CN117598635A - A method of controlling a cleaning robot - Google Patents
A method of controlling a cleaning robot Download PDFInfo
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- CN117598635A CN117598635A CN202311715499.XA CN202311715499A CN117598635A CN 117598635 A CN117598635 A CN 117598635A CN 202311715499 A CN202311715499 A CN 202311715499A CN 117598635 A CN117598635 A CN 117598635A
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- cleaning robot
- garbage
- working state
- rolling brush
- dust
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The application discloses cleaning robot's control method belongs to robot control technical field, is applied to cleaning robot, cleaning robot is equipped with round brush, dust absorption fan and dust collection box, the method includes: when the cleaning robot works on an area to be cleaned, the cleaning robot is controlled to switch the working state; the working states comprise a first working state and a second working state, the first working state comprises a step of controlling the rolling brush to sweep the garbage in the area to be cleaned to a direction close to the dust collecting box, and controlling the dust suction fan to operate at a first power so as to suck the garbage into the dust box, wherein the second working state comprises the step of controlling the rolling brush to gather the garbage in the area to be cleaned in a direction away from the dust box. The method can effectively avoid the condition of garbage leakage scanning in the area to be scanned, and improves the scanning effect.
Description
Technical Field
The application belongs to the technical field of robot control, and particularly relates to a control method of a cleaning robot.
Background
Cleaning robots, such as sweeping robots, are widely used in various households as household cleaning devices that are popular at present.
Currently, almost all cleaning robots use a scheme of brushing the floor surface with a roller brush and then with dust suction. Fig. 1 and 2 are side views and bottom views of a conventional cleaning robot, in which a conventional cleaning scheme firstly gathers garbage by two side brushes shown in fig. 2, then rolls in a unidirectional manner according to an arrow direction in fig. 1 by a rolling brush shown in fig. 1, sweeps the garbage into an opening of a dust box, and finally sucks the garbage into the dust box by a dust suction fan of the cleaning robot by suction force, thereby completing cleaning.
However, the cleaning scheme has the following defects that firstly, the cleaning effect depends on the suction force of the dust suction fan which is opened in the whole process, when the suction force is small, the sucked garbage amount is limited and even the suction effect of larger garbage can be possibly influenced, so that the condition of garbage omission exists, secondly, the garbage is extremely easy to leak through a rubber baffle behind a rolling brush due to uneven ground and the like in the cleaning process, the position of the baffle is shown in the figure 1, thus the garbage is leaked, and in addition, the dust suction fan has lower efficiency but larger energy consumption, so that the cleaning robot consumes electricity, and meanwhile, the cleaning robot also has large noise in working. In summary, the existing cleaning scheme cleans not thoroughly while the electric noise is large, and the whole ground can be leaked, so that the final cleaning effect is poor.
Disclosure of Invention
The present application provides a control method of a cleaning robot to solve at least one of the above technical problems.
The technical scheme adopted by the application is as follows:
a control method of a cleaning robot, applied to a cleaning robot, the cleaning robot being provided with a rolling brush, a dust suction fan and a dust collection box, comprising: when the cleaning robot works on an area to be cleaned, the cleaning robot is controlled to switch the working state; the working states comprise a first working state and a second working state, the first working state comprises a step of controlling the rolling brush to sweep the garbage in the area to be cleaned to a direction close to the dust collecting box, and controlling the dust suction fan to operate at a first power to suck the garbage into the dust box, wherein the second working state comprises the step of controlling the rolling brush to gather the garbage in the area to be cleaned in a direction away from the dust box.
In one possible implementation manner of the present application, the controlling the rolling brush to sweep the garbage in the area to be cleaned to a direction close to the dust box includes: controlling the rolling brush of the cleaning robot to rotate forward, wherein the forward direction is the direction of sweeping the garbage to approach the dust box; the control round brush will wait to clean rubbish in the region to the direction of keeping away from the dust box gathers together, include: and controlling the rolling brush of the cleaning robot to reversely rotate or stop rotating, wherein the reverse direction is to sweep the garbage away from the dust box.
In one possible implementation manner of the present disclosure, the rolling brush is installed in a rolling brush cavity, and a scraping strip is disposed on an inner wall of the rolling brush cavity and used for blocking the rolling brush from rolling garbage into the rolling brush cavity when the cleaning robot is switched to the second working state.
In one possible implementation manner of the present application, the controlling the cleaning robot to switch the working state includes: detecting the ground flatness of the area to be cleaned; and controlling the cleaning robot to switch the working state according to the ground flatness of the area to be cleaned.
In one possible implementation manner of the present application, the controlling the cleaning robot to switch the working state according to the floor flatness of the area to be cleaned includes: when detecting that a gap exists in the area to be cleaned, switching the cleaning robot into a second working state; and when detecting that the to-be-cleaned area has no gap, switching the cleaning robot into a first working state.
In one possible implementation manner of the present application, the controlling the cleaning robot to switch the working state includes: detecting the gathered garbage amount; and when the collected garbage amount exceeds a preset threshold value, switching the cleaning robot into a first working state.
In one possible implementation manner of the present specification, the detecting the gathered garbage amount includes: detecting a driving current of the rolling brush; and determining the gathered garbage amount according to the driving current.
In one possible implementation manner of the present specification, the method further includes: after the cleaning robot is controlled to be switched into the first working state, the cleaning robot is controlled to do circular motion by taking one side of the rolling brush as a circle center or taking the center of the cleaning robot as the circle center.
In one possible implementation manner of the present specification, the second working state further includes: and controlling the dust collection fan to operate or stop operating at a second power, wherein the second power is smaller than the first power.
In one possible implementation manner of the present disclosure, a blocking piece is disposed at a bottom of the cleaning robot, and extends from two sides of an opening of the dust collecting box to a direction away from the dust collecting box, so as to block the overflow of the garbage when the cleaning robot switches to the second working state to gather the garbage.
Due to the adoption of the technical scheme, the beneficial effects obtained by the application are as follows:
1. through switching operating condition when cleaning robot cleans for cleaning robot can realize gathering together rubbish to the direction of keeping away from integrated box earlier, sweep rubbish to the direction of dust collection box and utilize dust absorption fan to inhale the cleaning solution of dust collection box with rubbish again, this kind of cleaning solution can guarantee to clean the rubbish of waiting in the cleaning region, even there is partial rubbish to miss the condition at the in-process of inhaling the dust collection box with rubbish, also can be when cleaning robot switches to the second operating condition of gathering together rubbish, gathering together the rubbish of omission again so that follow-up continuation is inhaled, avoided the rubbish to leak the rubbish that the rubber separation blade behind the round brush caused in traditional cleaning solution easily spills the problem of rubbish omission, thereby guarantee the cleaning effect of waiting to clean the region.
2. The cleaning robot is switched into the second working state when detecting that the ground has a gap, and the rolling brush is controlled to reversely rotate or not rotate, so that the rolling brush can sweep garbage out of the gap, and the cleaning robot is driven to walk away from the dust box along with the running of the cleaning robot until the cleaning robot is switched into the first working state when detecting that the ground does not have the gap, so that the collected garbage can be swept into the dust box. The small garbage in the ground gap is not easy to leave, the possibility of garbage omission is reduced, and the cleaning effect of uneven ground is improved.
3. Through the scraping strip arranged on the inner wall of the rolling brush cavity, the rolling brush can be prevented from reversely rotating or rolling up the garbage when gathering the garbage in the direction away from the dust collecting box.
4. When the cleaning robot is switched to the second working state, the dust collection fan can stop running or run with smaller power, the defect that the dust collection risk needs to run in the whole course in the traditional cleaning scheme is overcome, the consumption of the dust collection fan to the electric energy of a battery is reduced, so that the cleaning robot is more power-saving, and meanwhile, the noise of the cleaning robot during working can be effectively reduced due to the scheme that the dust collection fan does not run or runs with small power.
5. The method has the advantages that the collected garbage amount of the rolling brush is judged by detecting the driving current of the rolling brush, so that the detection cost of the garbage amount can be saved, when the garbage amount exceeds the preset threshold, the cleaning robot is switched to the first working state, garbage is swept to the direction of the dust collecting box, and the dust is sucked into the dust collecting box by using the dust suction fan, so that the situation that the garbage leaks due to the fact that the collected garbage amount is too much is effectively avoided.
6. When the robot is switched to the first working state, the cleaning robot can do circular motion by taking one side of the rolling brush as the center of a circle or taking the center of the robot as the center of a circle, and the cleaning robot can sweep garbage to the direction of the dust collecting box by matching the circular motion with the forward rotation of the rolling brush, so that the collected garbage before repeated cleaning is realized, and the dust collecting fan can achieve the effect of completely sucking the collected garbage into the dust collecting box, and the missing condition of the garbage is greatly reduced.
7. The bottom of the cleaning robot is provided with the baffle plate, the baffle plate extends from the two sides of the opening of the dust box to the direction far away from the dust box, and the dust can be blocked when the cleaning robot is switched to the second working state to gather the dust in the direction far away from the dust box, so that the overflow of the dust is effectively avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a side view of a conventional cleaning robot;
FIG. 2 is a bottom view of a conventional cleaning robot;
fig. 3 is a flowchart of a control method of a cleaning robot according to an embodiment of the present application;
fig. 4 is a side view of a cleaning robot provided in an embodiment of the present application;
fig. 5 is a bottom view of a cleaning robot according to an embodiment of the present application;
fig. 6 is a front view of a cleaning robot provided in an embodiment of the present application;
fig. 7 is a schematic diagram of a cleaning process of a cleaning robot in an application scenario provided in the embodiments of the present application.
Detailed Description
In order to more clearly illustrate the general concepts of the present application, a detailed description is provided below by way of example in connection with the accompanying drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced otherwise than as described herein, and thus the scope of the present application is not limited by the specific embodiments disclosed below.
In addition, in the description of the present application, it should be understood that the terms "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," etc. indicate an orientation or positional relationship based on that shown in the drawings, and are merely for convenience of description and to simplify the description, rather than to indicate or imply that the devices or elements being referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. In the description of the present specification, the descriptions of the terms "implementation," "embodiment," "one embodiment," "example," or "particular example" and the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The following describes the technical solution in the embodiment of the present application through the accompanying drawings.
Fig. 3 is a flowchart of a control method of a cleaning robot according to an embodiment of the present application, where, as shown in fig. 3, the control method in the embodiment of the present application at least includes the following execution steps:
step 301, when the cleaning robot works on an area to be cleaned, the cleaning robot is controlled to switch working states.
The cleaning robot can switch between at least two working states when working in an area to be cleaned, for example, when the cleaning robot performs cleaning tasks in the area to be cleaned, wherein the working states comprise a first working state and a second working state, and the first working state and the second working state are different. It should be noted that, the condition for triggering the cleaning robot to switch the working state may be described in the related description below, and the embodiments of the present application are not described herein.
Step 302, when the cleaning robot is in a first working state, the rolling brush is controlled to sweep the garbage in the area to be cleaned to a direction close to the dust collection box, and the dust collection fan is controlled to operate at a first power to suck the garbage into the dust collection box.
In one possible implementation manner of the embodiment of the present application, when the cleaning robot is switched to the first working state, the rolling brush is controlled to rotate forward, so that the garbage is swept to a direction approaching the dust box, and the forward rotation is the rotation in a direction approaching the dust box, as indicated by an arrow in fig. 4.
In addition, in an example of the application, when the cleaning robot is switched to the first working state, the first power of the operation of the dust suction fan can be the maximum power of the dust suction fan, and the dust suction fan is operated at the maximum power, so that on one hand, the operation time of the dust suction fan can be shortened, and on the other hand, the noise time of the cleaning robot is shortened, and on the other hand, the dust suction fan can have the maximum suction force, and the collected garbage can be sucked into the dust collection box as completely as possible, so that the garbage suction with the maximum efficiency is realized.
In one possible implementation manner of the embodiment of the application, in order to ensure that garbage is sucked into the dust collecting box as much as possible and even all, after the cleaning robot is switched to the first working state, the cleaning robot can be controlled to perform circular motion and forward rotation of the rolling brush to ensure the suction effect of the garbage, when the cleaning robot performs circular motion, one side of the rolling brush can be used as a circle center, and the center or the movement center of the robot can be used as the circle center to perform circular motion, so long as the in-situ rotation of the cleaning robot can be realized, and in order to improve the garbage suction effect, the cleaning robot can be controlled to repeatedly perform multiple circular motions in situ.
In this application, in the case that cleaning robot is in first operating condition to dust collection box when collecting rubbish, even there is the rubbish that part was missed, also can be gathered up again through follow-up cleaning robot's round brush reverse rotation to along with cleaning robot's march is cleaned, in being inhaled the dust collection box again when switching to first operating condition next, so, the problem that the rubbish can't inhale the dust collection box because of dust absorption power is not enough can be reduced to specific region or position, and can not treat the whole cleaning effect of cleaning the region and influence, so the circumstances that the regional sporadic missing rubbish of big ground can not appear to the area of waiting to clean in this application embodiment has guaranteed the cleaning effect.
And 303, controlling the rolling brush to gather the garbage in the area to be cleaned in a direction away from the dust collection box when the cleaning robot is in the second working state.
In one possible implementation manner of the embodiment of the present application, when the cleaning robot is switched to the second working state, the rolling brush is controlled to reversely rotate, so that the garbage is gathered in a direction away from the dust collecting box, and the reverse rotation is that the rolling brush rotates in a direction away from the dust collecting box, that is, in a direction opposite to the rotation direction shown by the arrow in fig. 4. Meanwhile, garbage collection can be achieved by controlling the rolling brush to stop rotating, because the cleaning robot can drive garbage to advance along with the advancing of the robot even if the rolling brush does not rotate along with the advancing of the cleaning robot in the direction away from the dust collecting box.
In one possible implementation manner of the embodiment of the application, when the cleaning robot is switched to the second working state, the dust suction fan can be operated with the second power or stopped, even if the cleaning robot is operated with the second power, the second power at the position is smaller than the first power of the dust suction fan when the cleaning robot is switched to the first working state, because when the cleaning robot works, compared with the working time of collecting the garbage to the dust collecting box, the working time of gathering the garbage by reversely rotating the rolling brush is longer, namely the working time of the cleaning robot in the second working state is longer, in the working state, even if the dust suction fan of the cleaning robot is not started or is started with smaller power, the better garbage gathering effect can be achieved, and compared with the traditional cleaning scheme, the dust suction fan needs to be started in the whole process, the advantages of low noise and low energy consumption are reflected, and meanwhile, the dust on the uneven ground can be cleaned cleanly by reversely rotating the rolling brush, so that the noise and the power consumption are reduced while the garbage cleaning effect is ensured.
Further, when the cleaning robot is switched to the second working state, the dust suction fan is controlled to operate at the second power, namely, the low power operation, fine dust such as dust in the area cleaned by the cleaning robot can be sucked into the dust collection box, and the cleaning effect is further ensured.
In one possible implementation manner of the embodiment of the application, when the cleaning robot is in the second working state to gather garbage, in order to reduce power consumption caused by the cleaning robot pushing the garbage to advance and resistance caused by reverse rotation of the rolling brush, the amount of the gathered garbage is detected in order to prevent the garbage from overflowing due to too much gathered garbage, and when the cleaning robot is detected, the driving current on the rolling brush can be detected through the current sensor, the amount of the gathered garbage is reflected through the size of the driving current, and the cleaning robot can be directly detected through other sensors for detecting the amount of the garbage, such as an ultrasonic sensor, an infrared detection sensor and the like. And when the collected garbage amount is detected to exceed a preset threshold (the preset threshold can be determined by the threshold of the driving current when the garbage amount is detected by the driving current), the cleaning robot is controlled to be switched to a first working state, and the collected garbage is sucked into the dust collecting box through forward rotation of the rolling brush and operation of the dust suction fan.
In one possible implementation manner of the embodiment of the present application, the foregoing two working states of the cleaning robot are switched, and besides the foregoing collected garbage amount may trigger the switching, the cleaning robot may also trigger the switching through the ground flatness of the area to be cleaned, specifically, the cleaning robot is provided with a distance detection sensor or a cliff detection sensor, by using these two sensors, the flatness of the ground in front of the cleaning robot may be detected, when the front ground is detected to be uneven, or when a gap is detected to exist on the front ground, the cleaning robot may be controlled to switch to the second working state, because, when the front ground of the cleaning robot exists a gap, if the robot is in the first working state at this time, the garbage in the gap is very easy to leak through the baffle plate behind the rolling brush to cause the leakage cleaning, and by the reverse rotation of the rolling brush of the robot, the garbage in the gap may be cleaned out, and the cleaning effect of the uneven ground may be ensured.
In order to describe the schemes in the embodiments of the present application in more detail, the following supplementary descriptions are also provided in the embodiments of the present application.
Fig. 4, 5 and 6 are side view, bottom view and front view, respectively, of a cleaning robot according to an embodiment of the present application. As shown in fig. 4, 5 and 6, the cleaning robot in the embodiment of the present application is further improved in some structures compared with the conventional cleaning robot, so as to adapt to the control method of the cleaning robot in the embodiment of the present application, specifically as follows:
first, as can be seen from the side view of the cleaning robot shown in fig. 4, the rolling brush is disposed in the rolling brush cavity, and the scraping strip is disposed on the inner wall of the rolling brush cavity, and can prevent the garbage from being caught above the rolling brush when the cleaning robot is switched to the second working state and the rolling brush is controlled to reversely rotate to gather the garbage. In one example of the application, in order to ensure an anti-entrainment effect of the waste, the length of the scraping strip should be the same as or even slightly longer than the length of the roller brush.
Secondly, as can be seen in the bottom view and the front view of the cleaning robot shown in fig. 5 and 6, the baffle of the cleaning robot in the embodiment of the application is further improved, specifically, the baffle in the embodiment of the application increases the extension parts on two sides relative to the baffle of the traditional cleaning robot, specifically extends from the two sides of the opening of the dust box to the direction away from the dust box, and the extension of the two sides of the increase can effectively block the collected garbage when the cleaning robot is in the second working state to collect the garbage, so that the garbage is prevented from overflowing.
Finally, as can be seen from the bottom view of the cleaning robot shown in fig. 5, a distance detection sensor for detecting the flatness of the floor is provided in front of the bottom of the cleaning robot to better detect the road surface in front of the robot.
In addition, fig. 7 is a schematic diagram of a cleaning process of the cleaning robot in an application scenario provided in the embodiments of the present application. As shown in fig. 7, the solution in the embodiment of the present application can divide garbage cleaning into two steps, namely, a straight garbage collection step of paths 1, 3 and 5 and a rotary garbage collection step of paths 2 and 4.
Specifically, taking paths 1 and 2 as examples, the cleaning robot linearly moves along the path 1 from the first position to the second position, the cleaning robot is controlled to be in a second working state in the moving process, the garbage collected by the side brushes is pushed by the cleaning robot to move forward in a rolling brush reverse rotation mode and is accumulated continuously, meanwhile, in the process, the dust suction fan is started with low power to suck the dust which is finely lifted in the moving path into the dust collection box, most of the garbage is pushed by the rolling brush to move forward in a reverse rotation mode, the front side of the rolling brush is always kept relative to the position of the cleaning robot due to the reverse rotation of the baffle plate and the rolling brush, and the two side extending parts of the baffle plate ensure that the garbage cannot leak from two sides.
The cleaning robot runs to the second position, the garbage in the path 1 is gathered on the front side of the rolling brush of the cleaning robot, the rolling brush stops rotating reversely at the moment, the rolling brush starts rotating forwards immediately after the rolling brush stops, the rolling brush rotating forwards dials the garbage on the front side of the rolling brush to the opening of the dust collecting box, the cleaning robot is matched with the cleaning robot to rotate in situ and move circularly for a plurality of times (as shown by a broken line arrow at the second position in fig. 7), and the dust collecting fan is matched with the dust collecting fan to be opened to the maximum gear to operate with the maximum power, so that the garbage is sucked into the dust collecting box from the opening of the dust collecting box, and the garbage collecting box is completed.
After the cleaning robot finishes the garbage suction operation at the second position, the cleaning robot moves from the second position to the third position along the path 3, and the garbage cleaning process in the path 3 is the same as or similar to the garbage cleaning process in the path 1, which is not described herein. If the cleaning robot has missing garbage at the second position, the garbage is brought into the path 3 through the reverse rotation of the rolling brush until the cleaning robot runs to the third position, and the missing garbage is sucked again, so that the cleaning effect of the whole area to be cleaned is ensured.
Thus, in one example of the present application, the cleaning robot is considered to apply the present solution when performing the cleaning task, if there is a process of controlling the reverse rotation of the roller brush to gather the garbage to the front side of the roller brush, and controlling the forward rotation of the roller brush while sucking the garbage into the dust box in cooperation with the dust suction fan, and is considered to infringe.
The non-mentioned places in the application can be realized by adopting or referring to the prior art.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. A control method of a cleaning robot, applied to a cleaning robot, the cleaning robot being provided with a rolling brush, a dust suction fan and a dust collection box, characterized by comprising:
when the cleaning robot works on an area to be cleaned, the cleaning robot is controlled to switch the working state;
the working states comprise a first working state and a second working state, the first working state comprises a step of controlling the rolling brush to sweep the garbage in the area to be cleaned to a direction close to the dust collecting box, and controlling the dust suction fan to operate at a first power so as to suck the garbage into the dust box, wherein the second working state comprises the step of controlling the rolling brush to gather the garbage in the area to be cleaned in a direction away from the dust box.
2. A control method of a cleaning robot according to claim 1, wherein,
the control rolling brush sweeps the garbage in the area to be cleaned to a direction close to the dust collection box, and the control rolling brush comprises:
controlling the rolling brush of the cleaning robot to rotate forward, wherein the forward direction is the direction of sweeping the garbage to approach the dust box;
the control round brush will wait to clean rubbish in the region to the direction of keeping away from the dust box gathers together, include:
and controlling the rolling brush of the cleaning robot to reversely rotate or stop rotating, wherein the reverse direction is to sweep the garbage away from the dust box.
3. The control method of a cleaning robot according to claim 1, wherein the rolling brush is installed in a rolling brush cavity, a scraping strip is arranged on the inner wall of the rolling brush cavity, and the scraping strip is used for blocking the rolling brush from rolling garbage into the rolling brush cavity when the cleaning robot is switched to the second working state.
4. The control method of a cleaning robot according to claim 1, wherein the controlling the cleaning robot to switch the operation state includes:
detecting the ground flatness of the area to be cleaned;
and controlling the cleaning robot to switch the working state according to the ground flatness of the area to be cleaned.
5. The method according to claim 4, wherein the step of controlling the cleaning robot to switch the operation state according to the floor smoothness of the area to be cleaned comprises:
when detecting that a gap exists in the area to be cleaned, switching the cleaning robot into a second working state;
and when detecting that the to-be-cleaned area has no gap, switching the cleaning robot into a first working state.
6. The control method of a cleaning robot according to claim 1, wherein the controlling the cleaning robot to switch the operation state includes:
detecting the gathered garbage amount;
and when the collected garbage amount exceeds a preset threshold value, switching the cleaning robot into a first working state.
7. The method of claim 6, wherein detecting the amount of collected debris comprises:
detecting a driving current of the rolling brush;
and determining the gathered garbage amount according to the driving current.
8. A control method of a cleaning robot according to claim 1, characterized in that the method further comprises:
after the cleaning robot is controlled to be switched into the first working state, the cleaning robot is controlled to do circular motion by taking one side of the rolling brush as a circle center or taking the center of the cleaning robot as the circle center.
9. The control method of a cleaning robot according to claim 1, wherein the second operation state further includes:
and controlling the dust collection fan to operate or stop operating at a second power, wherein the second power is smaller than the first power.
10. The control method of a cleaning robot according to claim 1, wherein a blocking piece is provided at a bottom of the cleaning robot, and the blocking piece extends from both sides of an opening of the dust box to a direction away from the dust box, for blocking overflow of garbage when the cleaning robot is switched to the second working state to gather garbage.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN120000104A (en) * | 2025-04-18 | 2025-05-16 | 追觅科技(苏州)有限公司 | Cleaning method of cleaning robot |
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