CN-121987106-A - Control method and main control chip of floor mopping robot

CN121987106ACN 121987106 ACN121987106 ACN 121987106ACN-121987106-A

Abstract

The application discloses a control method and a main control chip of a mopping robot, and belongs to the field of intelligent cleaning robots. Through the control method, the robot can analyze the current weather condition after finishing mop cleaning, and is beneficial to airing the mop by sunlight when the weather is sunny, so that the energy consumed by a base station for drying the mop can be saved, the energy saving and emission reduction effects are achieved, and the intelligent level and the practicability of the robot are further improved.

Inventors

HUANG TAIMING
XU DENGKE

Assignees

珠海一微科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20241031

Claims (10)

1. A control method of a floor mopping robot provided with a turnover mechanism capable of turning a mop from a bottom of a body to a top of the body and turning the mop from the top of the body to the bottom of the body, characterized by comprising: Step S1, after finishing mop cleaning, the robot judges whether the current weather belongs to a sunny day according to weather information, and enters step S2 under the condition that the current weather belongs to the sunny day; step S2, the robot navigates to the airing area corresponding to the airing time identical to the current time according to pre-stored map information marked with the airing area and the airing time and by combining the current time, and then enters step S3; And S3, after the robot reaches the airing area, judging whether the current brightness reaches a preset brightness value, and turning over the mop to the top of the machine body to airing the mop when the current brightness reaches the preset brightness value.
2. The control method according to claim 1, wherein the step S1 of determining whether the current weather belongs to a sunny day according to the weather information specifically includes the steps of: Step S11, the robot is connected to a cloud server through a network communication module configured by the robot; Step S12, the robot sends the ID number of the robot and a request signal for acquiring current weather information to a cloud server, and the cloud server determines the area of the robot according to the ID number, inquires weather information corresponding to the area and transmits the weather information to the robot; Step S13, the robot receives weather information, analyzes whether the weather information contains sunny day information, if so, determines that the current weather belongs to sunny days, and otherwise, determines that the current weather does not belong to sunny days.
3. The control method according to claim 2, characterized in that: The cloud server can be in communication connection with the intelligent terminal of the user, and receives and stores the robot ID number and address information sent by the intelligent terminal; the cloud server maps and associates the robot ID number with the address information; wherein the address information includes area information.
4. The control method according to claim 1, wherein the map information marked with the airing area in step S2 is obtained by a robot by: The robot traverses the current indoor ground and constructs and forms a map in the traversing process; The robot sends the map to the intelligent terminal of the user; The intelligent terminal receives touch information of a set airing area, marks the selected area in the map as the airing area according to the touch information, and maps and associates different airing areas with different input airing time; The intelligent terminal sends map information containing the airing area and the airing time to the robot; The robot receives and stores the map information.
5. The control method according to claim 4, wherein the navigating to the airing area corresponding to the same airing time as the current time in step S2 includes the following steps: step S21, the robot obtains the current time according to the self-configured clock circuit module, and the step S22 is entered; step S22, the robot judges whether the current time is the same as the airing time, if so, the step S23 is entered, otherwise, the robot starts a fan module of a base station to air-dry the mop; Step S23, the robot determines the central position of the airing area corresponding to the airing time identical to the current time in the map, and the step S24 is entered; And S24, the robot takes the central position as an end point, adopts a path navigation algorithm to determine a navigation path, and moves to a airing area according to the navigation path.
6. The control method according to claim 1, wherein the step S3 of determining whether the current brightness reaches the preset brightness value, and turning the mop to the top of the machine body to dry the mop when the current brightness reaches the preset brightness value, specifically comprises the steps of: The robot detects based on a photoresistor sensor configured by the robot, judges whether the currently detected brightness is larger than or equal to a preset brightness value, if so, the robot stops moving and turns the mop to the top of the machine body to dry the mop, if not, the robot gradually and outwards moves in a spiral manner by taking the current position as a spiral inner point according to a spiral track, and if the detected brightness is larger than or equal to the preset brightness value in the moving process, the movement is stopped and the mop is turned to the top of the machine body to dry the mop.
7. The control method according to claim 6, wherein the robot gradually spirals outward according to the spiral trajectory, further comprising the steps of: The robot judges whether the distance from the spiral inner point to the current position reaches a preset distance or not in real time, and if the robot moves to reach the preset distance and the detected brightness is always smaller than a preset brightness value, the robot searches whether another airing area corresponding to the airing time which is the same as the current time exists or not; If so, the robot navigates to the airing area closest to the current position, and then the step S3 is continuously executed; if not, the robot returns to the base station, and a fan module of the base station is started to air-dry the mop.
8. The control method according to claim 7, wherein when the robot navigates to the airing area nearest to the current location, further comprising the steps of: The robot marks the previously reached airing area as an undetermined area, and excludes the undetermined area from the range of the robot searching the airing area.
9. The control method according to claim 8, wherein the robot marks the sunning area that has been reached before as a sunless area, further comprising the steps of: The robot sends map information marked with the pending areas to the intelligent terminal of the user; the intelligent terminal receives touch information of a user, deletes a mark of the undetermined area or restores the undetermined area to be a sunning area, and sends modified map information to the robot; The robot receives the modified map information and updates the original map information.
10. A main control chip assembled in an electric control system of a floor mopping robot, wherein the main control chip is used for controlling the robot to execute the control method of the floor mopping robot according to any one of claims 1 to 9.

Description

Control method and main control chip of floor mopping robot Technical Field The application relates to the field of cleaning robots, in particular to a control method of a mopping robot. Background The mopping robot is also called as an intelligent cleaning robot, and is intelligent equipment capable of automatically walking and automatically mopping indoor household ground dust and dirt. The system adopts various sensing technologies and intelligent algorithms, can autonomously sense the surrounding environment, plan a cleaning path, autonomously clean and the like. For example, a chinese patent with patent application number CN202111116262.0 discloses a method for mopping a floor by a robot, where the robot walks according to a set track, so that the mopping efficiency can be effectively improved. At present, a plurality of mopping robots are provided with base stations which can clean and dry mopping cloth of the robots, but the base stations need to use a fan and a heating module with relatively high power, so that more electric energy is consumed for drying the mopping cloth, and energy conservation and emission reduction are not utilized. Disclosure of Invention The application provides a control method and a main control chip of a mopping robot, which can intelligently utilize sunlight to dry mopping cloth to achieve the effects of energy conservation and emission reduction. A control method of a mopping robot is provided with a turnover mechanism capable of turning a mop from the bottom of a machine body to the top of the machine body and turning the mop from the top of the machine body to the bottom of the machine body, and specifically comprises the following steps of S1, judging whether the current weather belongs to a sunny day according to weather information after the robot finishes cleaning the mop, entering step S2 when the current weather belongs to the sunny day, S2, navigating to a sunning area corresponding to the sunning time which is the same as the current time according to pre-stored map information marked with the sunning area and the sunning time, entering step S3, and judging whether the current brightness reaches a preset brightness value after the robot reaches the sunning area, and turning the mop to the top of the machine body to dry the mop when the current brightness reaches the preset brightness value. The method comprises the steps of step S11, wherein a robot is connected to a cloud server through a network communication module configured by the robot, step S12, the robot sends an ID number of the robot and a request signal for obtaining the current weather information to the cloud server, the cloud server determines an area where the robot is located according to the ID number, inquires weather information corresponding to the area where the robot is located and transmits the weather information to the robot, step S13, the robot receives the weather information, analyzes whether the weather information contains the sunny information, if yes, determines that the current weather belongs to the sunny day, and otherwise determines that the current weather does not belong to the sunny day. Further, the cloud server can be in communication connection with the intelligent terminal of the user, receives and stores the robot ID number and the address information sent by the intelligent terminal, and maps and associates the robot ID number with the address information, wherein the address information comprises area information. Further, map information marked with the airing areas in the step S2 is obtained by the robot through the following steps that the robot traverses the current indoor ground and builds a map in the traversing process, the robot sends the map to an intelligent terminal of a user, the intelligent terminal receives touch information of the airing areas, marks selected areas in the map as the airing areas according to the touch information, maps and associates different airing areas with different input airing times, the intelligent terminal sends map information containing the airing areas and the airing times to the robot, and the robot receives and stores the map information. Further, the step S2 is combined with the current time to navigate to a drying area corresponding to the drying time identical to the current time, and specifically comprises the following steps of S21, obtaining the current time by a robot according to a clock circuit module configured by the robot, entering into S22, judging whether the current time is identical to the drying time by the robot, entering into S23 if yes, otherwise, starting a fan module of a base station to air-dry a mop by the robot, S23, determining the central position of the drying area corresponding to the drying time identical to the current time in a map by the robot, entering into S24, determining a navigation path by adopting a path navigation algorithm by taking the central position as an end point, and moving