阅读说明：本技术 扫地机器人拖地模块自动拆装方法、扫地机器人和基座 (Automatic disassembly and assembly method of mopping module of sweeping robot, sweeping robot and base ) 是由 段属光 于 2019-11-04 设计创作，主要内容包括：本发明提供一种扫地机器人拖地模块自动拆装方法、扫地机器人和基座,包括：控制扫地机器人从当前位置移动到第一位置,所述第一位置位于垂直基座正面的垂直线上；控制扫地机器人从第一位置沿垂直线向基座正面方向移动到第二位置,所述第二位置为基座上的夹持部件、拖地模块和扫地机器人三者吻合对接的位置；基座上的夹持部件对拖地模块执行夹持动作并对其夹紧或解除夹持动作并对其松开或不执行夹持动作,锁定机构解除或执行拖地模块与扫地机器人的锁定；控制扫地机器人从第二位置沿垂直线向第一位置方向移动到互不干涉位置后执行下一工作指令。通过自动拆装拖地模块可实现清扫任务中不同区域采用不同清扫模式进行清扫,提高扫地机器人的智能化。(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.)

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 current position to a first position, wherein the first position is positioned on a vertical line vertical to the front surface of the base;

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:

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

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 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 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 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;

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:

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.

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.

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;

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 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:

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 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.

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.