CN110811448A

CN110811448A - Automatic disassembly and assembly method of mopping module of sweeping robot, sweeping robot and base

Info

Publication number: CN110811448A
Application number: CN201911097376.8A
Authority: CN
Inventors: 段属光
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-04
Filing date: 2019-11-04
Publication date: 2020-02-21

Abstract

The invention provides an automatic disassembly and assembly method of a floor-sweeping robot floor-mopping module, a floor-sweeping robot and a base, comprising the following steps: controlling the sweeping robot to move from the current position to a first position, wherein the first position is positioned on a vertical line vertical to the front surface of the base; the floor sweeping robot is controlled to move to a second position from a first position to the front direction of the base along a vertical line, and the second position is a position where a clamping part, a floor mopping module and the floor sweeping robot on the base are in fit butt joint; the clamping component on the base clamps the floor mopping module and clamps or releases the clamping action and loosens or does not execute the clamping action, and the locking mechanism releases or executes the locking of the floor mopping module and the sweeping robot; and controlling the sweeping robot to move from the second position to the first position along the vertical line and then to execute the next working instruction. Different areas can be cleaned in different cleaning modes through automatic disassembly and assembly of the mopping module, and the intellectualization of the sweeping robot is improved.

Description

Automatic disassembly and assembly method of mopping module of sweeping robot, sweeping robot and base

Technical Field

The invention relates to an intelligent home technology, in particular to an automatic disassembling and assembling method for a floor sweeping module of a floor sweeping robot, the floor sweeping robot and a base.

Background

Along with the increasing living standard of people, liberation both hands makes people's enjoyment life become people's general demand better, and the appearance of robot of sweeping the floor becomes a very popular intelligent house product because of it can accomplish functions such as sweeping the floor, mopping the floor automatically under the circumstances of nobody participates in.

In the related art, the sweeping robot can realize a sweeping mode of sweeping only or mopping only or sweeping and mopping integrally, but when different sweeping modes are selected for different areas, the sweeping robot needs to manually disassemble and assemble the mopping module, for example: the floor mopping forbidden zone is set for the carpet area through a mobile phone APP or the carpet is identified through a sensor, so that the carpet area is not cleaned in a floor mopping or sweeping and mopping integrated cleaning mode, and the floor can be swept only after the floor mopping module is manually disassembled; the following steps are repeated: in one cleaning process, when a user demands that a bedroom is cleaned in a floor sweeping mode, and a living room is cleaned in a floor sweeping or sweeping and sweeping integrated mode, after the floor sweeping robot finishes bedroom cleaning, the floor sweeping robot can clean the living room after a floor sweeping module is installed manually by the user, and therefore when different cleaning modes are selected in different areas, the floor sweeping module needs to be disassembled and assembled manually by the user repeatedly.

Disclosure of Invention

In view of the above problems, the invention provides an automatic dismounting method for a floor sweeping robot and a floor mopping module, a floor sweeping robot and a base, which are used for overcoming the problems that in the prior art, under an unmanned scene, the floor sweeping robot can only adopt one cleaning mode in each cleaning task and can not automatically realize different cleaning modes in different regions, and if different cleaning modes are selected in different regions, a user needs to manually and repeatedly dismount the floor mopping module.

In a first aspect, the present invention provides an automatic disassembling and assembling method for a floor sweeping robot floor mopping module, including:

controlling the sweeping robot to move from the current position to a first position, wherein the first position is positioned on a vertical line vertical to the front surface of the base;

the floor sweeping robot is controlled to move to a second position from a first position to the front direction of the base along a vertical line, the second position is a position where a clamping part, a floor mopping module and the floor sweeping robot on the base are in fit butt joint, and the second position is located between the first position and the base;

the clamping component on the base clamps the floor mopping module, and the locking mechanism unlocks the floor mopping module and the sweeping robot; or the clamping component on the base releases the clamping action on the floor mopping module and loosens the floor mopping module or does not execute the clamping action, and the locking mechanism executes the locking of the floor mopping module and the sweeping robot;

and controlling the sweeping robot to move from the second position to the first position along the vertical line, and executing a next working instruction after the sweeping robot moves to the floor mopping module clamped by the clamping component or the position where the sweeping robot does not interfere with the clamping component.

With reference to the first aspect, in a first possible implementation manner, the sweeping robot is controlled to move from the second position along the vertical line to the first position, and after moving to the position where the sweeping robot is clamped by the clamping component or the position where the sweeping robot does not interfere with the clamping component, the next step of executing the work instruction is replaced with:

and the base controls to switch the clamping part from the second position to the initial position and then execute a next working instruction, wherein the initial position is a position where the clamping part is far away from the second position and the first position and does not interfere with the floor sweeping robot, namely a position where the floor mopping module can be placed on the base.

With reference to any one implementation manner of the first aspect to the first possible implementation manner, in a second possible implementation manner, before or after the control floor sweeping robot moves from the first position to the second position along the vertical line in the front direction of the base, the control floor sweeping robot further includes:

the base controls switching of the gripping member from the initial position to the second position.

With reference to the first aspect, in a third possible implementation manner, the controlling the sweeping robot to move from the second position to the first position along the vertical line, and after the sweeping robot moves to the mopping module clamped by the clamping component or a position where the sweeping robot does not interfere with the clamping component, the method further includes:

the base controls the clamping part to be switched from the second position to the initial position, and the initial position is a position where the clamping part is far away from the second position and the first position and does not interfere with the floor sweeping robot, namely the position where the floor mopping module can be placed on the base.

With reference to any one implementation manner of the first aspect to the first possible implementation manner, in a fourth possible implementation manner, before the controlling the sweeping robot moves from the current position to the first position, the method further includes:

generating instruction information for disassembling or assembling the mopping module;

acquiring current position information of the sweeping robot and a base;

a first position coordinate on a vertical line perpendicular to the front surface of the base is determined.

With reference to any one implementation manner of the first aspect to the first possible implementation manner, in a fifth possible implementation manner, the sweeping robot communicates with the base through a wireless connection, where the wireless connection includes but is not limited to a wireless network, bluetooth, an infrared remote control, and the like.

In a second aspect, the present invention provides a sweeping robot, comprising:

the control module is used for controlling the sweeping robot to move from the current position to a first position, and the first position is positioned on a vertical line vertical to the front surface of the base;

the control module is also used for controlling the sweeping robot to move to a second position from a first position to the front direction of the base along a vertical line, the second position is a position where the clamping component on the base, the mopping module and the sweeping robot are in fit butt joint, and the second position is located between the first position and the base;

and the control module is also used for controlling the sweeping robot to move from the second position to the first position along the vertical line, and executing a next working instruction after the sweeping robot moves to the floor mopping module clamped by the clamping component or the position which does not interfere with the clamping component.

With reference to the second aspect, in a first possible implementation manner, the control module controls the sweeping robot to move from the second position along the vertical line toward the first position, and after the sweeping robot moves to the position where the sweeping module is clamped by the clamping component or the position where the sweeping robot does not interfere with the clamping component, the next step of executing the work instruction is replaced with:

With reference to any one implementation manner of the second aspect to the first possible implementation manner, in a second possible implementation manner, before the control module controls the sweeping robot to move from the current position to the first position, the method further includes:

the processing module is used for generating instruction information for disassembling or assembling the mopping module;

the acquisition module is used for acquiring the current position information of the sweeping robot and the base;

and the processing module is also used for determining a first position coordinate on a vertical line vertical to the front surface of the base.

With reference to any one implementation manner of the second aspect to the first possible implementation manner, in a third possible implementation manner, the wireless communication module is configured to communicate with the base through wireless connection, and the wireless communication module includes, but is not limited to, a wireless network module, a bluetooth module, an infrared remote control module, and the like.

In a third aspect, the present invention provides a base comprising:

the device comprises a base and an alignment signal transmitting device, wherein at least one clamping component for clamping the mopping module is arranged on the base; the clamping component at least comprises a clamping block and a driving mechanism; the clamping block has a first position and a second position, and is configured to be switchable between the first position and the second position; when in the first position, the clamping block does not clamp the mopping module; when the mop is at the second position, the clamping block clamps the mop module; the clamping component is provided with a driving mechanism for driving the clamping block to switch between a first position and a second position.

With reference to the third aspect, in a first possible implementation manner, a connecting part is disposed between the clamping part and the base, wherein one end of the connecting part is connected to the base, and the other end of the connecting part is connected to the clamping part; the connecting member has a first position and a second position, the connecting member being arranged to be switchable between the first position and the second position; when the floor sweeping robot is in the first position, the clamping part arranged on the connecting part is far away from the position where the clamping part, the floor mopping module and the floor sweeping robot are in fit butt joint; when the floor sweeping robot is in the second position, the clamping part arranged on the connecting part is in a position where the clamping part, the floor mopping module and the floor sweeping robot are in fit butt joint; the base is provided with a driving mechanism for driving the connecting part to switch between the first position and the second position.

With reference to any one implementation manner of the third aspect to the first possible implementation manner, in a second possible implementation manner, a clamping block provided on the clamping component may be in butt joint with an unlocking button of a locking mechanism provided on the mopping module in a matching manner; when the clamping block is at the first position, the unlocking button of the floor mopping module is not clamped, and the locking mechanism does not release the locking between the floor mopping module and the sweeping robot; when the clamping block is at the second position, the unlocking button of the floor mopping module is clamped, and the locking mechanism releases the locking between the floor mopping module and the floor sweeping robot.

With reference to any one implementation manner of the third aspect to the first possible implementation manner, in a third possible implementation manner, a charging electrode matched with a charging terminal of the sweeping robot is provided on the base.

With reference to the third aspect, in a fourth possible implementation manner, the clamping component is slidably connected with the base through a sliding mechanism, and the sliding mechanism is provided with an elastic element.

With reference to the first possible implementation manner, in a fifth possible implementation manner, the other end of the connecting component is slidably connected with the clamping component through a sliding mechanism, and the sliding mechanism is provided with an elastic element.

With reference to any one implementation manner of the third aspect to the first possible implementation manner, in a sixth possible implementation manner, a positioning component capable of positioning the mopping module is arranged on the clamping component, and the positioning component is in a Y shape.

With reference to any one implementation manner of the third aspect to the first possible implementation manner, in a seventh possible implementation manner, a wireless communication module capable of wirelessly connecting and communicating with the sweeping robot is disposed on the base, and the wireless communication module includes, but is not limited to, a wireless network module, a bluetooth module, an infrared remote control module, and the like.

Compared with the prior art, the invention has the following advantages and positive effects:

according to the automatic disassembly and assembly method for the floor sweeping robot and the base, the floor sweeping module can be disassembled and assembled automatically, so that different areas in a sweeping task can be swept in different sweeping modes, the situation that the floor sweeping robot can only adopt one sweeping mode in each sweeping task and cannot realize different sweeping modes in different areas under an unmanned scene is avoided, user experience is influenced, and automation and intellectualization of the floor sweeping robot cannot be realized completely.

In the prior art, the sweeping robot returns to the charging seat after the sweeping mode is finished, if the sweeping module is not manually disassembled, the wet mop can be always contacted with the floor, if the floor is a wood floor, the wood floor is easily damaged, and if the weather is hot, the mop is easily mildewed and bacteria are bred; after the cleaning task is finished, the base can automatically detach the mopping module from the sweeping robot and place the mopping module on the base, so that the problems are avoided, and a user can conveniently take the mopping module; in the prior art, if a user appoints to execute a mopping mode or a sweeping and mopping integrated cleaning mode, a mopping module needs to be installed in advance, and the problems also exist before cleaning is started; the invention automatically installs the mopping module when cleaning is started, can avoid the problems, and simultaneously can save the step of manually dismounting the mopping module by a user, thereby really realizing automation.

The invention does not change the structural appearance and the volume of the existing sweeping robot, and the sold traditional sweeping robot can realize the functions by matching the base and upgrading the firmware of the method.

Drawings

The invention is further described below with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of an embodiment of a method for automatically dismounting and mounting a floor-sweeping module of a floor-sweeping robot according to the present invention;

FIG. 2 is a schematic view of a base and floor module of the present invention;

FIG. 3 is a cross-sectional structural view of a base and floor module of the present invention;

fig. 4 is a schematic view of an automatic disassembly scene of a floor sweeping module of the floor sweeping robot according to the present invention;

fig. 5 is a schematic view of an automatic installation scene of a floor sweeping module of the sweeping robot according to the present invention;

FIG. 6 is a schematic structural view of another base and floor module of the present invention;

fig. 7 is a schematic view of an automatic disassembly scene of a mopping module of another sweeping robot according to the present invention;

fig. 8 is a schematic view of an automatic installation scenario of a mopping module of another sweeping robot according to the present invention;

FIG. 9 is a schematic view of another base of the present invention;

FIG. 10 is a schematic cross-sectional view of another alternative base of the present invention;

fig. 11 is a schematic view of an automatic disassembly scene of a mopping module of another sweeping robot according to the present invention;

fig. 12 is a schematic view of an automatic installation scenario of a mopping module of another sweeping robot according to the present invention;

fig. 13 is a schematic view of an automatic disassembly scene of a mopping module of another sweeping robot according to the present invention;

fig. 14 is a schematic view of an automatic installation scenario of a mopping module of another sweeping robot according to the present invention;

fig. 15 is a schematic view of a floor sweeping module dismounting path of the floor sweeping robot of the present invention;

fig. 16 is a schematic view of a floor-sweeping module dismounting path of another floor-sweeping robot of the present invention;

fig. 17 is a schematic structural diagram of the sweeping robot of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first," "second," "third," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

In the embodiment of the invention, different areas in each cleaning task are cleaned in different cleaning modes by automatically disassembling and assembling the mopping module, the problem that the sweeping robot cannot realize different cleaning modes according to the areas is solved, and the intellectualization of the sweeping robot is improved.

Fig. 1 is a schematic flow chart of an embodiment of a method for automatically dismounting and mounting a floor-sweeping module of a floor-sweeping robot according to the present invention, where the embodiment is executed by the floor-sweeping robot and a base, and the method of the embodiment includes:

and S100, controlling the sweeping robot to move to a first position from the current position, wherein the first position is positioned on a vertical line vertical to the front surface of the base.

Fig. 2 is a schematic structural view of a base and a floor-sweeping module according to the present invention, fig. 6 is a schematic structural view of another base and a floor-sweeping module according to the present invention, fig. 9 is a schematic structural view of another base according to the present invention, fig. 15 is a schematic structural view of a floor-sweeping robot floor-sweeping module according to the present invention, fig. 16 is a schematic structural view of a floor-sweeping module according to another floor-sweeping robot floor-sweeping module according to the present invention, as shown in fig. 2, fig. 6, fig. 9, fig. 15, and fig. 16, a first position B is any position on a vertical line perpendicular to a front surface of the base, and a current position a of the floor-sweeping robot is any position in a working range thereof as shown in fig. 15 or a position where the floor-sweeping robot is connected to a. How to move the sweeping robot from the current position a to the first position B may be to move forward after the sweeping robot is adjusted to avoid the direction when encountering an obstacle, or to move forward linearly when there is no obstacle, or to move forward in other ways, which is not limited by the present invention.

Specifically, before the control of the sweeping robot moves from the current position to the first position, the method further comprises:

specifically, as shown in fig. 2, 6, and 9, the sweeping robot receives work instruction information sent by the mobile phone APP or the remote controller or the voice control device, obtains the in-place information of the mopping module 25 through an in-place sensor (including but not limited to a magnetic sensor, a tact switch, etc., not shown in the figure), determines that the mopping module 25 is installed on the sweeping robot according to the in-place information of the mopping module 25, and generates instruction information for detaching the mopping module 25 when the received instruction information is to execute a sweeping-only mode or to end a sweeping task or to recharge due to insufficient electric quantity; according to the in-place information of the mopping module 25 or determining that the mopping module 25 is positioned on the base, when the received instruction information is to execute a mopping only or sweeping and sweeping integrated mode, the sweeping robot generates instruction information for installing the mopping module 25; or to determine that the mopping module 25 is neither mounted on the sweeping robot nor on the base, prompting an error message or only performing the sweep-only mode.

Acquiring current position information of the sweeping robot and a base;

determining a first position coordinate on a vertical line perpendicular to the front surface of the base;

specifically, as shown in fig. 2, 6, 9, 15, and 16, the base includes: the sweeping robot comprises a base 20 and a centering signal emitting device 27, wherein the centering signal emitting device 27 is installed on the front face of the base 20, the sweeping robot acquires a signal emitted by the centering signal emitting device 27, determines a vertical line perpendicular to the front face of the base according to the signal, and determines any position on the vertical line as a first position coordinate B.

S101, the sweeping robot is controlled to move to a second position from a first position to the front direction of the base along a vertical line, the second position is a position where the clamping part, the mopping module and the sweeping robot on the base are in butt joint in an inosculating mode, and the second position is located between the first position and the base.

Specifically, an in-place sensor (including but not limited to a magnetic sensor, a contact switch, etc.) is arranged at a position where the clamping part, the floor mopping module and the floor sweeping robot are in butt joint in an inosculating manner on the floor sweeping robot body, and a permanent magnet or other devices triggering the in-place sensor are correspondingly arranged at the position where the clamping part and the floor mopping module are in butt joint in an inosculating manner, so as to detect whether the clamping part, the floor mopping module and the floor sweeping robot are in butt joint in place or not.

In another embodiment, specifically, as shown in fig. 2, 6 and 9, the base is provided with a charging electrode 28 matched with the charging terminal of the sweeping robot, and as shown in fig. 6 and 9, the position where the charging terminal contacts with the charging electrode 28 for charging may be a matching and abutting position (i.e., the second position C) of the clamping component, the mopping module and the sweeping robot.

Specifically, fig. 7 is a schematic view of an automatic disassembly scene of a floor mopping module of another sweeping robot of the present invention, and fig. 8 is a schematic view of an automatic assembly scene of a floor mopping module of another sweeping robot of the present invention; as shown in fig. 6 and 7, when the floor mopping module 25 is detached, the floor sweeping robot is controlled to move from the first position B in the step 70 to the second position C in the step 71 along the vertical line in the front direction of the base, and the floor sweeping robot stops moving after triggering the position sensor (not shown) or contact charging, and the moving path is as shown in fig. 15 or 16; as shown in fig. 6 and 8, when the floor mopping module 25 is installed, the floor sweeping robot is controlled to move from the first position B of step 80 to the second position C of step 82 along the vertical line in the front direction of the base, and the floor sweeping robot stops moving after triggering the position sensor (not shown) or contact charging, and the moving path is as shown in fig. 15 or 16; as shown in fig. 6, 7 and 8, the second position C is a position where the clamping member 21, the mopping module 25 and the sweeping robot on the base are in butt joint, i.e. a position where the mopping module 25 can be detached or installed.

In another embodiment, specifically, fig. 4 is a schematic view illustrating an automatic dismounting scene of a floor sweeping robot floor mopping module according to the present invention, and fig. 5 is a schematic view illustrating an automatic mounting scene of a floor sweeping robot floor mopping module according to the present invention; as shown in fig. 2 and 4, when the floor mopping module 25 is detached, the floor sweeping robot is controlled to move from the first position B in step 41 to the second position C in step 42 along the vertical line in the front direction of the base, and the floor sweeping robot stops moving after triggering the position sensor (not shown in the figure), and the moving path is as shown in fig. 15 or fig. 16; as shown in fig. 2 and 5, when the floor mopping module 25 is installed, the floor sweeping robot is controlled to move from the first position B in step 51 to the second position C in step 53 along the vertical line in the front direction of the base, and the floor sweeping robot stops moving after triggering the position sensor (not shown in the figure), and the moving path is as shown in fig. 15 or 16; as shown in fig. 2, 4 and 5, the second position C is a position where the clamping member 21, the mopping module 25 and the sweeping robot on the base are in butt joint, i.e. a position where the mopping module 25 can be detached or installed.

In another embodiment, specifically, fig. 11 is a schematic view of a scenario where another sweeping robot mopping module according to the present invention is automatically disassembled, fig. 12 is a schematic view of a scenario where another sweeping robot mopping module according to the present invention is automatically assembled, fig. 13 is a schematic view of a scenario where another sweeping robot mopping module according to the present invention is automatically disassembled, and fig. 14 is a schematic view of a scenario where another sweeping robot mopping module according to the present invention is automatically assembled; as shown in fig. 9, 11 and 13, when the floor sweeping module 25 is detached, the floor sweeping robot is controlled to move from the first position B of step 110 or 131 to the second position C of step 111 or 132 along the vertical line in the front direction of the base, and the floor sweeping robot stops moving after contacting a charging or triggering position sensor (not shown in the figure), and the moving path is as shown in fig. 15 or 16; as shown in fig. 9, 12 and 14, when the floor mopping module 25 is installed, the floor sweeping robot is controlled to move from the first position B of step 120 or 141 to the second position C of step 121 or 143 along the vertical line in the front direction of the base, and the floor sweeping robot stops moving after contacting a charging or triggering position sensor (not shown in the figure), and the moving path is as shown in fig. 15 or 16; as shown in fig. 9, 11, 12, 13 and 14, the second position C is a position where the clamping member 21, the mopping module 25 and the sweeping robot on the base are engaged and abutted, that is, a position where the mopping module 25 can be detached or installed.

In another embodiment, before the control sweeping robot moves from the first position to the second position along the vertical line in the front direction of the base, the method further comprises: the base controls the clamping component to be switched from the initial position to the second position, wherein the initial position is a position where the clamping component is far away from the second position and the first position and does not interfere with the floor sweeping robot, namely the position where the floor mopping module can be placed on the base.

Specifically, the base includes: the clamping mechanism comprises a base, a clamping component, a connecting component and a driving mechanism, wherein the connecting component is arranged between the clamping component and the base, one end of the connecting component is connected with the base, and the other end of the connecting component is connected with the clamping component; the connecting member has a first position and a second position, the connecting member being arranged to be switchable between the first position and the second position; when the connecting part is at the first position, the clamping part arranged on the connecting part is at a position far away from the matching butt joint of the clamping part, the mopping module and the sweeping robot, namely an initial position; when the connecting part is at the second position, the clamping part arranged on the connecting part is at a position where the clamping part, the mopping module and the sweeping robot are in fit butt joint, namely the second position; the base is provided with a driving mechanism for driving the connecting part to switch between the first position and the second position.

Specifically, FIG. 3 is a cross-sectional structural view of a base and floor module of the present invention; as shown in fig. 2 and 3, the base includes a base 20, the base 20 is provided with an alignment signal emitting device 27 and a driving mechanism 30, wherein one end of a connecting member 23 is fixedly connected with a driving shaft of the driving mechanism 30, the other end of the connecting member 23 is connected with a clamping member 21, and the connecting member 23 can rotate around a driving shaft center of the driving mechanism 30; as shown in fig. 2, 3 and 4, when the floor mopping module 25 needs to be detached, in step 40, the driving shaft of the driving mechanism 30 is controlled to rotate, the driving shaft drives the connecting part 23 to rotate, and the clamping part 21 connected to the other end of the connecting part 23 rotates from the initial position D to the second position C of step 41 around the center of the driving shaft until being parallel to the ground; as shown in fig. 2, 3 and 5, when the mopping module 25 needs to be installed, in step 50, the driving shaft of the driving mechanism 30 is controlled to rotate, the driving shaft drives the connecting member 23 to rotate, and the clamping member 21 connected to the other end of the connecting member 23 rotates from the initial position D to the second position C of step 51 around the center of the driving shaft until being parallel to the ground.

In another embodiment, specifically, as shown in fig. 2 and 3, the other end of the connecting part 23 is slidably connected with the clamping part 21, and the sliding mechanism 33 between the clamping part 21 and the connecting part 23 is provided with an elastic element which can elastically slide back and forth.

In another embodiment, specifically, fig. 10 is a schematic cross-sectional structure view of another base of the present invention; as shown in fig. 9 and 10, the base includes a base 20, the base 20 is provided with an alignment signal emitting device 27, a driving mechanism 100, and a sliding rail 101, wherein one end of a connecting member 102 is slidably connected to the sliding rail 101, the other end of the connecting member 102 is connected to a clamping member 21, and the driving mechanism 100 drives the connecting member 102 to slide back and forth; as shown in fig. 9, 10 and 13, when the floor mopping module 25 needs to be detached, in step 130, the driving mechanism 100 is controlled to perform a reciprocating motion, the driving mechanism 100 drives the connecting member 102 to slide on the sliding rail 101, and the clamping member 21 connected to the other end of the connecting member 102 slides from the initial position D to the second position C of step 131; as shown in fig. 9, 10 and 14, when the mopping module 25 needs to be installed, in step 140, the driving mechanism 100 is controlled to perform a reciprocating motion, the driving mechanism 100 drives the connecting member 102 to slide on the slide rail 101, and the clamping member 21 connected to the other end of the connecting member 102 slides from the initial position D to the second position C of step 141.

In another embodiment, specifically, as shown in fig. 9 and 10, the other end of the connecting part 102 is slidably connected with the clamping part 21, and a sliding mechanism (not shown in the figure) between the clamping part 21 and the connecting part 102 is provided with an elastic element which can elastically slide back and forth.

In another embodiment, after the control sweeping robot moves from the first position to the second position along the vertical line in the front direction of the base, the method further comprises: the base controls switching of the gripping member from the initial position to the second position.

Specifically, as shown in fig. 9, 10 and 11, when the floor mopping module 25 needs to be detached, in step 111, the driving mechanism 100 is controlled to perform a reciprocating motion, the driving mechanism 100 drives the connecting member 102 to slide on the sliding rail 101, and the clamping member 21 connected to the other end of the connecting member 102 slides from the initial position D to the second position C of step 112; as shown in fig. 9, 10 and 12, when the mopping module 25 needs to be installed, in step 121, the driving mechanism 100 is controlled to perform a reciprocating motion, the driving mechanism 100 drives the connecting member 102 to slide on the sliding rail 101, and the clamping member 21 connected to the other end of the connecting member 102 slides from the initial position D to the second position C of step 123.

S102, the clamping component on the base clamps and clamps the floor mopping module, and the locking mechanism releases the locking between the floor mopping module and the sweeping robot; or the clamping component on the base releases the clamping action on the floor mopping module and loosens the floor mopping module or does not execute the clamping action, and the locking mechanism executes the locking of the floor mopping module and the floor sweeping robot.

Specifically, the base of the base is provided with at least one clamping component for clamping the mopping module; the clamping component at least comprises a clamping block and a driving mechanism; the clamping block has a first position and a second position, and is configured to be switchable between the first position and the second position; when in the first position, the clamping block does not clamp the mopping module; when the mop is at the second position, the clamping block clamps the mop module; the clamping component is provided with a driving mechanism for driving the clamping block to switch between a first position and a second position.

Specifically, a clamping block arranged on the clamping part can be matched and butted with a locking mechanism unlocking button arranged on the mopping module; when the clamping block is at the first position, the unlocking button of the floor mopping module is not clamped, and the locking mechanism does not release the locking between the floor mopping module and the sweeping robot; when the clamping block is at the second position, the unlocking button of the floor mopping module is clamped, and the locking mechanism releases the locking between the floor mopping module and the floor sweeping robot.

Specifically, as shown in fig. 2, 3, 6 and 9, a clamping member 21 is disposed on the base 20 of the base, two clamping blocks 22 and a driving mechanism 31 are disposed on the clamping member 21, the clamping blocks 22 are connected with the driving mechanism 31, the clamping blocks 22 can be switched between a first position (i.e., a release position) and a second position (i.e., a clamping position) under the driving of the driving mechanism 31, an unlocking button 32 of a locking mechanism 26 disposed on the mopping module 25 is in fit and butt joint with the clamping blocks 22, the clamping blocks 22 do not clamp the unlocking button 32 (i.e., the release state) when being driven to the first position by the driving mechanism 31, and the clamping blocks 22 clamp the unlocking button 32 (i.e., the clamping state) when being driven to the second position by the driving mechanism 31; as shown in fig. 2, 3, 4, 6, 7, 9, 11, 13, when the floor sweeping module 25 is disassembled, in step 42 or 71 or 112 or 132, the clamping block 22 on the clamping part 21 is driven by the driving mechanism 31 to move from the first position to the second position, the unlocking button 32 of the locking mechanism 26 on the floor sweeping module 25 is clamped and displaced at the same time, and the locking mechanism 26 releases the locking (i.e. unlocking state) of the floor sweeping module 25 and the robot body of the sweeper; as shown in fig. 2, 3, 5, 6, 8, 9, 12 and 14, when the floor sweeping module 25 is installed, in step 53 or 82 or 123 or 143, the clamping block 22 on the clamping member 21 is driven by the driving mechanism 31 to move from the second position to the first position, the unlocking button 32 of the locking mechanism 26 on the floor sweeping module 25 is simultaneously released and displaced, and the locking mechanism 26 performs locking (i.e. locking state) of the floor sweeping module 25 and the robot body of the sweeper.

In another embodiment, specifically, as shown in fig. 6, the clamping member 21 is slidably connected with the base 20, and a sliding mechanism (not shown) between the clamping member 21 and the base 20 is provided with an elastic element which can elastically slide back and forth.

In another embodiment, specifically as shown in fig. 2, 3, 5, 6, 8, 9, 12 and 14, when the floor sweeping module 25 is installed, in

step

53 or 82 or 123 or 143, the clamping block 22 of the clamping part 21 is in the first position, the unlocking button 32 of the locking mechanism 26 on the floor sweeping module 25 is in a released state (i.e., an unlocked state), and when the floor sweeping robot and the floor sweeping module 25 are in the second position C, the locking mechanism 26 simultaneously completes the locking of the floor sweeping module 25 with the floor sweeping robot body.

In another embodiment, specifically, the sweeping robot body is provided with an electrically controlled locking mechanism, the mopping module is provided with a corresponding lock catch, and when the above embodiment is performed, the clamping block 22 of the clamping part 21 only clamps or releases the body of the mopping module, and the unlocking or locking with the lock catch on the mopping module is completed by controlling the electrically controlled locking mechanism.

And S103, controlling the sweeping robot to move from the second position to the first position along the vertical line, and executing a next working instruction after the sweeping robot moves to the floor mopping module clamped by the clamping component or the position where the sweeping robot does not interfere with the clamping component.

Specifically, as shown in fig. 4 and 7, when the floor mopping module 25 is detached, the clamping member 21 continuously clamps the floor mopping module 25, and the sweeping robot is controlled to move from the second position C of

step

42 or 71 to the first position B along the vertical line until the sweeping robot moves to step 44 or 73 without interfering with the floor mopping module 25 (i.e. the moving distance is greater than the length of the floor mopping module 25), and the moving path is as shown in fig. 15 or 16; as shown in fig. 5 and 8, when the floor mopping module 25 is installed, the clamping member 21 does not clamp the floor mopping module 25, the sweeping robot is controlled to move from the second position C in step 53 or 82 to the first position B along the vertical direction until the sweeping robot moves to step 54 or 83 without interfering with the clamping member 21 (i.e. the moving distance is greater than the length of the clamping member 21), and the moving path is as shown in fig. 15 or 16.

In another embodiment, as shown in fig. 11, 12, 13 and 14, after the step S102 is completed, the sweeping robot can be controlled to move from the second position C to the first position B along the vertical line until the sweeping robot moves to the position where the sweeping module 25 is clamped by the clamping member 21 or does not interfere with the clamping member 21 (not shown).

Specifically, the instruction to perform the next work includes, but is not limited to, a cleaning instruction, a return to charge instruction, and the like.

In another embodiment, the controlling the sweeping robot to move from the second position to the first position along the vertical line further comprises, after the sweeping robot moves to the position where the sweeping module clamped by the clamping component or the position where the sweeping robot does not interfere with the clamping component, the controlling the sweeping robot further comprises: the base controls the clamping part to be switched from the second position to the initial position, and the initial position is a position where the clamping part is far away from the second position and the first position and does not interfere with the floor sweeping robot, namely the position where the floor mopping module can be placed on the base.

It should be noted that the structural principle of the base according to the present embodiment has been described in detail in the above embodiments, and is not described herein again.

Specifically, as shown in fig. 2, 3 and 4, after the floor mopping module 25 is detached, in step 44, the driving shaft of the driving mechanism 30 is controlled to rotate, the driving shaft drives the connecting member 23 to rotate, and the clamping member 21 connected to the other end of the connecting member 23 rotates around the driving axis from the second position C to the initial position D of step 45; as shown in fig. 2, 3 and 5, after the mopping module 25 is installed, in step 54, the driving shaft of the driving mechanism 30 is controlled to rotate, the connecting member 23 is driven by the driving shaft to rotate, and the clamping member 21 connected to the other end of the connecting member 23 rotates from the second position C to the initial position D of step 55 around the driving shaft center.

In another embodiment, specifically, as shown in fig. 9, 10, 11, and 13, after the floor mopping module 25 is detached, in

step

112 or 132, the driving mechanism 100 is controlled to perform a reciprocating motion, the driving mechanism 100 drives the connecting member 102 to slide on the sliding rail 101, and the clamping member 21 connected to the other end of the connecting member 102 slides from the second position C to the initial position D of

step

114 or 134; as shown in fig. 9, 10, 12 and 14, after the floor mopping module 25 is installed, in

step

123 or 143, the driving mechanism 100 is controlled to perform reciprocating motion, the driving mechanism 100 drives the connecting member 102 to slide on the slide rail 101, and the clamping member 21 connected to the other end of the connecting member 102 slides from the second position C to the initial position D of

step

124 or 144.

In another embodiment, the sweeping robot is controlled to move from the second position to the first position along the vertical line, and the next working instruction executed after the sweeping robot moves to the floor mopping module clamped by the clamping component or the position where the sweeping robot does not interfere with the clamping component is replaced by: and the base controls to switch the clamping part from the second position to the initial position and then execute a next working instruction, wherein the initial position is a position where the clamping part is far away from the second position and the first position and does not interfere with the floor sweeping robot, namely a position where the floor mopping module can be placed on the base.

Specifically, as shown in fig. 9, 10, 11, and 13, when the floor mopping module 25 is detached, the clamping member 21 continuously clamps the floor mopping module 25, and in

step

114 or 134; as shown in fig. 9, 10, 12 and 14, when the floor mopping module 25 is installed, the clamping member 21 does not clamp the floor mopping module 25, and in

step

124 or 144.

In another embodiment, specifically, as shown in fig. 2, 6 and 9, the clamping member 21 is provided with a positioning member 24 capable of positioning the mopping module 25, and the positioning member 24 is Y-shaped, which can correct the deviation caused by the misalignment between the sweeping robot and the base.

In the above embodiment, specifically, when the floor module 25 needs to be installed, the clamping member 21 may or may not clamp the floor module 25 on the clamping member 21 during the process of the base controlling to switch the clamping member 21 from the initial position D to the second position C.

In the above embodiment, specifically, after the base controls to switch the clamping member 21 from the second position C to the initial position D after the floor module 25 is detached, the clamping member 21 may release the clamping of the floor module 25.

In the above embodiment, specifically, the sweeping robot is connected and communicated with the base through the wireless communication module, the wireless communication module includes but is not limited to a wireless network module, a bluetooth module, an infrared remote control module, and the like, and the sweeping robot sends instruction information to the base through the wireless communication module and receives state information fed back by the base; such as: when the sweeping robot moves from the first position B to the second position C, the sweeping robot triggers the position sensor or sends instruction information for executing the clamping action or releasing the clamping action to the base through the wireless communication module after the sweeping robot is in contact charging (as shown in the embodiments of fig. 4, fig. 5, fig. 7, fig. 8, fig. 13 and fig. 14); the following steps are repeated: when the base controls to switch the clamping component 21 from the initial position D to the second position C, the back-sweeping robot triggering the in-place sensor sends instruction information for executing the clamping action or releasing the clamping action to the base through the wireless communication module (as shown in the embodiments of fig. 11 and 12); the following steps are repeated: when the base controls to switch the clamping part 21 from the second position C to the initial position D, the base sends in-place state information to the sweeping robot through the wireless communication module, and the sweeping robot executes a next working instruction after receiving the state information; the following steps are repeated: when the mopping module is positioned on the clamping part 21, the base sends the information of the on-position state of the mopping module to the sweeping robot through the wireless communication module.

In the above embodiment, the information interaction between the sweeping robot and the base can be forwarded through the server.

In the above embodiments, specifically, as in one application scenario: in the cleaning task, a user sets a bedroom to be cleaned in a mopping or mopping integrated mode, sets a living room to be cleaned in a mopping only mode, generates instruction information for installing a mopping module before the bedroom is cleaned, executes the cleaning task after the mopping module is installed according to the embodiment, generates instruction information for detaching the mopping module before the bedroom is cleaned, and executes the cleaning task after the mopping module is detached according to the embodiment; as another application scenario: in the cleaning task, a user sets that the whole house is cleaned in a floor mopping or sweeping and mopping integrated mode, a floor mopping or sweeping is not performed on a carpet area in the cleaning process through an identified or set floor mopping forbidden area, instruction information for detaching the floor mopping module is generated after the non-carpet area is cleaned, and the floor mopping mode is performed on the carpet area after the floor mopping module is detached according to the embodiment.

The embodiment describes that the sweeping robot is controlled to move from the current position to the first position, and the first position is positioned on a vertical line vertical to the front surface of the base; the floor sweeping robot is controlled to move to a second position from a first position to the front direction of the base along a vertical line, the second position is a position where a clamping part, a floor mopping module and the floor sweeping robot on the base are in fit butt joint, and the second position is located between the first position and the base; the clamping component on the base clamps the floor mopping module, and the locking mechanism unlocks the floor mopping module and the sweeping robot; or the clamping component on the base releases the clamping action on the floor mopping module and loosens the floor mopping module or does not execute the clamping action, and the locking mechanism executes the locking of the floor mopping module and the sweeping robot; and controlling the sweeping robot to move from the second position to the first position along the vertical line, and executing a next working instruction after the sweeping robot moves to the floor mopping module clamped by the clamping component or the position which does not interfere with the clamping component or the base controls to switch the clamping component from the second position to the initial position and then execute the next working instruction. Different areas in the cleaning task can be cleaned in different cleaning modes (the cleaning modes include but are not limited to only sweeping, only mopping, sweeping and mopping integration and the like) by automatically disassembling and assembling the mopping module, the problem that the sweeping robot cannot realize different cleaning modes according to the areas is solved, and the automation and the intellectualization of the sweeping robot are improved.

Correspondingly, the embodiment of the invention provides the sweeping robot corresponding to the automatic dismounting and mounting method of the sweeping robot mopping module in the embodiment. Fig. 17 is a schematic structural view of a sweeping robot provided in an embodiment of the present invention. As shown in fig. 17, a sweeping robot provided in an embodiment of the present invention includes:

a control module 1704 for controlling the sweeping robot to move from a current position to a first position, the first position being on a vertical line perpendicular to the front surface of the base;

the control module 1704 is further used for controlling the sweeping robot to move from a first position to a second position along the vertical line in the direction of the front of the base, wherein the second position is a position where the clamping component on the base, the mopping module and the sweeping robot are in fit butt joint, and the second position is located between the first position and the base;

the control module 1704 is further configured to control the sweeping robot to move from the second position along the vertical line toward the first position, and execute a next working instruction after the sweeping robot moves to the mopping module clamped by the clamping component or the position where the sweeping robot does not interfere with the clamping component.

In another embodiment, the control module 1704 is further configured to control the sweeping robot to move from the second position to the first position along the vertical line, and the sweeping robot performs the next work command after moving to the position where the sweeping robot is clamped by the clamping component or the position where the sweeping robot does not interfere with the clamping component, instead of performing the next work command:

In another embodiment, before the control module 1704 controls the sweeping robot to move from the current position to the first position, the method further comprises:

a processing module 1702 for generating instruction information for detaching or attaching the mopping module;

an obtaining module 1701 for obtaining the current position information of the sweeping robot and the base;

the processing module 1702 is also configured to determine a first location coordinate on a vertical line perpendicular to the front surface of the base.

In the above embodiment, the wireless communication module 1703 is configured to communicate with the base through a wireless connection, and the wireless communication module includes, but is not limited to, a wireless network module, a bluetooth module, an infrared remote control module, and the like.

It should be noted that the sweeping robot provided by the embodiment of the present invention is implanted with the automatic dismounting and mounting method for the sweeping module of the sweeping robot provided in the above embodiment, and therefore, the specific working process of each module in the sweeping robot provided by the embodiment of the present invention is not described herein again.

According to the embodiment, the mopping module can be automatically disassembled and assembled to realize that different areas in a cleaning task are cleaned in different cleaning modes (the cleaning modes include but are not limited to only sweeping, only mopping, sweeping and mopping integration and the like), the problem that the sweeping robot cannot realize different cleaning modes in different areas is solved, and the automation and the intelligence of the sweeping robot are improved.

Those of skill would further appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The steps of the sweeping robot or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A floor sweeping robot floor mopping module automatic dismounting method is characterized by comprising the following steps:

controlling the sweeping robot to move from the first position to a second position along the vertical line in the front direction of the base, wherein the second position is a position where a clamping part, a mopping module and the sweeping robot on the base are in fit butt joint, and the second position is located between the first position and the base;

the clamping component on the base clamps the floor mopping module, and the locking mechanism releases the locking between the floor mopping module and the sweeping robot; or the clamping component on the base releases the clamping action on the floor mopping module and loosens the floor mopping module or does not execute the clamping action, and the locking mechanism locks the floor mopping module and the sweeping robot;

and controlling the sweeping robot to move from the second position along the vertical line to the first position, and executing a next working instruction after the sweeping robot moves to the position where the sweeping module is clamped by the clamping component or the position where the sweeping module is not interfered with the clamping component.

2. The method for automatically dismounting and mounting the floor mopping module of the floor sweeping robot according to claim 1, wherein the floor sweeping robot is controlled to move from the second position to the first position along the vertical line, and after the floor sweeping robot moves to the floor mopping module clamped by the clamping component or the position where the floor sweeping robot does not interfere with the clamping component, the next working instruction is executed and replaced by:

and the base controls to switch the clamping part from the second position to an initial position and then execute a next working instruction, wherein the initial position is a position where the clamping part is far away from the second position and the first position and does not interfere with the floor sweeping robot, namely a position where a floor mopping module can be placed on the base.

3. The method of any one of claims 1 to 2, further comprising before or after the controlling sweeping robot moves from the first position to the second position along the vertical line in the front direction of the base, the step of:

4. The method of claim 1, wherein the controlling the sweeping robot to move from the second position to the first position along the vertical line further comprises, after the sweeping robot moves to a position where the sweeping robot is not interfered with the floor module clamped by the clamping member or the clamping member, the method further comprises:

the base controls the clamping component to be switched from the second position to an initial position, and the initial position is a position where the clamping component is far away from the second position and the first position and does not interfere with the floor sweeping robot, namely a position where a floor mopping module can be placed on the base.

5. A sweeping robot is characterized by comprising:

the control module is further configured to control the sweeping robot to move from the first position to a second position along the vertical line in the direction of the front surface of the base, the second position is a position where the clamping component on the base, the mopping module and the sweeping robot are in butt joint in a fit manner, and the second position is located between the first position and the base;

the control module is further used for controlling the sweeping robot to move from the second position along the vertical line to the first position, and the sweeping robot executes a next working instruction after moving to the position where the sweeping robot is clamped by the clamping component and the mopping module or the position where the sweeping robot is not interfered with the clamping component.

6. The sweeping robot of claim 5, wherein the control module controls the sweeping robot to move from the second position to the first position along the vertical line, and the sweeping robot performs the next step of work after moving to the position where the sweeping module is clamped by the clamping component or the position where the sweeping robot does not interfere with the clamping component, instead of performing the next step of work:

7. A susceptor, comprising:

the base is aligned with the signal transmitting device; the base is at least provided with a clamping component for clamping the mopping module; the clamping component at least comprises a clamping block and a driving mechanism; the clamping block has a first position and a second position, the clamping block being arranged to be switchable between the first position and the second position; when in the first position, the clamping block does not clamp the mopping module; when in the second position, the clamping block clamps the mopping module; the clamping component is provided with the driving mechanism for driving the clamping block to switch between the first position and the second position.

8. The base of claim 7, wherein a connecting member is disposed between the clamping member and the base, wherein one end of the connecting member is connected to the base and the other end is connected to the clamping member; the connecting member has a first position and a second position, the connecting member being arranged to be switchable between the first position and the second position; when the floor sweeping robot is in the first position, the clamping part arranged on the connecting part is far away from the position where the clamping part, the floor mopping module and the floor sweeping robot are in fit butt joint; when the floor sweeping robot is in the second position, the clamping part arranged on the connecting part is in a position where the clamping part, the floor mopping module and the floor sweeping robot are in fit butt joint; and the base is provided with a driving mechanism for driving the connecting part to switch between the first position and the second position.

9. The base of any one of claims 7 to 8, wherein the gripping block provided on the gripping member is adapted to matingly engage a locking mechanism release button provided on the mopping module; when the clamping block is at the first position, the unlocking button of the floor mopping module is not clamped, and the locking mechanism does not unlock the floor mopping module and the sweeping robot; when the clamping block is at the second position, the unlocking button of the mopping module is clamped, and the locking mechanism releases the locking of the mopping module and the sweeping robot.

10. The base according to any one of claims 7 to 8, wherein the base is provided with a charging electrode matched with a charging terminal of the sweeping robot.