CN-115530687-B - Cleaning robot and cloth changing and controlling method thereof

CN115530687BCN 115530687 BCN115530687 BCN 115530687BCN-115530687-B

Abstract

The application relates to a cloth changing method of a cleaning robot, which comprises the steps of receiving an input cloth changing instruction, entering a cloth changing program, reading mileage information of a mop, movably arranging a plurality of mops on the cleaning robot, judging state information of the mop based on the mileage information of the mop, driving the mop to move to a cloth changing position based on the state information of the mop, changing the mop and resetting the mileage information of the mop. By adopting the technical scheme, the longer the cleaning mileage of the mop on the working floor is, the dirty the mop is. The cleaning robot can judge the mop status by comparing the mileage information of the mop, thereby determining the time for changing the mop, realizing the automatic recognition of the mop status and judging whether the mop needs to be changed.

Inventors

ZHAO BIN
LIU ZHONGYIN
HUANG RIXING

Assignees

深圳市云洁科技有限公司

Dates

Publication Date: 20260505
Application Date: 20221107

Claims (6)

1. A cloth changing method of a cleaning robot, comprising: Receiving an input cloth changing instruction and entering a cloth changing program; reading mileage information of a mop, wherein a plurality of mops are movably arranged on the cleaning robot; judging state information of the mop based on mileage information of the mop; driving the mop to move to a cloth changing position based on the state information of the mop; changing the mop and resetting mileage information of the mop; The step of judging the status information of the mop based on the mileage information of the mop specifically comprises the following steps: Displaying mileage information of the mop; setting a mileage threshold value of the mop based on mileage information of the mop; Judging whether the mop is in a state to be replaced or not based on a mileage threshold value of the mop; The mileage threshold comprises a plurality of mileage thresholds which are respectively used for distinguishing different states of the mop; after said resetting the mileage information of said mop, further comprising: Displaying state information of the rest mop; judging whether to continue to move and replace the residual mop based on the state information of the residual mop; The step of driving the mop to move to the cloth changing position specifically comprises the following steps: displaying position information of the mop to be replaced; arranging the replacement sequence of the mops based on the position information of the mops to be replaced; And moving the mop to be replaced to a cloth replacing position based on the replacement sequence of the mop.
2. A cloth changing method of a cleaning robot according to claim 1, characterized in that in the step of calculating the changing sequence of the mops, if there is a mop that does not need to be changed, movement is continued to move the next mop to be changed to the cloth changing position.
3. A control method of a cleaning robot, comprising: initializing a system; Initial positioning matching, namely positioning the position of the cleaning robot in the environment by using a SLAM algorithm; selecting a task, waiting for an input instruction, and executing the cloth changing method of the cleaning robot according to any one of claims 1 to 2 when the cloth changing instruction is received; when a cleaning instruction is received, executing a cleaning method; and after the cleaning method is executed, waiting for a new input instruction.
4. A control method of a cleaning robot according to claim 3, characterized in that the cleaning method comprises a dry-mopping mode, a wet-mopping mode and a sweeping mode, the mop (10A) in each mode having a corresponding criterion for judging the status.
5. A cleaning robot having an automatic cloth changing function, comprising: the first cleaning mechanism (10) comprises a mop (10A), a conveying base band (10B) and a lifting push rod (10C), wherein the mop (10A) is detachably arranged on the conveying base band (10B), and the conveying base band (10B) can rotate to drive the mop (10A) to change positions; A second cleaning mechanism (20) comprising an edge brush (20A), a middle brush (20B) and a dustbin (20C), wherein the edge brush (20A) is used for gathering garbage to the vicinity of the middle brush (20B), and the middle brush (20B) is used for sweeping the garbage into the dustbin (20C); a travelling mechanism (30) for carrying and driving the cleaning mechanism and the cloth changing mechanism to move, and -A control mechanism (40) communicatively connected to the first cleaning mechanism (10), the second cleaning mechanism (20) and the travelling mechanism (30), the control mechanism (40) controlling the first cleaning mechanism (10) to execute the control method of the cleaning robot as claimed in claim 3 or 4.
6. The cleaning robot according to claim 5, wherein the control mechanism (40) includes a power module for converting a voltage and supplying power to the communication module, a communication module for receiving an input instruction and instructing the execution module to drive the first cleaning mechanism (10), the second cleaning mechanism (20), and the traveling mechanism (30) to execute according to the input instruction.

Description

Cleaning robot and cloth changing and controlling method thereof Technical Field The application relates to the technical field of robots, in particular to a cleaning robot and a cloth changing and controlling method thereof. Background With the development of intelligent robot technology, simple and repetitive work such as cleaning the floor can improve functional efficiency and reduce costs by using a floor mopping robot instead of a human. The cleaning robot is provided with a cleaning mop which is in direct contact with the ground to clean dirt, and the cleaning mop becomes dirty after being used for a period of time, and the cleaning mop needs to be replaced at the moment so as to keep the cleaning effect of the cleaning robot. In the prior art, a cloth changing program of the cleaning robot lacks a target for judging cloth changing, so that the cloth changing time is difficult to judge, and the actual cloth changing often only depends on the perceptual cognition of a user on the cleaning robot. Disclosure of Invention Accordingly, it is necessary to provide a cloth changing method for a cleaning robot, which is directed to the problem that the cleaning robot cannot recognize the cloth changing. A cloth changing method of a cleaning robot, comprising: Receiving an input cloth changing instruction and entering a cloth changing program; reading mileage information of a mop, wherein a plurality of mops are movably arranged on the cleaning robot; judging state information of the mop based on mileage information of the mop; driving the mop to move to a cloth changing position based on the state information of the mop; and replacing the mop and resetting mileage information of the mop. By adopting the technical scheme, the longer the cleaning mileage of the mop on the working floor is, the dirty the mop is. The cleaning robot can judge the mop status by comparing the mileage information of the mop, thereby determining the time for changing the mop, realizing the automatic recognition of the mop status and judging whether the mop needs to be changed. In one embodiment, the step of determining the status information of the mop based on the mileage information of the mop specifically includes: Displaying mileage information of the mop; setting a mileage threshold value of the mop based on mileage information of the mop; And judging whether the mop is in a state to be replaced or not based on the mileage threshold value of the mop. By adopting the technical scheme, the mileage threshold value of mop replacement is set, when the mileage information of the mop is smaller than the threshold value, the mop is judged to be not required to be replaced, and cleaning work can be continued, and when the mileage information of the mop is larger than the threshold value, the mop is judged to be required to be replaced, so that a user is prompted to replace the mop when a next cloth replacement instruction is input. In one embodiment, the mileage threshold includes a plurality of thresholds for distinguishing different states of the mop. Through adopting above-mentioned technical scheme, through a plurality of different mileage threshold values, can distinguish the mop into different states, set up higher change priority with the great mop of clean mileage, set up lower change priority with the less mop of clean mileage to rationally change the mop, all mops on the maintenance cleaning robot all have sufficient cleaning capacity. In one embodiment, after the resetting the mileage information of the mop, the method further comprises: Displaying state information of the rest mop; and judging whether to continue moving and replacing the residual mop based on the state information of the residual mop. By adopting the technical scheme, after the user finishes replacing one mop, in order to avoid the user from confusing the replaced mop, the mop to be replaced and the mop which does not need to be replaced, the status information of all the remaining mops is displayed, and the user can determine whether to continue to replace the mops according to the status information. In one embodiment, the step of driving the mop to move to the cloth changing position specifically comprises the following steps: displaying position information of the mop to be replaced; arranging the replacement sequence of the mops based on the position information of the mops to be replaced; And moving the mop to be replaced to a cloth replacing position based on the moving track of the mop. Through adopting above-mentioned technical scheme, when there is the polylith mop to need change simultaneously, based on the relative position of mop and change cloth position, the change order of mop is arranged to intelligence for the mop can be in proper order in the removal direction and change the cloth operation, avoids because change cloth order and removal direction confusion leads to the maloperation. In one embodiment, in the step of calculating the movement t