U.S. patent application number 17/417059 was filed with the patent office on 2022-02-17 for cleaning robot and control method.
The applicant listed for this patent is POSITEC POWER TOOLS (SUZHOU) CO., LTD.. Invention is credited to Ji LI, Yujie WANG, Mingjian XIE, Jianqiang XU, Hongfeng ZHONG.
Application Number | 20220047141 17/417059 |
Document ID | / |
Family ID | |
Filed Date | 2022-02-17 |
United States Patent
Application |
20220047141 |
Kind Code |
A1 |
XU; Jianqiang ; et
al. |
February 17, 2022 |
CLEANING ROBOT AND CONTROL METHOD
Abstract
The disclosure relates to a cleaning robot and a control method.
The cleaning robot may include: a body; a moving mechanism; a power
module; a mopping module; and a control module; and further
includes a liquid supply device, where the control module can
control, based on a current mopping condition, the liquid supply
device to convey a liquid to the mopping module. The beneficial
effects of the present disclosure are that the cleaning robot can
complete mopping work more efficiently, to reduce burden of a user
and improve the degree of automation and the user experience of the
cleaning robot. The cleaning robot can intelligently and
autonomously control, based on the current mopping condition, the
liquid supply device to convey a liquid to a mop, thereby
prolonging the service life of a ground material such as a floor in
home of the user.
Inventors: |
XU; Jianqiang; (Jiangsu,
CN) ; XIE; Mingjian; (Jiangsu, CN) ; ZHONG;
Hongfeng; (Jiangsu, CN) ; LI; Ji; (Jiangsu,
CN) ; WANG; Yujie; (Jiangsu, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
POSITEC POWER TOOLS (SUZHOU) CO., LTD. |
Jiangsu |
|
CN |
|
|
Appl. No.: |
17/417059 |
Filed: |
December 20, 2019 |
PCT Filed: |
December 20, 2019 |
PCT NO: |
PCT/CN2019/127044 |
371 Date: |
June 21, 2021 |
International
Class: |
A47L 11/284 20060101
A47L011/284; A47L 11/40 20060101 A47L011/40 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 21, 2018 |
CN |
201811572166.5 |
Dec 21, 2018 |
CN |
201811572174.X |
Mar 29, 2019 |
CN |
201910250300.8 |
Claims
1. A cleaning robot, configured to move and work in a working
region, the cleaning robot comprising: a body; a moving mechanism,
configured to support the body and drive the cleaning robot to move
on a working surface in the working region; a power module,
configured to provide a driving force for the cleaning robot to
move and work; a mopping module, configured to be mounted on the
body and perform predetermined mopping work, wherein the mopping
module being configured to have a wiping member mounted thereon;
and a control module, configured to be electrically connected to
and control the power module, to implement automatic moving and
automatic working of the cleaning robot; wherein, the cleaning
robot further comprises: a liquid supply device electrically
connected to the control module, wherein when in a wet mopping
mode, when a preset condition is met, the control module limits the
liquid supply device in conveying a liquid to the mopping
module.
2. The cleaning robot according to claim 1, wherein when the
cleaning robot is in the wet mopping mode and in a case that it is
detected that the cleaning robot is abnormal, the control module
limits the liquid supply device in conveying the liquid to the
mopping module.
3. The cleaning robot according to claim 2, wherein in an abnormal
case that it is detected that the cleaning robot is trapped or
stuck, the control module limits the liquid supply device in
conveying the liquid to the mopping module.
4. The cleaning robot according to claim 2, wherein the cleaning
robot further comprises a mop detection device electrically
connected to the control module, the mop detection device is
configured to detect whether the wiping member is mounted on the
cleaning robot, and in an abnormal case that the mop detection
device detects that the wiping member is not mounted on the
cleaning robot, the control module limits the liquid supply device
in conveying the liquid to the mopping module.
5. The cleaning robot according to claim 1, wherein when the
cleaning robot is in the wet mopping mode and in a case that it is
detected that the mopping module is at a non-mopping height within
a preset period of time, the control module limits the liquid
supply device in conveying the liquid to the mopping module.
6. The cleaning robot according to claim 5, wherein the cleaning
robot further comprises a lifting mechanism, the control module
controls the lifting mechanism to lift the mopping module from a
first position relative to the working surface during the mopping
work to a second position, and when the mopping module is in the
wet mopping mode and in a case that it is detected that the mopping
module is in a lifted state within the preset period of time, the
liquid supply device is limited in conveying the liquid to the
mopping module.
7. The cleaning robot according to claim 5, wherein the control
module controls a lifting mechanism to lift the mopping module from
a first position relative to the working surface to a second
position in the following conditions, and the conditions comprise
at least one of the following: the cleaning robot returning to a
base station to replace the mopping module, the cleaning robot
being in a standby state, and the cleaning robot being trapped or
stuck.
8. The cleaning robot according to claim 6, wherein in a case that
a non-working surface is detected, the control module controls the
lifting mechanism to lift the mopping module from the first
position relative to the working surface to the second position, to
control the cleaning robot to cross the non-working surface, and in
a case that it is detected that the mopping module is in the lifted
state within the preset period of time, the liquid supply device is
limited in conveying the liquid to the mopping module.
9. The cleaning robot according to claim 8, wherein after it is
detected that the cleaning robot crosses the non-working surface,
the control module controls the lifting mechanism to lower the
mopping module from the second position relative to the working
surface to the first position, and the liquid supply device conveys
the liquid to the mopping module.
10. The cleaning robot according to claim 1, wherein when the
cleaning robot is in the wet mopping mode and in a case that the
cleaning robot is at least replacing the wiping member, the control
module limits the liquid supply device in conveying the liquid to
the mopping module.
11. The cleaning robot according to claim 1, wherein the limiting,
by the control module when a preset condition is met, the liquid
supply device in conveying a liquid to the mopping module
comprises: controlling, by the control module when the preset
condition is met, the liquid supply device to stop conveying the
liquid to the mopping module.
12. A control method for a cleaning robot, wherein a cleaning robot
comprises a mopping module for performing predetermined mopping
work, and the method comprises: controlling the cleaning robot to
enter a wet mopping mode; and limiting conveying of a liquid to the
mopping module when a preset condition is met.
13. The control method for a cleaning robot according to claim 12,
wherein the limiting conveying of a liquid to the mopping module
comprises: stopping conveying the liquid to the mopping module.
14. The control method for a cleaning robot according to claim 12,
wherein the limiting conveying of a liquid to the mopping module
when a preset condition is met comprises: performing control to
convey the liquid to the mopping module when the preset condition
is not met.
15. A control method for a cleaning robot, the cleaning robot moves
and works in a working region, wherein the cleaning robot comprises
a mopping module configured to perform predetermined mopping work
and a liquid supply device, a working mode of the cleaning robot
comprises dry mopping or wet mopping, the liquid supply device is
controlled in the dry mopping mode to be in a closed state, the
liquid supply device is controlled in the wet mopping mode to
convey a liquid to the mopping module, and the working region
comprises at least one preset region; and the method comprises:
controlling the cleaning robot to perform dry mopping on the preset
region; and controlling the cleaning robot to perform wet mopping
on the preset region if it is detected that the cleaning robot
completes the dry mopping on the preset region.
16. The control method for a cleaning robot according to claim 15,
wherein a wiping member is mounted on the mopping module, and
before the performing wet mopping on the preset region, the method
further comprises: controlling the cleaning robot to transfer
information that the wiping member is to be replaced to a user, or
controlling the cleaning robot to at least replace the wiping
member.
17. The control method for a cleaning robot according to claim 15,
wherein after the cleaning robot completes dry mopping work and wet
mopping work on the working region, the control module controls the
cleaning robot to transfer information about unloading of a wiping
member mounted on the mopping module to a user, or controls the
cleaning robot to at least unload the wiping member.
18. (canceled)
19. The control method for a cleaning robot according to claim 15,
wherein the method further comprises: controlling the cleaning
robot to perform dry mopping on the working region if it is
detected that the cleaning robot completes wet mopping on the
working region.
20. The control method for a cleaning robot according to claim 15,
wherein when the cleaning robot performs wet mopping work, the
liquid supply device conveys the liquid to the mopping module
according to a preset power and a preset period of time; and before
the performing wet mopping on the preset region, the control method
for a cleaning robot further comprises: controlling the cleaning
robot to wet a wiping member mounted on the mopping module in at
least one of the following manners, the manners comprising:
conveying the liquid to the liquid supply device according to a
power greater than the preset power and conveying the liquid to the
liquid supply device according to a period of time greater than the
preset period of time.
21. The control method for a cleaning robot according to claim 15,
wherein before the performing wet mopping on the preset region, the
control method for a cleaning robot further comprises: controlling
the cleaning robot to wet a wiping member while moving according to
a preset path before starting the wet mopping.
22. (canceled)
23. (canceled)
24. (canceled)
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a U.S. national stage of international
application No. PCT/CN2019/127044 filed Dec. 20, 2019, which claims
priority to and the benefits of Chinese Patent Application No.
201811572166.5, filed on Dec. 21, 2018, Chinese Patent Application
No. 201811572174.X, filed on Dec. 21, 2018, and Chinese Patent
Application No. 201910250300.8, filed on Mar. 29, 2019 the entire
contents of which are incorporated herein by reference.
BACKGROUND
Technical Field
[0002] The present disclosure relates to a cleaning robot and
further relates to a control method for a cleaning robot.
Related Art
[0003] As user requirements are more diversified, there are various
types of cleaning robots, and the cleaning robot can wipe a ground,
thereby improving the cleanliness of the ground.
[0004] An existing cleaning robot may perform mopping work by using
a mop while performing cleaning work. Specifically, the mop is
connected to a mopping plate or a machine body, and the ground is
cleaned by using the wetted mop. When water is supplied to the mop,
a natural water supply method is mostly adopted, that is, water in
a water tank naturally flows to the mop at a specific rate to wet
the mop. However, when the cleaning robot encounters a condition
such as no electricity or stuck, the uninterrupted water supply of
the water tank causes damage to the mop due to soaking or
accumulation of large amounts of water on the ground to damage a
floor due to soaking.
[0005] Therefore, a user needs to personally take care of a robot
to help the robot deal with the condition such as no electricity or
stuck. Such manual work degrades user experience of in terms of
automated operation of the robot.
SUMMARY
[0006] To overcome defects of the prior art, the problem that the
present disclosure needs to resolve is to provide a cleaning robot
that can autonomously control conveying of a liquid to a wiping
member.
[0007] A technical solution adopted in the present disclosure to
resolve the existing technical problems is: A cleaning robot,
configured to move and work in a working region, the cleaning robot
comprising:
[0008] a body;
[0009] a moving mechanism, configured to support the body and
driving the cleaning robot to move on a working surface in the
working region;
[0010] a power module, configured to provide a driving force for
the cleaning robot to move and work;
[0011] a mopping module, configured to be mounted on the body and
perform predetermined mopping work, wherein a wiping member is
capable of being mounted on the mopping module; and
[0012] a control module, configured to be electrically connected to
and control the power module, to implement automatic moving and
automatic working of the cleaning robot; and
[0013] the cleaning robot further comprising: a liquid supply
device electrically connected to the control module, wherein in a
wet mopping mode, when a preset condition is met, the control
module limits the liquid supply device in conveying a liquid to the
mopping module.
[0014] Preferentially, when the cleaning robot is in the wet
mopping mode and in a case that it is detected that the cleaning
robot is abnormal, the control module limits the liquid supply
device in conveying the liquid to the mopping module.
[0015] Preferentially, in an abnormal case that it is detected that
the cleaning robot is trapped or stuck, the control module limits
the liquid supply device in conveying the liquid to the mopping
module.
[0016] Preferentially, the cleaning robot further comprises a mop
detection device electrically connected to the control module, the
mop detection device is configured to detect whether the wiping
member is mounted on the cleaning robot, and in an abnormal case
that the mop detection device detects that the wiping member is not
mounted on the cleaning robot, the control module limits the liquid
supply device in conveying the liquid to the mopping module.
[0017] Preferentially, when the cleaning robot is in the wet
mopping mode and in a case that it is detected that the mopping
module is at a non-mopping height within a preset period of time,
the control module limits the liquid supply device in conveying the
liquid to the mopping module.
[0018] Preferentially, the cleaning robot further comprises a
lifting mechanism, the control module controls the lifting
mechanism to lift the mopping module from a first position relative
to the working surface during the mopping work to a second
position, and when the mopping module is in the wet mopping mode
and in a case that it is detected that the mopping module is in a
lifted state within the preset period of time, the liquid supply
device is limited in conveying the liquid to the mopping
module.
[0019] Preferentially, the control module controls a lifting
mechanism to lift the mopping module from a first position relative
to the working surface to a second position in the following
conditions, and the conditions comprise at least one of the
following: the cleaning robot returning to a base station for
replacing the mopping module, the cleaning robot being in a standby
state, and the cleaning robot being trapped or stuck.
[0020] Preferentially, in a case that a non-working surface is
detected, the control module controls the lifting mechanism to lift
the mopping module from the first position relative to the working
surface to the second position, to control the cleaning robot to
cross the non-working surface, and in a case that it is detected
that the mopping module is in the lifted state within the preset
period of time, the liquid supply device is limited in conveying
the liquid to the mopping module.
[0021] Preferentially, after it is detected that the cleaning robot
crosses the non-working surface, the control module controls the
lifting mechanism to lower the mopping module from the second
position relative to the working surface to the first position, and
the liquid supply device conveys the liquid to the mopping
module.
[0022] Preferentially, when the cleaning robot is in the wet
mopping mode and in a case that the cleaning robot is at least
replacing the wiping member, the control module limits the liquid
supply device in conveying the liquid to the mopping module.
[0023] Preferentially, the limiting, by the control module when a
preset condition is met, the liquid supply device in conveying a
liquid to the mopping module comprises:
[0024] controlling, by the control module when the preset condition
is met, the liquid supply device to stop conveying the liquid to
the mopping module.
[0025] An embodiment of the present disclosure further provides a
control method for a cleaning robot, the cleaning robot comprises a
mopping module for performing predetermined mopping work, and the
method comprises:
[0026] controlling the cleaning robot to enter a wet mopping mode;
and
[0027] limiting conveying of a liquid to the mopping module when a
preset condition is met.
[0028] Preferentially, the limiting conveying of a liquid to the
mopping module comprises:
[0029] stopping conveying the liquid to the mopping module.
[0030] Preferentially, the limiting conveying of a liquid to the
mopping module when a preset condition is met comprises:
[0031] performing control to convey the liquid to the mopping
module when the preset condition is not met.
[0032] Compared with the prior art, the beneficial effects of the
present disclosure are that the cleaning robot can complete mopping
work more efficiently, to reduce burden of a user and improve the
degree of automation and the user experience of the cleaning robot.
When the cleaning robot is in a wet mopping mode and a preset
condition is met, a control module can intelligently and
autonomously limit a liquid supply device in conveying a liquid to
a wiping member, thereby prolonging the service life of a ground
material such as a floor in home of the user.
[0033] To overcome defects of the prior art, the problem that the
present disclosure needs to resolve is to provide a cleaning robot
that can intelligently switch between working modes to improve the
working efficiency and the working effect.
[0034] A technical solution adopted in the present disclosure to
resolve the existing technical problems is: A control method for a
cleaning robot, wherein the cleaning robot moves and works in a
working region, the cleaning robot comprises a mopping module
configured to perform predetermined mopping work and a liquid
supply device, a working mode of the cleaning robot comprises dry
mopping or wet mopping, the liquid supply device is controlled in
the dry mopping mode to be in a closed state, the liquid supply
device is controlled in the wet mopping mode to convey a liquid to
the mopping module, and the working region comprises at least one
preset region; and
[0035] the method comprises:
[0036] controlling the cleaning robot to perform dry mopping on the
preset region; and
[0037] controlling the cleaning robot to perform wet mopping on the
preset region if it is detected that the cleaning robot completes
the dry mopping on the preset region.
[0038] Preferentially, a wiping member is capable of being mounted
on the mopping module, and before the performing wet mopping on the
preset region, the method further comprises:
[0039] controlling the cleaning robot to transfer information that
the wiping member is to be replaced to a user, or controlling the
cleaning robot to at least replace the wiping member.
[0040] Preferentially, after the cleaning robot completes dry
mopping work and wet mopping work on the working region, the
control module controls the cleaning robot to transfer information
about unloading of the wiping member to a user, or controls the
cleaning robot to at least unload the wiping member.
[0041] Preferentially, the working region is divided into at least
one preset region in a preset or user-defined manner.
[0042] Preferentially, The method further comprising:
[0043] controlling the cleaning robot to perform dry mopping on the
working region if it is detected that the cleaning robot completes
wet mopping on the working region.
[0044] Preferentially, the cleaning robot comprises the liquid
supply device configured to convey the liquid to the mopping
module, and when the cleaning robot performs wet mopping work, the
liquid supply device conveys the liquid to the mopping module
according to a preset power and a preset period of time; and
[0045] before the performing wet mopping on the preset region, the
method further comprises:
[0046] controlling the cleaning robot to wet a wiping member in at
least one of the following manners, the manners comprising:
conveying the liquid to the liquid supply device according to a
power greater than the preset power and conveying the liquid to the
liquid supply device according to a period of time greater than the
preset period of time.
[0047] Preferentially, before the performing wet mopping on the
preset region, the method further comprises:
[0048] controlling the cleaning robot to wet a wiping member in a
manner of moving according to a preset path before starting the wet
mopping.
[0049] Preferentially, the controlling the cleaning robot to
perform wet mopping on the preset region, the method further
comprises:
[0050] controlling the cleaning robot to move to a starting
position of the dry mopping in the preset region, and to start the
wet mopping from the starting position.
[0051] An embodiment of the present disclosure further provides a
cleaning robot, the cleaning robot, configured to move and work in
a working region, wherein the cleaning robot comprises a mopping
module configured to perform predetermined mopping work and a
liquid supply device, a working mode of the cleaning robot
comprises dry mopping or wet mopping, the liquid supply device is
controlled in the dry mopping mode to be in a closed state, the
liquid supply device is controlled in the wet mopping mode to
convey a liquid to the mopping module, and the working region
comprises at least one preset region; and
[0052] the cleaning robot further comprises a control module, and
the control module controls the cleaning robot to perform dry
mopping on the preset region and controls the cleaning robot to
perform wet mopping on the preset region if it is detected that the
cleaning robot completes the dry mopping on the preset region.
[0053] Preferentially, a wiping member is capable of being mounted
on the mopping module, and before the wet mopping is performed on
the preset region, the control module controls the cleaning robot
to transfer information that the wiping member is to be replaced to
a user, or control the cleaning robot to at least replace the
wiping member.
[0054] Compared with the prior art, the beneficial effects of the
present disclosure are that the cleaning robot can intelligently
switch between a dry mopping working mode and a wet mopping working
mode during work, wet mopping work continues automatically after
dry mopping is completed in a region without manual switching by a
user, thereby saving the time of the user and improving the user
experience.
[0055] To overcome defects of the prior art, the problem that the
present disclosure needs to resolve is to provide a cleaning robot
that can autonomously control conveying of a liquid to a wiping
member.
[0056] A technical solution adopted in the present disclosure to
resolve the existing technical problems is a cleaning robot. The
cleaning robot may move and work in a working region, and the
cleaning robot may include: a body; a moving mechanism, configured
to support the body and driving the cleaning robot to move; a power
module, configured to provide a driving force for the cleaning
robot to move and work; a mopping module, configured to be mounted
on the body and perform predetermined mopping work, where a wiping
member is capable of being mounted on the mopping module; and a
control module, configured to be electrically connected to and
control the power module, to implement automatic moving and
automatic working of the cleaning robot; and the cleaning robot may
further include a liquid supply device electrically connected to
the control module, where the control module can control, based on
a current mopping condition, the liquid supply device to convey a
liquid to the mopping module.
[0057] Preferentially, when it is detected that the cleaning robot
is currently in, but not limited to, at least one of the following
mopping conditions, the control module controls the liquid supply
device to stop conveying the liquid to the mopping module, and the
conditions may include that the cleaning robot is trapped by an
obstacle during work, the cleaning robot returns to a base station
for replacing the mopping module, the cleaning robot is in a state
of replacing the mopping module, and the cleaning robot is in a
standby state.
[0058] Preferentially, the cleaning robot may further include a
lifting mechanism, the control module can control the lifting
mechanism to lift the mopping module from a mopping height of
performing mopping work to another height, and when the lifting
mechanism is currently in a lifted mopping condition, the control
module controls the liquid supply device to stop conveying the
liquid to the mopping module.
[0059] Preferentially, the cleaning robot may further include a mop
detection device electrically connected to the control module, the
mop detection device may be configured to detect whether the wiping
member is mounted on the cleaning robot, and when the mop detection
device detects a mopping condition that the wiping member is not
mounted on the cleaning robot currently, the control module
controls the liquid supply device to stop conveying the liquid to
the mopping module.
[0060] Preferentially, the cleaning robot may further include a
humidity detection device, and the liquid supply device is
controlled, based on a current mopping condition detected by the
humidity detection device, to convey the liquid to the mopping
module.
[0061] Preferentially, the cleaning robot may further include a
signal sending device, and the signal sending device sends the
mopping condition detected by the humidity detection device to a
user.
[0062] Preferentially, the humidity detection device may include a
mop humidity sensor, and the control module controls, based on
humidity of the wiping member detected by the mop humidity sensor,
the liquid supply device to convey the liquid to the mopping
module.
[0063] Preferentially, the mop humidity sensor is mounted below the
body.
[0064] Preferentially, the humidity detection device may include an
environment humidity detection device, and the liquid supply device
is controlled, based on environment humidity detected by the
environment humidity detection device, to convey the liquid to the
mopping module.
[0065] Preferentially, the environment humidity detection device
may control, based on environment humidity detected by the cleaning
robot in a local and/or remote manner, the liquid supply device to
convey the liquid to the mopping module.
[0066] Preferentially, the humidity detection device may include a
ground humidity sensor, and the control module controls, based on
ground humidity detected by the ground humidity sensor, the liquid
supply device to convey the liquid to the mopping module.
[0067] Preferentially, the cleaning robot may further include a
ground sensor, the control module controls, based on a ground state
currently detected by the ground sensor, the liquid supply device
to convey the liquid the mopping module, and the ground state
includes a ground material.
[0068] Preferentially, the cleaning robot may further include a
navigation mechanism, configured to form a working region map of
the cleaning robot, and the control module controls, based on a
current mopping condition specified in the working region map, the
liquid supply device to convey the liquid to the mopping
module.
[0069] Preferentially, the navigation mechanism includes, but is
not limited to, at least one of the following: an ultrasonic
sensor, an optical sensor, a UWB sensor, and an inertial navigation
system.
[0070] Preferentially, the control module may control, based on an
instruction from the user, the liquid supply device to convey the
liquid to the mopping module.
[0071] Preferentially, the liquid supply device may include a
liquid reservoir.
[0072] Preferentially, the liquid supply device may further include
a liquid conveying device electrically connected to the control
module, the liquid conveying device is connected to the liquid
reservoir, and the control module controls, based on the current
mopping condition, the liquid conveying device to convey a liquid
in the liquid reservoir to the mopping module.
[0073] Preferentially, the cleaning robot may further include a
liquid level monitoring device disposed in the liquid reservoir,
and the liquid level monitoring device is configured to monitor a
liquid level in the liquid reservoir.
[0074] Preferentially, the cleaning robot may further include the
signal sending device, and the signal sending device sends a
notification message that an amount of liquid in the cleaning robot
is insufficient to the user when the liquid level monitoring device
finds that the liquid level in the liquid reservoir is lower than a
preset threshold.
[0075] Preferentially, the cleaning robot may further include an
indication device, configured to indicate whether an amount of
liquid in the cleaning robot is sufficient.
[0076] Preferentially, the cleaning robot may further include at
least two liquid reservoirs and at least two liquid conveying
devices respectively connected to the at least two liquid
reservoirs, the control module is configured to control, based on
the current mopping condition, the at least two liquid conveying
devices to convey liquids in the at least two liquid reservoirs to
the mopping module, and types of the liquids stored in the at least
two liquid reservoirs are different.
[0077] Preferentially, the cleaning robot further includes valves
associated with the at least two liquid conveying devices, the
valves are opened and closed under the control of the control
module, to control, based on the current mopping condition, the
liquid supply device to convey the liquid to the mopping
module.
[0078] Preferentially, the cleaning robot may further include the
ground sensor, the control module controls, based on the ground
state currently detected by the ground sensor, an amount of liquid
and a type of the liquid conveyed by each of the at least two
liquid reservoirs, and the ground state includes a ground material
and/or a ground stain type.
[0079] Preferentially, the cleaning robot may further include the
navigation mechanism, configured to form the working region map of
the cleaning robot, and the control module controls, based on the
current mopping condition specified in the working region map, the
amount of liquid and the type of the liquid conveyed by the liquid
supply device to the mopping module.
[0080] Preferentially, the cleaning robot may further include an
energy module, configured to provide energy for the cleaning robot
to move and work.
[0081] Preferentially, the cleaning robot may be a domestic and/or
indoor service robot.
[0082] An embodiment of the present disclosure further provides a
control method for a cleaning robot, the method may include:
controlling a cleaning robot to enter a working state; determining,
based on a current mopping condition, whether a liquid supply
device needs to convey a liquid to a mopping module; and
controlling the liquid supply device to convey the liquid to the
mopping module if the liquid supply device needs to convey the
liquid to the mopping module, and the cleaning robot includes the
liquid supply device.
[0083] Preferentially, the working state may include dry mopping or
wet mopping. Correspondingly, after the controlling a cleaning
robot to enter a working state, the method may further include:
performing, by the cleaning robot, dry mopping on a working region
first, and then performing wet mopping on the working region.
[0084] Compared with the prior art, the beneficial effects of the
present disclosure are that the cleaning robot can complete mopping
work more efficiently, to reduce burden of a user and improve the
degree of automation and the user experience of the cleaning robot.
The cleaning robot can intelligently and autonomously control,
based on a current mopping condition, a liquid supply device to
convey a liquid to a wiping member, thereby prolonging the service
life of a ground material such as a floor in home of the user.
BRIEF DESCRIPTION OF THE DRAWINGS
[0085] The foregoing objectives, technical solutions, and
beneficial effects of the present disclosure can be achieved by
using the following accompanying drawings:
[0086] FIG. 1 is a schematic diagram of a robot cleaning system
according to an embodiment of the present disclosure.
[0087] FIG. 2 is a front view of a cleaning robot according to an
embodiment of the present disclosure.
[0088] FIG. 3 is a schematic diagram of function modules of a
cleaning robot according to an embodiment of the present
disclosure.
[0089] FIG. 4 is a structural diagram of only a single liquid
reservoir existing in a cleaning robot according to an embodiment
of the present disclosure.
[0090] FIG. 5 is a structural diagram of two liquid conveying
devices and two liquid reservoirs of a cleaning robot according to
an embodiment of the present disclosure.
[0091] FIG. 6 is a structural diagram of a single liquid conveying
device and two liquid reservoirs of a cleaning robot according to
an embodiment of the present disclosure.
[0092] FIG. 7 is a structural diagram of a liquid supply device of
a cleaning robot according to an embodiment of the present
disclosure.
[0093] FIG. 8 is a structural diagram of a lifting mechanism
according to an embodiment of the present disclosure.
[0094] FIG. 9 to FIG. 12 are schematic diagrams of a scenario of a
working process of a cleaning robot.
[0095] FIG. 13 to FIG. 16 are schematic diagrams of an application
scenario in which a non-working surface is a carpet in a cleaning
robot.
[0096] FIG. 17 is a structural diagram of a mopping module in a
cleaning robot.
DETAILED DESCRIPTION
[0097] Detailed descriptions and technical content of the present
disclosure are described below in cooperation with the accompanying
drawings. However, the accompanying drawings only provide reference
and description rather than limit the present disclosure.
[0098] FIG. 1 is a schematic diagram of a robot cleaning system
according to the present disclosure. The robot cleaning system 300
may include a base station 200 and a cleaning robot 100, and the
cleaning robot 100 may be a device that can autonomously replace a
wiping member. Correspondingly, in addition to charging the
cleaning robot 100, the base station 200 for the cleaning robot 100
to return for charging may be further configured for the cleaning
robot 100 to replace the wiping member, and a charging function and
a wiping member replacement function are combined to form the base
station of the cleaning robot, thereby saving a user space. When
the cleaning robot 100 needs to return to the base station 200, for
example, when it is detected that the wiping member needs to be
replaced or the cleaning robot 100 needs to be charged, a program
of returning to the base station 200 is started, and the cleaning
robot 100 returns to the base station 200 to automatically replace
the wiping member and/or automatically charge the cleaning robot
100. In an embodiment of this application, the wiping member may be
an item such as a mop or a sponge eraser to wipe a working surface
(a ground). It should be noted that to describe this application
more clearly, the wiping member is represented by using the mop
below.
[0099] The base station 200 includes a bottom plate 207, a
supporting plate 206, and an upper plate 205. The upper plate 205
is connected to the bottom plate 207 by the supporting plate 206. A
new mop groove 203, an old mop groove 204, and a mop replacement
device (not shown in the figure) are disposed on the upper plate
205, the mop replacement device may adopt an elevating mechanism, a
swing mechanism, or the like, and projections of the new mop groove
203 and the old mop groove 204 on the bottom plate 207 correspond
to a second operation position 202 and a first operation position
201 of the cleaning robot 100 on the bottom plate 207. It may be
understood that positions of the new mop groove and the old mop
groove are not fixed. For example, in another embodiment, the
positions of the new mop groove 203 and the old mop groove 204 may
be alternatively interchangeable. The cleaning robot 100 unloads an
old mop in the first operation position 201, the mop replacement
device of the base station 200 recycles the old mop, and the mop
replacement device of the base station 200 releases a new mop, so
that the cleaning robot 100 loads the new mop in the second
operation position 202.
[0100] In another embodiment of this application, a mop replacement
position in the cleaning robot and a position to be returned to for
charging may be alternatively set separately. In this case, when
the cleaning robot needs to replace a mop, the cleaning robot may
return to the mop replacement position to replace the mop; and when
the cleaning robot needs to be charged, the cleaning robot may
return to the charging position for charging. This is not limited
in this application. In this case, the position to be returned to
for mop replacement may be an unfixed position point. In the
following description of this application, for ease of description,
unless otherwise specified, when that a cleaning robot returns to
the base station to replace the mop is described, the position to
be returned to may refer to a base station that combines two
functions of charging and replacement of the mop, or may refer to a
base station that is only configured to replace the mop.
Correspondingly, when that the cleaning robot returns for charging
is described, the position to be returned to may refer to a base
station that combines two functions of charging and replacement of
the mop, or may refer to a base station that is only configured to
charge the cleaning robot.
[0101] In this embodiment, the cleaning robot may be a domestic
and/or indoor service robot.
[0102] As shown in FIG. 2 and FIG. 3, in an embodiment of this
application, the cleaning robot 100 may be a mopping robot and
include a body 10, a moving mechanism 20, an energy module 30, a
mopping module 40, a power module 80, a control module 60, and a
navigation mechanism 70. A moving element of the moving mechanism
includes a driving wheel 21 for driving the cleaning robot 100 to
move. It may be understood that the moving mechanism may be
alternatively a track structure. In an embodiment of this
application, the cleaning robot 100 may further include a driven
wheel (not shown in the figure). The energy module 30 is optionally
configured to supply power to the cleaning robot and the cleaning
robot optionally charges the energy module 30. The power module 80
may include a motor and a transmission mechanism connected to the
motor, the transmission mechanism is connected to the moving
mechanism, the motor drives the transmission mechanism to work, and
a transmission effect of the transmission mechanism enables the
moving mechanism to move. The transmission mechanism may be a worm
gear and worm mechanism, a bevel gear mechanism, or the like. The
power module 80 may be provided with two sets of motors, one set of
motors drives the moving mechanism to move, and the other set of
motors drives the mopping module to vibrate at a specific frequency
to mop. Alternatively, the power module 80 may be provided with
only one set of motor for driving the moving mechanism to move. It
may be understood that a quantity of each set of motors is not
limited, and may be, for example, one or two. The mopping module 40
may be configured to be mounted on the body to perform
predetermined mopping work and a mop can be mounted on the mopping
module 40. As shown in a schematic structural diagram of a mopping
module in FIG. 17, the mopping module 40 may include a mopping
plate 43 and the mop is detachably mounted on the mopping plate.
The mopping plate and the mop may be formed integrally, or may be
connected in a manner such as a hook-and-loop fastener or a
double-sided tape. This is not limited in this application. The
navigation mechanism 70 may include, but is not limited to, at
least one of the following: an ultrasonic sensor, a radar sensor,
an optical sensor (a laser sensor, an infrared sensor, or the
like), a UWB sensor, an inertial navigation system, and the like,
and is configured to provide environment control data, control the
cleaning robot to work, and form a working region map of the
cleaning robot.
[0103] In another embodiment of this application, the cleaning
robot 100 may be alternatively a sweeping and mopping integrated
cleaning device. In this case, the cleaning robot may further
include a sweeping module in addition to the mopping module, the
sweeping module may include a roller brush and a side brush, which
are configured to clean sundries such as dust on a ground, a
corner, and the like, the sundries are relatively concentrated at
the roller brush by using the side brush for processing, and the
dust is collected into a dust-collecting box.
[0104] The control module is, for example, a controller, and may be
an embedded digital signal processor (DSP), a microprocessor unit
(MPU), an application-specific integrated circuit (ASIC), a
programmable logic device (PLD), a system on chip (SOC), a central
processing unit (CPU), a field programmable gate array (FPGA), or
the like.
[0105] The controller may control, according to a preset program or
a received instruction, the cleaning robot to work. Specifically,
the controller may control the moving mechanism to move according
to a preset moving path in a working region of the cleaning robot.
While the moving mechanism drives the cleaning robot to move, the
mopping module performs mopping work, to remove garbage such as
dust in the working region. Further, when the cleaning robot moves
in the preset path and completes the mopping work, the controller
may control the cleaning robot to stop the mopping work and control
the moving mechanism to move, so that the moving mechanism drives
the cleaning robot to leave the working region. A moving path and a
stop position of the cleaning robot may be preset in the controller
and the controller controls execution of the moving mechanism.
[0106] In this embodiment of this application, the cleaning robot
may further include: a liquid supply device electrically connected
to the control module. The control module can control, based on a
current mopping condition, the liquid supply device to convey a
liquid to the mopping module, so that the cleaning robot can
autonomously and automatically control a condition of liquid supply
of the liquid supply device to a mop. The conveyed liquid may be
water, water added with an essential oil, alcohol, or the like.
This is not limited in this application. Further, a working mode of
the cleaning robot may include a mopping mode such as dry mopping,
wet mopping, dry mopping first and then wet mopping, or wet mopping
first and then dry mopping, and the user may select a corresponding
working mode in an APP of the cleaning robot according to actual
needs. In the dry mopping mode, the liquid supply device may be
controlled to be in a closed state; and in the wet mopping mode,
the liquid supply device may be controlled to convey a liquid to
the mopping module.
[0107] FIG. 4 shows a condition in which there is only one liquid
reservoir in the cleaning robot. As shown in FIG. 4, the liquid
supply device may include a liquid reservoir 51 and a liquid
conveying device 50 that is electrically connected to the control
module. The liquid conveying device 50 is connected to the liquid
reservoir 51. In an embodiment, the control module may control, by
using a program, the liquid supply device to convey a liquid to the
mopping module, that is, the control module may automatically
control, based on a current mopping condition, the liquid conveying
device 50 to convey a liquid in the liquid reservoir 51 to the
mopping module. In another embodiment, the cleaning robot may
further include a valve associated with the liquid conveying
device, and the valve is opened and closed under the control of the
control module, to control, based on the current mopping condition,
the liquid supply device to convey the liquid to the mopping
module.
[0108] In an embodiment of this application, the liquid conveying
device 50 may be a pump, which may include, but is not limited to,
a pump element such as a peristaltic pump, a gear pump, a plunger
pump, or a diaphragm pump that can execute a liquid conveying
function. The control module controls an amount of liquid conveyed
by the liquid reservoir 51 to the mopping module by controlling a
rotational speed of an impeller in the pump element. The liquid
conveying device 50 is connected to the liquid reservoir 51 by a
hose 52, and the liquid in the liquid reservoir 51 can flow to the
liquid conveying device 50 by using the hose 52, so that the liquid
conveying device 50 may convey the liquid to the mopping module. In
an embodiment of this application, the liquid conveying device 50
may directly convey the liquid to the mopping module 40 in a manner
shown in FIG. 4, to convey the liquid to the mopping module. In
another embodiment of this application, the liquid conveying device
50 may directly spray the liquid onto a ground during work of the
cleaning robot, so that the cleaning robot performs wet mopping
when moving on the ground onto which the liquid is sprayed, to
spray the liquid onto the ground to dissolve stains and mop the
ground more cleanly. It should be noted that the above two manners
are applicable to all the embodiments of this application to convey
the liquid to the mopping module.
[0109] FIG. 7 is a structural diagram of a liquid supply device of
a cleaning robot according to an embodiment of the present
disclosure. After flowing out of an outlet pipe 525 of the liquid
conveying device 50, a liquid may be first atomized by using an
atomizing sheet 526 (three atomizing sheets are used as an example
in this application), and then the atomized liquid is conveyed to
the mopping module. In another embodiment of this application,
after flowing out of the outlet pipe of the liquid conveying device
50, the liquid may first penetrate into a sponge, then is atomized
by using the atomizing sheet, and then is conveyed to the mopping
module. In another embodiment, alternatively, it is also possible
to access the atomizing sheet directly after the liquid reservoir
51 and then transfer it to the mopping module. In the foregoing
manner, the liquid in the liquid supply device can be uniformly
conveyed to the mopping module, to ensure that the liquid can
uniformly cover the mop.
[0110] FIG. 8 is a structural diagram of a lifting mechanism of a
mopping module according to this embodiment. In this embodiment,
the lifting mechanism of the mopping module can adjust a height of
the mopping module 40 relative to a working surface. Specifically,
the lifting mechanism of the mopping module includes an elevating
mechanism and a fixed plate 11. The elevating mechanism is fixedly
connected to the fixed plate 11 and the mopping module 40 is
mounted on the fixed plate 11. The elevating mechanism includes an
elevating motor 15 and a transmission mechanism. The transmission
mechanism includes a gear 16 and screw rod 17 meshed device and an
elevating frame 19, and the elevating motor 15 drives the
transmission mechanism to drive the mopping module 40 to move
upward or downward. Specifically, the elevating frame 19 drives,
under the action of the elevating mechanism, the mopping module 40
to move upward or downward relative to the working surface.
[0111] A sliding groove 22 is provided on the elevating frame 19, a
corresponding protrusion (not shown in the figure) is disposed on
the body, and the mopping module 40 moves upward or downward
relative to the body through engagement between the sliding groove
22 and the protrusion. Certainly, it may be understood that the
mopping module 40 may alternatively move upward or downward
relative to the body through engagement between internal and
external threads disposed on the elevating frame and the body. In
another embodiment, the lifting mechanism of the mopping module may
be alternatively a swing mechanism. The elevating frame 19 drives,
under the action of the swing mechanism, the mopping module 40 to
swing, to adjust a distance between the mopping module 40 and the
working surface. A specific structure is a common structure of an
adjusting device, which is not described herein again.
[0112] As shown in FIG. 8, the mopping module 40 is mounted on the
fixed plate 11 through magnetic attraction. Specifically, a
magnetic element 18 such as a magnet or a magnetic stripe is
disposed on the mopping module 40, and is attracted to a magnetic
element disposed on the fixed plate 11. Alternatively, a pin hole
may be provided on the mopping module 40 and engaged with a
corresponding pin column on the fixed plate 11, to mount the
mopping module 40 on the fixed plate 11. A protrusion device (not
shown in the figure) such as a top column or a convex ball is
downwards disposed on the top of the body, and the protrusion
device moves relative to the mopping module 40 and is in contact
with the mopping module 40, so that the mopping module 40 is
separated from the body 10. There are two protrusion devices, and
projections of the protrusion devices on the mopping plate fall on
two ends of the mopping plate. Certainly, there may be
alternatively one or more than two protrusion devices.
[0113] The mopping module of the cleaning robot has at least three
height positions relative to the working surface under the driving
of the lifting mechanism, which are a first position when the
cleaning robot performs mopping work, a second position when the
cleaning robot moves or crosses an obstacle, and a third position
when the cleaning robot unloads a mop 28. The third position is
higher than or equal to the second position and the first position
is lower than the second position. The requirements of the cleaning
robot for mopping the ground, crossing obstacles, and automatically
replacing the mop can be achieved by adjusting the position of the
mopping module by using the lifting mechanism. Certainly, in
addition to the three height states, the cleaning robot may further
have a fourth position that is lower than the first position and
that is used for mounting a new mop.
[0114] FIG. 9 to FIG. 12 are schematic diagrams of a scenario of a
working process of a cleaning robot. A position relationship of the
mopping module 40 is described according to the schematic diagram
of the scenario. As shown in FIG. 9, when the cleaning robot is in
a mopping working state, the lifting mechanism controls the mopping
module to be in the first position. In this case, there is a
specific pressure between a mop and the ground, and the mop may be
in contact with the ground and has a specific amount of
interference, to achieve a relatively good cleaning effect. When
the cleaning robot encounters an obstacle during mopping, the
lifting mechanism controls the mopping module to be in the second
position shown in FIG. 10. In this case, the mopping module is
automatically lifted, a height of the second position is greater
than a height of the working state, but the height cannot be
greater than a height of unloading the mop, to prevent the mop and
the mopping plate from falling. When the cleaning robot needs to
replace the mop during the mopping or the cleaning robot needs to
return for charging when an amount of power is lower than a preset
threshold during the mopping, the lifting mechanism controls the
mopping module to be lifted to the second position shown in FIG.
10, and meanwhile, the cleaning robot may further form position
coordinates of the cleaning robot before returning by using the
navigation mechanism and label the position coordinates in the
working region map. When the mop is replaced, the lifting mechanism
controls the mop to be lifted to the third position shown in FIG.
11 to unload the mop, to separate the mopping module from the body,
as shown in FIG. 12. An old mop may be unloaded to the first
operation position shown in FIG. 1, and the first operation
position may be used for unloading the old mop. After the old mop
is unloaded, the cleaning robot automatically mounts a new mop, and
the cleaning robot may mount the new mop in the second operation
position. After the robot enters a corresponding position, the
mopping module is attracted to the body through magnetic
attraction. Specifically, a magnet is disposed on the mopping
module and a magnetic element is disposed on the body. After the
new mop is mounted or an amount of power is full, the lifting
mechanism controls the mopping module to be lifted to the second
position and set off to return to the position of the cleaning
robot labeled in the working region map, and when the labeled
position is reached, the lifting mechanism controls the mopping
module to be adjusted to the first position to continue to mop.
When the cleaning robot needs to pause mopping during the mopping,
the lifting mechanism controls the mopping module to be lifted to
the second position. The lifting mechanism controls the mop to be
lifted when the cleaning robot crosses the obstacle, to resolve the
defect of a limited cleanable range caused by that the mopping
module of the cleaning robot in the prior art only has the first
position state when mopping the ground during work and therefore a
height of crossing the obstacle is almost 0. The mopping module may
control the lifting mechanism to lift the mop to the second
position when mopping is paused, to resolve the defect in the prior
art that the mopping module only has the first position state when
mopping the ground, resulting in that a floor is soaked in the
liquid and the floor is damaged. After replacing the mop or being
charged, the cleaning robot may further return to a mopping
position before the mop is replaced to continue mopping at an
interrupted point, to resolve the defect that in the prior art, a
mopped region is repeatedly mopped, and a region that is not mopped
is missed, and improve the cleaning efficiency of the cleaning
robot. In addition, the mop can be replaced automatically, which
improves the degree of automation and the user experience of the
cleaning robot.
[0115] In an embodiment of this application, when the cleaning
robot starts working, it is detected whether the liquid reservoir
is mounted on the cleaning robot. When it is detected that the
liquid reservoir is not mounted on the cleaning robot, the cleaning
robot cannot start working, and the control module controls the
cleaning robot to transfer information that the liquid reservoir is
not mounted to a user. The information received by the user may be
an alarm issued by the robot or a reminder message on the APP.
After the liquid reservoir is detected, the cleaning robot starts
working.
[0116] When using a mopping robot, the user selects different
cleaning modes according to stain conditions on the ground. The
cleaning modes are generally divided into a dry mopping mode and a
wet mopping mode. The dry mopping mainly deals with stains such as
dust and hair, while the wet mopping mainly deals with adhesive
stains that are difficult to clean. Due to complex working
conditions of the ground in the home, it is often necessary to mix
the two modes. In the prior art, when performing cleaning work, the
user needs to observe a working condition of the robot on site.
When seeing the robot complete wet mopping work or dry mopping
work, the user manually enters an instruction to control the robot
to start the wet mopping mode or the dry mopping mode again. The
manner is relatively complex.
[0117] In an embodiment of this application, a default working mode
of the cleaning robot is: performing dry mopping work first and
then performing wet mopping work. That is, when the user starts the
cleaning robot to enter the working state, the cleaning robot may
first perform dry mopping on a working region, and then perform wet
mopping on the working region when it is detected that the dry
mopping work is completed. In this way, the defect that when the
user performs the wet mopping on the working region without
vacuuming the working region, garbage such as hair tends to stick
to various places of the working region can be prevented. Further,
the cleaning robot can intelligently switch between a dry mopping
working mode and a wet mopping working mode during work, wet
mopping work is automatically performed after dry mopping is
completed in a region, and the user neither needs to observe the
working condition of the robot on site nor needs to manually
control the robot to start the wet mopping mode according to a
condition in which the robot completes the dry mopping, thereby
saving the time of the user and improving the user experience in
the manner in this embodiment.
[0118] Certainly, in another embodiment, the user may change the
default working mode in the APP or man-machine interaction on the
body of the cleaning robot according to an actual stain condition
on the ground in the home of the user or the requirements of the
user. For example, the default working mode is changed to a
condition such as only dry mopping, only wet mopping, or wet
mopping first and then dry mopping. This is not limited in this
application.
[0119] In an embodiment of this application, after building a map,
the robot may divide the working region into at least one preset
region in a region division manner preset in the APP of the
cleaning robot, or the user may divide the working region into at
least one preset region according to the requirements of the user.
After region division is performed, the robot may first perform dry
mopping on one of the at least one preset region according to the
working mode of dry mopping first and then wet mopping. After the
robot determines, according to a moving path recorded in the map or
a moving distance recorded by a sensor carried by the robot, that
the robot has completed the dry mopping on the preset region, the
robot continues to perform wet mopping on the preset region. After
the robot has completed the wet mopping work, the robot may
continue to perform the dry mopping work and the wet mopping work
similar to the foregoing manner on another preset region according
to program setting. Certainly, after building the map and
performing the region division, the robot may alternatively first
perform the dry mopping on the entire working region, and then
perform the wet mopping work on the entire region after determining
that the dry mopping work on the entire working region is
completed.
[0120] Further, in an embodiment of this application, after it is
detected that the wet mopping work is completed, the cleaning robot
may be controlled to perform the dry mopping on the working region,
so that the user can enter the working region as soon as possible
without dirtying the wet working region. If liquids such as coffee
and milk are detected on regions when the cleaning robot performs
the dry mopping work, the regions may be prevented from being
cleaned first. The regions are cleaned after the cleaning robot is
subsequently changed to the wet mopping mode, to overcome a defect
that other regions are contaminated by these liquids when cleaning
is performed by using a dry mop with these liquids attached.
Corresponding to the working mode of the cleaning robot, a
corresponding quantity of dry mops and a corresponding quantity of
wet mops are placed on the base station, or only a dry mop is
placed on the base station, and the liquid supply device conveys a
liquid to the mopping module to perform wet mopping.
[0121] In an embodiment of this application, before performing wet
mopping or dry mopping, the cleaning robot is controlled to
transfer information that a mop is to be replaced to the user, or
the cleaning robot is controlled to at least replace a mop. After
the user receives a reminder message on the robot or the APP that
the mop needs to be replaced, the user may choose to manually
replace or choose to control the robot to automatically replace the
mop or the mopping module, and the mop is detachably mounted on the
mopping module. Therefore, only the mop may be replaced during
replacement. After completing the dry mopping, the cleaning robot
may alternatively automatically return to the base station to
replace the mop with a new mop, and after the mop is replaced with
the new mop, the wet mopping work is performed. When the mop for
dry mopping is used for wet mopping, due to the fact that the mop
for dry mopping is often in a dirtied state, if the mop for dry
mopping is directly wetted, stains (dust and hair) on the mop for
dry mopping are brought onto the ground on which the wet mopping is
about to be performed, resulting in secondary contamination of the
wetly mopped ground, and the wet mopping cleaning efficiency is
reduced. Therefore, the mop is replaced when the robot is
controlled to switch between different modes, to ensure that the
robot can achieve an optimal cleaning effect when entering a new
cleaning mode for working.
[0122] In an embodiment of this application, before performing the
wet mopping, the cleaning robot may sufficiently wet the mop by
using the following means, so that at a beginning stage of the wet
mopping mode, water injected to the mop may be fully spread over
the mop within a short period of time, and an area of the wetted
mop is increased, thereby improving the cleaning efficiency of the
mopping robot at the beginning stage of the wet mopping. When the
cleaning robot performs normal wet mopping work, the liquid supply
device may convey the liquid to the mopping module according to a
preset power and a preset period of time. Therefore, before
starting the wet mopping, the cleaning robot may increase a power
of conveying the liquid when the liquid supply device works
normally, that is, the liquid may be conveyed to the liquid supply
device according to a power greater than the preset power before
the wet mopping work is started, and the power is reduced to a
power during normal work after the liquid supply device works for a
period of time. Similarly, the liquid may be alternatively conveyed
to the liquid supply device according to a period of time greater
than the preset period of time, and the conveying time is reduced
to a conveying time during normal work after the liquid supply
device works for a period of time.
[0123] In another embodiment of this application, before starting
the wet mopping, the cleaning robot may be alternatively controlled
to wet the mop in a manner of moving according to a preset path,
for example, the mopping robot is controlled to start to move in a
manner such as forward, backward, or turning according to the
program, so that the accumulated liquid conveyed onto the mop is
completely absorbed by the mop, to perform large-area wetting of
the mop. After finishing mounting the mop and moving to a starting
position in a state in which the mopping module is lifted, the
cleaning robot may move forward and backward in the vicinity of the
starting position to wet the mop, and after it is detected that the
mop is fully wetted, the cleaning robot may be controlled to move
to the starting position of the wet mopping, and to start the wet
mopping from the starting position. The cleaning robot fully wets
the mop before performing the wet mopping, to overcome the defect
that the cleaning effect is relatively poor when the mop is wetted
only in the vicinity of a water seepage point.
[0124] In an embodiment of this application, after the cleaning
robot completes all mopping work in the working region, the control
module may control the cleaning robot to transfer information about
unloading of the wiping member to the user, or to at least unload
the wiping member. After the cleaning robot completes the mopping
work in the working region required to be cleaned by the user, the
cleaning robot may be controlled to transfer information about
unloading of the mop to the user, or unload the mop, or unload the
mopping module; or may transfer information that the mop is to be
replaced to the user, or replace the mop, or replace the mopping
module. By using the method in this embodiment, it may be ensured
that after the entire mopping work is completed, no old mop that
has been contaminated exists on the cleaning robot, and the
phenomenon of mildewing and stinking due to the fact that the old
mop is not cleaned in time is avoided. Further, the unloaded wiping
member may be further recycled, thereby preventing the old mop that
is unloaded on the ground or the bottom plate of the base station
from contaminating the home of the user. Specifically, the
information about unloading of the mop may be sent to the user by
using a signal sending module, or the user is notified of unloading
of the mop by using an indication unit installed on the body, or
the cleaning robot may go to the base station to unload the mop
autonomously. When the user manually unloads the old mop on the
robot, the user may directly remove the old mop, or may mount a new
mop on the robot. When the robot is controlled to autonomously
unload the mop, the robot may return to the base station to unload
the dirty mop. As shown in FIG. 1, the cleaning robot moves to the
base station and completes the unloading of the old mop in the
first operation position 201, the old mop is recycled to the old
mop groove 204 by using the mop replacement device of the base
station 200 after the cleaning robot exits the base station, and
then the robot directly travels into the base station and stands
by, or the cleaning robot may have the new mop mounted and stand
by. This is not limited in this application. Subsequently, after
mops recycled to the old mop groove 204 reach a specific quantity,
the user can collectively process the old mops in the old mop
groove.
[0125] In an application scenario, the user controls, in the APP,
the robot to work according to a default working mode of "dry
mopping first and then wet mopping", and controls the robot to
perform dry mopping first and then wet mopping on the working
region. After receiving an instruction from the user, the robot may
first perform dry mopping work on the working region; and during
the dry mopping, the liquid conveying device is controlled to be in
a locked and closed state, and after the dry mopping of the entire
working region is completed, the robot automatically returns to the
base station to replace a mop. After the mop is replaced, the robot
is controlled to move to a starting point to start the wet mopping
work when the mopping module is in a lifted state, and after the
robot moves to the starting point, the mopping module is put down,
and a liquid is conveyed by using the liquid conveying device, to
implement wet mopping. Before the wet mopping is started, the mop
is fully wetted with a liquid by increasing a power of conveying
the liquid by using the liquid conveying device and by controlling
the robot to advance or draw back in the vicinity of the starting
point. After it is detected that the mop is fully wetted with the
liquid, the robot returns to the starting point and starts wet
mopping, and after the wet mopping work of the entire working
region is completed, the robot is controlled to return to the base
station to unload the old mop, mount the new mop and stand by.
[0126] In an embodiment of this application, in the wet mopping
mode, when it is detected that the cleaning robot is in a preset
condition described below, the control module may limit the liquid
supply device in conveying the liquid to the mopping module. The
problem that in the prior art, when the cleaning robot encounters a
condition such as no electricity or stuck, the uninterrupted water
supply of a water tank causes damage to the mop due to soaking or
accumulation of large amounts of water on the ground to damage the
floor due to soaking is resolved, to protect the cleaning robot,
protect the floor from being damaged by soaking of the liquid, and
ensure a mopping effect. Limiting the liquid supply device in
conveying the liquid to the mopping module may be controlling the
liquid supply device to stop conveying the liquid to the mopping
module or be controlling the liquid supply device to convey less
liquid to the mopping module than the case that the liquid supply
device conveys the liquid in the wet mopping mode.
[0127] In an embodiment of this application, when the cleaning
robot is in the wet mopping mode and in a case that it is detected
that the cleaning robot is abnormal, the control module limits the
liquid supply device in conveying the liquid to the mopping
module.
[0128] In an embodiment of this application, the control module
limits the liquid supply device in conveying the liquid to the
mopping module in an abnormal case that it is detected that the
cleaning robot is trapped or stuck or the controller fails, for
example, an abnormal case that the cleaning robot is trapped by an
obstacle or a driving wheel falls into a recessed region.
[0129] In another embodiment of this application, the cleaning
robot may further include a mop detection device 90 electrically
connected to the control module. The mop detection device 90 is
configured to detect whether a mop is mounted on the cleaning robot
before or during mopping work of the cleaning robot. If the mop is
not mounted on the cleaning robot, the control module limits the
liquid supply device in conveying the liquid to the mop; and if the
mop is mounted on the cleaning robot, the mopping work is started.
The mop may be magnetically connected to the mopping plate.
Therefore, in this embodiment, the mop detection device 90 may be a
Hall sensor.
[0130] In an embodiment of this application, when the cleaning
robot is in the wet mopping mode and in a case that it is detected
that the mopping module is at a non-mopping height within a preset
period of time, the control module limits the liquid supply device
in conveying the liquid to the mopping module.
[0131] In an embodiment of this application, the cleaning robot
further includes a lifting mechanism, and the control module
controls the lifting mechanism to lift the mopping module from a
first position relative to the working surface during mopping work
to a second position. When the mopping module is in the wet mopping
mode and in a case that it is detected that the mopping module is
in a lifted state within the preset period of time, the liquid
supply device is limited in conveying the liquid to the mopping
module. The preset period of time may be set autonomously by the
user or preset in an APP system. This is not limited in this
application.
[0132] Specifically, the control module controls the lifting
mechanism to lift the mopping module from the first position
relative to the working surface to the second position in the
following conditions, and the conditions may include, but not
limited to, at least one of the following: the cleaning robot
returning to a base station for replacing the mopping module and
the cleaning robot being in a standby and mopping-paused state.
When the cleaning robot is trapped or stuck in the mopping process,
to prevent the mopping module from damaging the floor due to
soaking, the lifting mechanism may be controlled to lift the
mopping module from the first position relative to the working
surface to the second position, and liquid supply is limited.
[0133] In an embodiment of this application, when the cleaning
robot detects a non-working surface during work, the control module
controls the lifting mechanism to lift the mopping module from the
first position relative to the working surface to the second
position, to control the cleaning robot to cross the non-working
surface. When the cleaning robot crosses the non-working surface
and in a case that it is detected that the mopping module is in the
lifted state within the preset period of time, the liquid supply
device is limited in conveying the liquid to the mopping module.
Further, after it is detected that the cleaning robot crosses the
non-working surface, the control module controls the lifting
mechanism to lower the mopping module from the second position
relative to the working surface to the first position, and the
liquid supply device conveys the liquid to the mopping module.
[0134] In an application scenario shown in FIG. 13 to FIG. 16 in
which the non-working surface is a carpet, when the cleaning robot
detects a carpet 35 in the process of mopping in a first position
34 relative to the ground, the control module controls the lifting
mechanism to lift the mopping module 40 from the first position 34
relative to the ground to a second position 36, to control the
cleaning robot to cross the carpet. When the cleaning robot crosses
the carpet, the mopping module 40 is always in a lifted state, and
when the cleaning robot crosses the carpet, the liquid supply
device stops conveying the liquid to the mopping module, to ensure
that a mop is not dirtied by the floor and the carpet is not wetted
by the mop. After it is detected that the cleaning robot crosses
the carpet, the control module controls the lifting mechanism to
lower the mopping module from the second position 36 to the first
position 34, and the liquid supply device recovers conveying of the
liquid to the mopping module, to ensure that the robot can perform
mopping work normally.
[0135] In another embodiment of this application, when the cleaning
robot is in the wet mopping mode and when the cleaning robot
replaces the mop or the mopping module, the control module limits
the liquid supply device in conveying the liquid to the mopping
module.
[0136] In another embodiment of this application, when it is
detected that the cleaning robot is currently in at least one of
the following mopping conditions, for example, the cleaning robot
is in a dry mopping mode, the cleaning robot returns to the base
station for charging, and the cleaning robot is in a state of
charging, because of a condition that all or part of moving
elements of the mopping robot leaves the ground when the cleaning
robot is picked up by the user or encounters an obstacle and is
lifted, or another condition, the control module may control the
liquid supply device to stop conveying the liquid to the mopping
module.
[0137] In this embodiment of this application, in the wet mopping
process, when it is detected that the abnormal condition or the
lifted state or a condition that part of the elements leaves the
ground is released, for example, an abnormality such as a fault of
the controller is repaired, or the robot returns to the ground, the
control module controls the liquid supply device to recover the
normal liquid supply to the mopping module.
[0138] In this embodiment, the cleaning robot can control,
according to a current mopping condition detected by at least one
sensor that is disposed below, the liquid conveyed by the liquid
supply device to the mopping module, thereby ensuring a mopping
effect.
[0139] In this embodiment of this application, the cleaning robot
may further include a humidity detection device, and the liquid
supply device is controlled, based on a current mopping condition
detected by the humidity detection device, to convey the liquid to
the mopping module. The current mopping condition may include, but
is not limited to, at least one of the following: mop humidity,
ground humidity, environment humidity, and the like. A specific
application scenario is described below.
[0140] In an embodiment, the humidity detection device may include
a mop humidity sensor, and the control module controls, based on
mop humidity detected by the mop humidity sensor, the liquid
conveyed by the liquid supply device. Preferentially, the mop
humidity sensor such as a capacitive sensor and/or a current sensor
may be mounted below the body. The current mopping condition is
monitored by using the mop humidity detected by the mop humidity
sensor and the mop humidity is sent to the control module. The
control module controls, based on the mop humidity detected by the
mop humidity sensor, an amount of liquid conveyed by the liquid
conveying device. Specifically, when the mop humidity is greater
than a preset threshold, the liquid conveying device is controlled
to output a liquid at a rate lower than a current liquid output
rate. Conversely, when the mop humidity is less than the preset
threshold, the liquid conveying device is controlled to output the
liquid at a rate higher than the current liquid output rate. The
preset threshold may be set by the user according to a current
ground condition, and preset thresholds in different regions may be
different.
[0141] In another embodiment, the humidity detection device may
include an environment humidity detection device, and the liquid
conveyed by the liquid supply device may be controlled based on
environment humidity detected by the environment humidity detection
device. The environment humidity detection device may control,
based on the environment humidity detected in a local and/or remote
manner, the liquid conveyed by the liquid supply device. The
environment humidity detection device may be an air humidity sensor
or a humidity measurement instrument mounted on the cleaning robot.
The air humidity sensor or the humidity measurement instrument may
be mounted at a position at a specific distance from a water source
of the cleaning robot, so that a liquid in the cleaning robot is
prevented from affecting a measurement result of the environment
humidity detection device, and environment humidity of the cleaning
robot is detected more accurately, thereby controlling, based on
the detected environment humidity, the liquid conveyed by the
liquid supply device. The cleaning robot may alternatively detect
the environment humidity in a remote manner. In this case, the
cleaning robot gets access to a network in a manner such as a
cellular manner or Wi-Fi, and the cleaning robot receives a weather
condition sent by a server side, and controls, based on the weather
condition, the amount of liquid conveyed by the liquid conveying
device. When the environment humidity is greater than a preset
threshold, the liquid conveying device is controlled to output a
liquid at a rate lower than the current liquid output rate.
Conversely, when the environment humidity is less than the preset
threshold, the liquid conveying device is controlled to output the
liquid at a rate higher than the current liquid output rate. The
preset threshold may be set by the user according to a current
ground condition, and preset thresholds in different regions may be
different.
[0142] In another embodiment, the humidity detection device may
include a ground humidity sensor such as a visual sensor and/or a
radar sensor, and the control module may control, based on ground
humidity detected by the ground humidity sensor, the liquid
conveyed by the liquid supply device, and may update a humidity
value of the region in a mopping APP in real time according to the
detected ground humidity. The ground humidity sensor can control,
based on the detected ground humidity condition or a degree of
dryness, the liquid conveyed by the liquid supply device.
Generally, the cleaning robot may perform mopping according to a
preset moving path. However, for some regions, when the cleaning
robot detects that a ground is relatively dry in the regions, more
liquid may be sprayed or a working time of the cleaning robot may
be increased, and the cleaning robot stops cleaning the regions
when a ground state detected by the ground sensor meets a preset
cleaning requirement; or when the cleaning robot detects that a
ground is relatively wet in some regions, the liquid conveying
device may reduce an amount of conveyed liquid or stop conveying
the liquid. For example, when the cleaning robot passes through the
same region in a short period of time, the liquid conveying device
may be controlled to reduce or stop liquid supply, so that the
liquid is prevented from being wasted or wheels are prevented from
slipping when the robot moves. In a specific application scenario,
after the robot completes the mopping in some regions, when the
robot turns and repeatedly moves to some positions in these
regions, there are excessive liquids on the ground to cause the
robot to slip or waste liquids if the liquid supply continues, so
that when it is detected that the robot repeatedly moves in the
same region within a short period of time, the liquid conveying
device may be controlled to stop liquid supply.
[0143] In an embodiment of this application, the cleaning robot may
further include a ground sensor such as a visual sensor and/or a
radar sensor, a ground state is detected by using the ground
sensor, and the ground state is sent to the control module, so that
the control module can control the liquid conveyed by the liquid
supply device. Specifically, the ground state may include a ground
material or the like. The ground sensor may detect a material such
as a floor or a tile of the working surface. The control module may
control, based on the ground state detected by the ground sensor,
the amount of liquid conveyed by the liquid conveying device to the
mopping module. When the cleaning robot detects that the ground
material is a wood floor, a water output amount of the liquid
conveying device may be controlled, a water supply amount of a mop
is appropriately reduced, and the wood floor may be prevented from
being damaged due to an excessive amount of water. In an
embodiment, the ground sensor includes a visual sensor, and the
control module may determine a material of the working surface
according to a ground image obtained by the visual sensor. In
another embodiment, the ground sensor may include a radar sensor,
and the control module may determine a type of the working surface
according to a detection result of the radar sensor.
[0144] In an embodiment, the cleaning robot may further include a
signal sending device. The signal sending device may send the
current mopping condition (which may include: the mop humidity, the
ground humidity, the environment humidity, or the like) detected by
the humidity detection device or the ground state detected by the
ground sensor to the user. For example, in addition to reading
ground humidity in a current region from a display on the body of
the cleaning robot, the user may further read the ground humidity
in the current region from the mopping APP according to the ground
humidity sent by the signal sending device to the user. When the
user feels that an amount of liquid may be increased or decreased
during mopping, the user may also send a corresponding signal to
the cleaning robot, so that the control module can control, based
on the instruction sent by the user, the liquid conveyed by the
liquid supply device. The liquid supply device in the cleaning
robot is intelligently controlled in the above manner to convey the
liquid to the mopping module, thereby improving the user experience
of the cleaning robot.
[0145] Further, in an embodiment of this application, the cleaning
robot may include a navigation mechanism. The user may specify
regions in the working region map of the cleaning robot formed by
the navigation mechanism and set a liquid condition required by the
cleaning robot in each region, so that the control module can
control, based on the liquid condition, the liquid reservoir to
convey a corresponding liquid in each region, or determine,
according to ground humidity in a current region updated by the
ground humidity sensor in real time, whether a liquid supply
condition of the current region meets a requirement of the user. If
the liquid supply condition does not meet the requirement of the
user, the liquid is continuously supplied, and if the liquid supply
condition meets the requirement of the user, the mopping work on
the current region may be stopped. In this embodiment, the
navigation mechanism may include, but is not limited to, at least
one of the following: an ultrasonic sensor, an optical sensor
(which includes an LDS or the like), a UWB sensor, and an inertial
navigation system.
[0146] In an embodiment of this application, the cleaning robot may
further include a liquid level monitoring device disposed in the
liquid reservoir. In an embodiment, when the liquid level
monitoring device finds that a liquid level in the liquid reservoir
is lower than a preset threshold, a notification message that an
amount of liquid in the cleaning robot is insufficient may be sent
to the user, and the notification message may include a period of
time for which the remaining liquid in the cleaning robot can still
be used at a current liquid output rate. When receiving the
notification message, the user may choose not to respond, may
control the cleaning robot to pause working, or may choose to lower
a liquid output rate, or choose to add a liquid to the cleaning
robot.
[0147] In another embodiment, the cleaning robot may further
include an indication device such as a light emitting indication
device (for example, an LED) or a sounding indication device, and
the indication device may be configured to indicate whether an
amount of liquid in the cleaning robot is sufficient or may be
configured to indicate whether the liquid reservoir is mounted on
the robot. When the amount of liquid is insufficient, the
indication unit may issue a voice message of "Master, The Amount of
Water is Insufficient, Please Add Water". A state in which the
indication device is when the amount of liquid is not lower than
the preset threshold is different from a state in which the
indication device is when the amount of liquid is lower than the
preset threshold, and the user monitors conditions of the liquid
level in the liquid reservoir by observing different states of the
indication device. By reminding the user that the amount of liquid
is insufficient, the defect that a cleaning effect is worsened due
to lack of liquid is prevented, and a mopping effect of the
cleaning robot is improved.
[0148] Further, the cleaning robot may further include at least two
liquid reservoirs, and the at least two liquid reservoirs are
symmetrically disposed on two sides of the body. Different types of
liquids are placed into the two liquid reservoirs respectively, and
the control module controls liquid conveying devices corresponding
to the liquid reservoirs to work synchronously or asynchronously,
thereby cleaning different types of stains. Certainly, the cleaning
robot may further include more than two liquid reservoirs such as
three liquid reservoirs or four liquid reservoirs, and the same
type of liquid or different types of liquids may be placed into the
different liquid reservoirs according to actual needs. This is not
limited in this application.
[0149] The cleaning robot may include a ground sensor such as a
visual sensor, a ground state is detected by using the ground
sensor, and the ground state is sent to the control module, so that
the control module can control an amount of liquid conveyed by each
of the two liquid reservoirs and a type of the liquid. The ground
state may include a ground material and/or a ground stain type. The
ground sensor can control, based on a detected ground material
condition and a condition of whether the ground stain is an oil
stain or dust, the amount of liquid conveyed by each of the two
liquid reservoirs to the mop. The amount of conveyed liquid may be
zero, that is, only one of the liquid reservoirs may be controlled
to be used Generally, the cleaning robot may perform mopping
according to a preset moving path. However, for some regions, when
the cleaning robot detects that a ground is relatively dry in the
regions and has more oil stains, more liquid may be sprayed or a
working time of the cleaning robot may be increased, and the
cleaning robot stops cleaning the regions when a ground state
detected by the ground sensor meets a preset cleaning requirement.
In this embodiment, the liquids conveyed by the two liquid
reservoirs to the mopping module may be respectively controlled,
and the cleaning robot stops cleaning the regions when the ground
state detected by the ground sensor meets the preset cleaning
requirement.
[0150] The cleaning robot may further include a navigation
mechanism. The user may specify regions in the working region map
of the cleaning robot formed by the navigation mechanism, and set a
liquid output amount and a type of liquid required by the cleaning
robot in each region, so that the control module can control, based
on the liquid output amount and the type of liquid, the liquid
conveying device to convey the corresponding amount of liquid and
the type of liquid in each region.
[0151] The cleaning robot may further include a signal sending
device. The signal sending device may send mop humidity detected by
the humidity sensor or a ground state detected by the ground sensor
to the user, and the user may read a current mopping condition in a
display on the body of the cleaning robot or may read a current
mopping condition in the mopping APP. For example, when the user
feels that an amount of liquid may be increased or decreased during
mopping, the user may also send a corresponding signal to the
cleaning robot, so that the control module can control, based on
the instruction from the user, the amount of liquid conveyed by the
liquid conveying device and the type of liquid. The instruction may
be sent by using the mopping APP or may be directly entered by the
user on an interaction interface of the cleaning robot. The mopping
humidity and the type of mopping liquid of the cleaning robot are
intelligently controlled in the above manner, and the user
experience of the cleaning robot is improved. Further, the cleaning
robot may further include liquid level monitoring devices
respectively disposed in the two liquid reservoirs. The liquid
level monitoring devices are configured to monitor whether liquid
levels in the liquid reservoirs are lower than a preset threshold,
and the cleaning robot may also include indication devices that
respectively correspond to the two liquid level monitoring devices
and that are used for indicating liquid level conditions.
[0152] The following descriptions are made respectively by using
specific embodiments of two liquid reservoirs.
[0153] Each of FIG. 5 and FIG. 6 shows a condition that there are
two liquid reservoirs. It should be noted that the "first" and
"second" in front of various devices in this application are
intended to distinguish the two devices as different devices and do
not have other special meanings. For example, a first hose and a
second hose in the following are both hoses, but are two different
hoses. Meanwhile, only two liquid reservoirs are used as an example
for description in this application. More than two liquid
reservoirs may be alternatively used, and the principle is the
same. Details are not described in this application again.
[0154] FIG. 5 shows a condition of two liquid conveying devices and
two liquid reservoirs. A first liquid reservoir 511 is connected to
a first liquid conveying device 501 by a first hose 521, a second
liquid reservoir 512 is connected to a second liquid conveying
device 502 by a second hose 522, the first liquid conveying device
501 and the second liquid conveying device 502 are electrically
connected to the control module respectively, and the control
module may select, based on a current mopping requirement, the
first liquid conveying device 501 or the second liquid conveying
device 502 to simultaneously or separately convey liquid to a mop,
or may select an amount of liquid simultaneously or separately
conveyed by the first liquid conveying device 501 or the second
liquid conveying device 502 to a mop, thereby ensuring a mopping
effect. For example, clean water is stored in the first liquid
reservoir 511, a cleaning solution is stored in the second liquid
reservoir 512, the control module controls the first liquid
conveying device 501 to work when the ground sensor detects that
only dust exists on the ground, and the first liquid reservoir 511
conveys the clean water to the first liquid conveying device 501 by
using the first hose 521, so that the first liquid conveying device
501 conveys the clean water to the mop, to remove the dust on the
ground by using the clean water. When the ground sensor detects
that an oil stain further exists on the ground, the control module
controls the first liquid conveying device 501 to work and
meanwhile also controls the second liquid conveying device 502 to
work, that is, the first liquid reservoir 511 conveys the clean
water to the first liquid conveying device 501 by using the first
hose 521, and meanwhile the second liquid reservoir 512 also
conveys the cleaning solution to the second liquid conveying device
502 by using the second hose 522, so that the second liquid
conveying device 502 conveys the cleaning solution to the mop.
Because a concentration of the cleaning solution is relatively
high, a working time of the second liquid conveying device 502 may
be controlled to be less than a specific preset threshold. When
clean water mixed with the cleaning solution at a suitable
concentration has been adjusted is stored in the second liquid
reservoir 512, and when the ground sensor detects that the oil
stain still exists on the ground, only the second liquid conveying
device 502 may be controlled to work, to remove the oil stain on
the ground by using the clean water mixed with the cleaning
solution at the suitable concentration has been adjusted. When the
humidity detection device detects that mop humidity is greater than
a preset threshold, the first liquid reservoir 511 is controlled to
output the clean water at a rate lower than a current liquid output
rate. When the user labels a region that needs to be cleaned with
the cleaning solution for a plurality of times on the map formed
for the robot, the cleaning robot repeatedly cleans the region.
When the ground sensor detects that there are more oil stains on a
region, the cleaning robot may repeatedly clean the region.
[0155] FIG. 6 shows a condition of a single liquid conveying device
and two liquid reservoirs. A third liquid reservoir 513 is
connected to a third liquid conveying device 503 by a third hose
523, and a fourth liquid reservoir 514 is connected to the third
liquid conveying device 503 by a fourth hose 524. In one case, a
first valve 531 is mounted only on the fourth hose 524, the first
valve 531 is opened and closed under the control of the control
module, a liquid in the fourth liquid reservoir 514 is controlled
to flow to the third liquid conveying device 503, and the control
module selects, based on a current mopping requirement, whether to
open the first valve 531. For example, clean water is stored in the
third liquid reservoir 513, a cleaning solution is stored in the
fourth liquid reservoir 514, the control module controls the third
liquid conveying device 503 to work when the ground sensor detects
that only dust exists on the ground, and the third liquid reservoir
513 conveys the clean water to the third liquid conveying device
503 by using the third hose 523. When the ground sensor detects
that an oil stain further exists on the ground, the control module
controls the first valve 531 to be opened, to control the cleaning
solution stored in the fourth liquid reservoir 514 to flow to the
third liquid conveying device 503, that is, the third liquid
reservoir 513 conveys the clean water to the third liquid conveying
device 503 by using the third hose 523, and meanwhile the fourth
liquid reservoir 514 also conveys the cleaning solution to the
third liquid conveying device 503 by using the fourth hose 524, so
that the third liquid conveying device 503 conveys the clean water
containing the cleaning solution to a mop. Because a concentration
of the cleaning solution is relatively high, a working time of the
first valve may be controlled to be less than a specific preset
threshold, thereby cleaning different types of stains. In another
case, the first valve 531 is mounted on the fourth hose 524, and
similar to the first valve 531, a second valve (not shown in the
figure) is mounted on the third hose 523. The first valve 531 and
the second valve are opened and closed under the control of the
control module, to control liquids in the fourth liquid reservoir
514 and the third liquid reservoir 513 to flow to the third liquid
conveying device 503, and the control module selects, based on a
current mopping requirement, whether to open the first valve 531
and the second valve (not shown in the figure). For example, the
clean water is stored in the third liquid reservoir 513, and clean
water mixed with the cleaning solution at a suitable concentration
has been adjusted is stored in the fourth liquid reservoir 514.
When the ground sensor detects that only the dust exists on the
ground, the control module controls only the second valve (not
shown in the figure) to be opened, to control the third liquid
conveying device 503 to work, and the third liquid reservoir 513
conveys the clean water to the third liquid conveying device 503 by
using the third hose 523, to remove the dust on the ground by using
the clean water. When the ground sensor detects that the oil stain
further exists on the ground, the control module controls the first
valve 531 to be opened, to control the clean water mixed with the
cleaning solution at the suitable concentration has been adjusted
and that is stored in the fourth liquid reservoir 514 to flow to
the third liquid conveying device 503, that is, the fourth liquid
reservoir 514 conveys, by using the fourth hose 524, the clean
water mixed with the cleaning solution at the suitable
concentration has been adjusted to the third liquid conveying
device 503, to remove the oil stain on the ground by mopping by
using the liquid, thereby cleaning different types of stains.
[0156] The foregoing embodiments only show several implementations
of the present disclosure and are described in detail, but they
should not be construed as a limit to the patent scope of the
present disclosure. It should be noted that a person of ordinary
skill in the art may further be make several variations and
improvements without departing from the concept of the present
disclosure, and these variations and improvements all fall within
the protection scope of the present disclosure. Therefore, the
protection scope of the patent of the present disclosure shall be
topic to the appended claims.
* * * * *