robot detects that the abnormal condition is removed, the cleaning robot resumes performing the cleaning task.

[0130] In another case, the user wants to detach the dust collecting box for cleaning. Or, the cleaning robot detects that the dust collecting box needs to be cleaned, and outputs a prompt information (such as through screen display or voice broadcast) for cleaning the dust collecting box. The user pauses the working cleaning robot to detach the dust collecting box for cleaning. If there is residual dirt (such as impurities and sewage) in the dust collecting box, the dirt in the dust collecting box will also pollute the cleaning unit, the body and / or the ground during the detaching process. Therefore, an embodiment of the present application further provides a cleaning robot working method, which evacuates the dirt in the dust collecting box by delaying the working time length of the second pump when the cleaning robot pauses to perform the cleaning task, so as to avoid the dirt overflowing. As shown in FIG. 10, the embodiment provides a cleaning robot working method, and the execution subject of the method can be the mainboard 2 of the cleaning robot, and further can be the controller. Specifically, the method comprises:

[0131] 301, the cleaning robot performs the cleaning task, wherein in the performing of the cleaning task, the first pump provides the cleaning liquid to the cleaning unit, and the second pump works to evacuate the dirt in the dust collecting box;

[0132] 302, the cleaning robot pauses to perform the cleaning task, the first pump stops working, and the second pump is set to work for a delay time length and then is turned off.

[0133] After the second pump is turned off after working for the delay time length, the user can detach the dust collecting box, and there will be no residual dirt overflowing. After the user finishes cleaning and re-installs the dust collecting box, the cleaning robot can automatically start to continue performing the cleaning task, or can output a restart prompt information, and then performs the cleaning task after the user triggers the restart.

[0134] The schemes provided by the embodiments of the present application will be described below in combination with specific application scenarios.

[0135] Scenario one

[0136] A user uses a cleaning robot at home. The cleaning robot receives a start command triggered by the user through a smart terminal APP or the user presses a start key on the cleaning robot, and the cleaning robot starts to work to perform a cleaning task. The cleaning robot enters a living room to plan a cleaning path, and then performs the cleaning task according to the cleaning path. A rolling brush of the cleaning robot rotates, and a dust suction fan works to clean garbage and dust on the ground to be sucked into a dust box. A cleaning roller located at the rear side of the rolling brush rotates to mop the ground. A first pump on the cleaning robot works to supply cleaning liquid to the cleaning roller. After the wet cleaning roller cleans the ground, a scraping strip cleans the cleaning roller to scrape off dirt (impurities and sewage) on the cleaning roller, and the scraped-off dirt enters a dirt collection box. A second pump on the cleaning robot works to pump away the dirt in the dirt collection box.

[0137] During the cleaning task performed by the cleaning robot in the living room, the user lifts the cleaning robot and wants to move the cleaning robot from the living room to a bedroom. Or, a child at home lifts the cleaning robot out of curiosity. When the cleaning robot detects that the body is lifted, the first pump is controlled to stop working, and the power of the second pump is increased (such as the second power) to quickly pump away the dirt in the dirt collection box.

[0138] After the cleaning robot detects that the abnormal condition is resolved, that is, the body is stable and both driving wheels are located on the ground, the cleaning robot restarts the first pump to work, and controls the second pump to restore to the previous power (such as the first power) to work.

[0139] Scenario two

[0140] The cleaning robot performs a cleaning task in a kitchen. The user cooks in the kitchen and does not notice the cleaning robot under his feet. The user kicks the cleaning robot by accident while walking during cooking. The body of the cleaning robot is tilted because it is kicked. At this time, the cleaning robot controls the first pump to stop working, and the power of the second pump is increased (such as the second power) to quickly pump away the dirt in the dirt collection box.

[0141] After the cleaning robot recovers from the tilted state to the horizontal state, that is, the body is stable and both driving wheels are located on the ground, that is, the abnormal condition is resolved, the cleaning robot restarts the first pump to work, and controls the second pump to restore to the previous first power to work.

[0142] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot working method, characterized by, The cleaning robot comprises: a cleaning unit for cleaning a floor; a dirt collection box for collecting dirt scraped off the cleaning unit; a first pump for providing cleaning liquid to the cleaning unit; and a second pump for pumping dirt in the dirt collection box away; The method for operating the cleaning robot comprises: when the cleaning robot is performing a cleaning task, the first pump is operated, and the second pump is operated at a first power; when the cleaning robot detects an abnormal condition, the first pump stops operating, and the second pump is operated at a second power, wherein the second power is greater than the first power.

2. The method of claim 1, wherein, Further comprising at least one of: when the cleaning robot is moved, an abnormal condition is detected; when the body of the cleaning robot is tilted at an angle greater than a first threshold, an abnormal condition is detected.

3. The method according to claim 1 or 2, characterized in that, The cleaning robot is provided with a fall-prevention sensor; the method further comprises: when the driving wheel of the cleaning robot triggers the fall-prevention sensor, the cleaning robot detects an abnormal condition.

4. The method according to claim 1 or 2, characterized in that, The cleaning robot is provided with at least two downward-looking sensors; when the distance between the cleaning robot and the ground is greater than a second threshold, the downward-looking sensors send a first signal; and The method further comprises: when the at least two downward-looking sensors all send the first signal, the cleaning robot detects an abnormal condition. The cleaning robot is provided with a gyroscope sensor; when the roll angle measured by the gyroscope sensor is greater than or equal to a third threshold or the pitch angle measured by the gyroscope sensor is greater than or equal to a fourth threshold, the gyroscope sensor sends a second signal, and 5. The method according to claim 1 or 2, characterized in that, The method further comprises: when the gyroscope sensor sends the second signal, the cleaning robot detects an abnormal condition. The cleaning robot is provided with an acceleration sensor; the acceleration sensor measures the gravitational acceleration of the z-axis, and when the rate of change of the gravitational acceleration of the z-axis measured by the acceleration sensor is greater than a fifth threshold, the acceleration sensor sends a third signal, and 6. The method of claim 1 or 2, wherein, The method further comprises: when the acceleration sensor sends the third signal, the cleaning robot detects an abnormal condition. When the cleaning robot is performing a cleaning task, 7. The method of claim 1, wherein, the first pump is intermittently operated, and during an operating period, the first pump is operated at a third power, and during a rest period, the first pump stops operating; the operating period and the rest period are alternated. Further comprising:

8. The method of claim 7, wherein, after the cleaning robot detects that the abnormal condition is resolved, the first pump remains in the off state, the second pump stops operating, and a restart prompt is output; or after the cleaning robot detects that the abnormal condition is resolved, the first pump starts operating, and the second pump is operated at the first power. The cleaning robot comprises a cleaning unit, a second pump, and a dirt collection box; and 9. A cleaning robot working method, characterized by, The method comprises: the cleaning robot performs a cleaning task, wherein during the performance of the cleaning task, the second pump is operated at a first power to pump dirt in the dirt collection box away; when the cleaning robot detects an abnormal condition, the second pump is operated at a second power; wherein the second power is greater than the first power. Further comprising:

10. The method of claim 9, wherein, ​ When the cleaning robot detects an abnormal condition, the second pump stops working after working for a set time length at a second power.

11. A method of operating a cleaning robot, characterized in that, The cleaning robot comprises a cleaning unit, a first pump, a second pump and a dirt collection box; and The method comprises: The cleaning robot performs a cleaning task, wherein, during the performance of the cleaning task, the first pump provides cleaning liquid to the cleaning unit, and the second pump works to draw away dirt in the dirt collection box; The cleaning robot suspends the performance of the cleaning task, the first pump stops working, and the second pump stops working after working for a set time length.

12. A cleaning robot, characterized in that, Comprise: A machine body, on which a cleaning unit, a first pump, a second pump, a squeegee and a dirt collection box are arranged; A controller arranged on the machine body, used to perform the steps in the working method of the cleaning robot according to any one of claims 1 to 8, or perform the steps in the working method of the cleaning robot according to claim 9 or 10, or perform the steps in the working method of the cleaning robot according to claim 11.

Images