阅读说明：本技术 清洁机器人的流体施加方法及清洁机器人 (Fluid applying method for cleaning robot and cleaning robot ) 是由 谢文志 于 2019-08-14 设计创作，主要内容包括：清洁机器人的流体施加方法及清洁机器人。本发明的实施例中,所述清洁机器人包括主体、驱动所述清洁机器人在待清洁面上移动的驱动部件、储存流体的储液箱、与所述储液箱连通的清洁件及控制器,通过在所述清洁机器人进入不同工作模式时,控制所述储液箱以不同的供液供液方式施加流体至所述清洁件或控制所述储液箱停止施加流体至所述清洁件。采用本发明,可以有效控制施加至所述清洁件的流体量,提高清洁效果,提升用户体验感。(A fluid applying method for a cleaning robot and a cleaning robot. In an embodiment of the invention, the cleaning robot comprises a main body, a driving part for driving the cleaning robot to move on a surface to be cleaned, a liquid storage tank for storing fluid, a cleaning piece communicated with the liquid storage tank and a controller, and when the cleaning robot enters different working modes, the liquid storage tank is controlled to apply the fluid to the cleaning piece in different liquid supply modes or the liquid storage tank is controlled to stop applying the fluid to the cleaning piece. By adopting the invention, the fluid quantity applied to the cleaning piece can be effectively controlled, the cleaning effect is improved, and the user experience is improved.)

1. a cleaning robot, characterized by comprising:

A main body;

a driving part configured to drive the cleaning robot to move on a surface to be cleaned;

A tank configured to store a fluid;

The cleaning piece is matched with the fluid in the liquid storage tank to clean the surface to be cleaned; and

A controller mounted to the body, the controller configured to:

controlling the cleaning robot to enter a first working mode, so that the liquid storage tank applies fluid to the cleaning piece in a first liquid supply mode;

controlling the cleaning robot to enter a second working mode, so that the liquid storage tank applies fluid to the cleaning piece in a second liquid supply mode;

the first liquid supply mode applies different fluid amount to the cleaning piece than the second liquid supply mode applies to the cleaning piece.

2. The cleaning robot of claim 1, wherein the first supply mode is to apply the fluid from the reservoir to the cleaning member every first interval and to stop applying the fluid from the reservoir to the cleaning member every second interval;

The second liquid supply mode is that the liquid storage tank applies the fluid to the cleaning piece every a third time interval, and the liquid storage tank stops applying the fluid to the cleaning piece every a fourth time interval.

3. The cleaning robot of claim 2, wherein the first length of time is less than the third length of time and the second length of time is greater than the fourth length of time.

4. The cleaning robot of claim 2, wherein the first length of time is less than the second length of time and the third length of time is greater than the fourth length of time.

5. The cleaning robot as claimed in any one of claims 1 to 4, wherein the first liquid supply means and the second liquid supply means are opened and closed in a cyclic manner to apply the fluid to the cleaning member.

6. the cleaning robot of claim 1, wherein the cleaning robot enters the first mode of operation to apply the fluid to the cleaning member in the first liquid supply manner for a preset duration when the cleaning robot detects that the reservoir is in communication with the cleaning member;

and the cleaning robot enters a second working mode and applies fluid to the cleaning piece in a second fluid supply mode after the first working mode is finished.

7. A cleaning robot as claimed in any of claims 1 to 4 and 6, wherein the controller is further configured to control the cleaning robot to enter a third mode of operation causing the reservoir to cease applying fluid to the cleaning members.

8. The cleaning robot of claim 7, wherein the cleaning robot enters the third mode of operation with at least one of:

the cleaning robot walks to a soft surface to be cleaned;

The electric quantity of the cleaning robot is less than the preset electric quantity or the cleaning robot is in a charging state;

the cleaning robot is in an abnormal working state;

a user issues an indication to the cleaning robot to stop applying fluid to the cleaning members.

9. The cleaning robot as claimed in any one of claims 1 to 4 and 6, wherein the amount of fluid applied to the cleaning member by the first fluid supply means is greater than the amount of fluid applied to the cleaning member by the second fluid supply means for a period of time of the same size.

10. The cleaning robot as claimed in any one of claims 1 to 4 and 6, wherein the first liquid supply means applies the fluid at the same speed as the second liquid supply means applies the fluid.

11. a fluid application method of a cleaning robot, comprising:

Executing a first working mode, and applying fluid to the cleaning piece in a first fluid supply mode;

executing a second working mode, and applying fluid to the cleaning piece in a second fluid supply mode;

executing a third mode of operation, ceasing application of fluid to the cleaning members;

And controlling the amount of fluid applied to the cleaning members by the first liquid supply mode to be larger than the amount of fluid applied to the cleaning members by the second liquid supply mode in time intervals with the same size.

12. the fluid applying method of a cleaning robot according to claim 11, wherein the first supply manner is to apply the fluid to the cleaning member from the tank every first period of time, and to stop applying the fluid to the cleaning member from the tank every second period of time;

the second liquid supply mode is that the liquid storage tank applies the fluid to the cleaning piece every a third time interval, and the liquid storage tank stops applying the fluid to the cleaning piece every a fourth time interval.

13. A fluid application method of a cleaning robot according to claim 12, wherein the first period of time is less than the third period of time and the second period of time is greater than the fourth period of time.

14. A fluid application method of a cleaning robot according to claim 12, wherein the first period of time is less than the second period of time, and the third period of time is greater than the fourth period of time.

15. A cleaning robot, characterized by comprising:

A main body;

A driving part configured to drive the cleaning robot to move on a surface to be cleaned;

A tank configured to store a fluid;

A cleaning member configured to cooperate with the fluid to clean a surface to be cleaned; and

a controller mounted to the body, the controller configured to:

controlling the cleaning robot to enter a first working mode, and enabling the liquid storage tank to apply fluid outwards in a first liquid supply mode;

and controlling the cleaning robot to enter a second working mode, so that the liquid storage tank applies the fluid outwards in a second liquid supply mode.

16. a cleaning robot, characterized by comprising:

A main body;

A driving part configured to drive the cleaning robot to move on a surface to be cleaned;

a tank configured to store a fluid;

A cleaning member configured to cooperate with the fluid to clean a surface to be cleaned; and

A power device configured to provide power to control or stop the flow of fluid from the tank, to cause the tank to apply fluid outwardly in a first supply mode, or to cause the tank to apply fluid outwardly in a second supply mode.

17. A cleaning robot, characterized by comprising:

a main body;

a driving part configured to drive the cleaning robot to move on a surface to be cleaned;

a tank configured to store a fluid;

The cleaning piece is matched with the fluid in the liquid storage tank to clean the surface to be cleaned; and

a controller mounted to the body, the controller configured to:

and controlling the liquid storage tank to apply fluid to the cleaning piece in an intermittent liquid supply mode, wherein the intermittent liquid supply mode is that the liquid storage tank is opened and closed circularly to apply fluid to the cleaning piece.

18. the cleaning robot of claim 17, wherein the interstitial fluid supply comprises a first fluid supply and a second fluid supply, and wherein the first fluid supply applies a greater amount of fluid to the cleaning members than the second fluid supply applies to the cleaning members for a period of time equal in magnitude.

Technical Field

the invention relates to the field of intelligent robots, in particular to a cleaning robot fluid application method and a cleaning robot.

background

The cleaning robot mainly replaces manpower and is used for cleaning the family environment. The cleaning robot integrates the automatic cleaning technology and the humanized intelligent design, along with the development of the intelligent cleaning robot in the existing market, in order to further meet the cleaning requirements of users and greatly reduce the burdensome tasks of sweeping and mopping the floor of the users, the intelligent cleaning robot gradually realizes the multifunctional development from dust collection, cleaning to floor washing and mopping, mainly arranges a water tank in the intelligent cleaning robot, so that the users only need to fill the water tank with water, and put into the intelligent cleaning robot, and start the corresponding working mode, the intelligent cleaning robot can realize the function of washing or mopping the floor, the interior of the cleaning robot mainly relates to a waterway water supply technology, the water supply mode of the existing cleaning robot is single, after the cleaning robot enters the water supply process, the water flow can continuously flow out, so that the water flow is excessive, the cleaning effect is poor, and the use requirement of a user is difficult to meet.

disclosure of Invention

the invention aims to provide a cleaning robot fluid applying method and a cleaning robot, wherein the cleaning robot intelligently controls a liquid storage tank to apply fluid to a cleaning piece in different liquid supply modes or controls the liquid storage tank to stop applying the fluid to the cleaning piece when in different working modes, and the fluid amount applied to the cleaning piece can be effectively controlled, so that the cleaning effect is improved, and the user experience is improved.

in order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:

in a first aspect, the present invention provides a cleaning robot comprising:

A main body;

A driving part configured to drive the cleaning robot to move on a surface to be cleaned;

a tank configured to store a fluid;

the cleaning piece is matched with the fluid in the liquid storage tank to clean the surface to be cleaned; and

a controller mounted to the body, the controller configured to:

controlling the cleaning robot to enter a first working mode, so that the liquid storage tank applies fluid to the cleaning piece in a first liquid supply mode;

Controlling the cleaning robot to enter a second working mode, so that the liquid storage tank applies fluid to the cleaning piece in a second liquid supply mode;

the first liquid supply mode applies different fluid amount to the cleaning piece than the second liquid supply mode applies to the cleaning piece.

in one embodiment of the invention, the first liquid supplying mode is that the liquid storage tank applies the fluid to the cleaning member every first time interval, and the liquid storage tank stops applying the fluid to the cleaning member every second time interval;

the second liquid supply mode is that the liquid storage tank applies the fluid to the cleaning piece every a third time interval, and the liquid storage tank stops applying the fluid to the cleaning piece every a fourth time interval.

In one embodiment of the present invention, the first duration is less than the third duration, and the second duration is greater than the fourth duration.

in one embodiment of the present invention, the first duration is less than the second duration, and the third duration is greater than the fourth duration.

In one embodiment of the invention, the first liquid supply mode and the second liquid supply mode are opened and closed in a circulating mode to apply the fluid to the cleaning piece.

In one embodiment of the invention, when the cleaning robot enters the first working mode, the cleaning robot detects that the liquid storage tank is communicated with the cleaning piece, and fluid is applied to the cleaning piece in the first liquid supply mode within a preset time length;

and the cleaning robot enters a second working mode and applies fluid to the cleaning piece in a second fluid supply mode after the first working mode is finished.

In one embodiment of the invention, the controller is further configured to control the cleaning robot to enter a third mode of operation, causing the reservoir to cease applying fluid to the cleaning members.

In one embodiment of the present invention, the cleaning robot enters the third operation mode to satisfy at least one of the following conditions:

The cleaning robot walks to a soft surface to be cleaned;

The electric quantity of the cleaning robot is less than the preset electric quantity or the cleaning robot is in a charging state;

The cleaning robot is in an abnormal working state.

in one embodiment of the invention, the cleaning member is supplied with the first liquid supply mode, and the cleaning member is supplied with the second liquid supply mode.

In one embodiment of the present invention, the first liquid supply mode applies the fluid at the same speed as the second liquid supply mode applies the fluid.

in a second aspect, the present invention provides a fluid application method of a cleaning robot, including:

executing a first working mode, and applying fluid to the cleaning piece in a first fluid supply mode;

Executing a second working mode, and applying fluid to the cleaning piece in a second fluid supply mode;

Executing a third mode of operation, ceasing application of fluid to the cleaning members;

and controlling the amount of fluid applied to the cleaning members by the first liquid supply mode to be larger than the amount of fluid applied to the cleaning members by the second liquid supply mode in time intervals with the same size.

in one embodiment of the invention, the first liquid supplying mode is that the liquid storage tank applies the fluid to the cleaning member every first time interval, and the liquid storage tank stops applying the fluid to the cleaning member every second time interval;

the second liquid supply mode is that the liquid storage tank applies the fluid to the cleaning piece at every third time interval, and the liquid storage tank stops applying the fluid to the cleaning piece at every fourth time interval

In one embodiment of the present invention, the first duration is less than the third duration, and the second duration is greater than the fourth duration.

in one embodiment of the present invention, the first duration is less than the second duration, and the third duration is greater than the fourth duration.

In a third aspect, the present invention provides a cleaning robot comprising:

a main body;

A driving part configured to drive the cleaning robot to move on a surface to be cleaned;

A tank configured to store a fluid;

A cleaning member configured to cooperate with the fluid to clean a surface to be cleaned; and

A controller mounted to the body, the controller configured to:

Controlling the cleaning robot to enter a first working mode, and enabling the liquid storage tank to apply fluid outwards in a first liquid supply mode;

And controlling the cleaning robot to enter a second working mode, so that the liquid storage tank applies the fluid outwards in a second liquid supply mode.

In a fourth aspect, the present invention provides a cleaning robot comprising:

a main body;

a driving part configured to drive the cleaning robot to move on a surface to be cleaned;

A tank configured to store a fluid;

A cleaning member configured to cooperate with the fluid to clean a surface to be cleaned; and

A power device configured to provide power to control or stop the flow of fluid from the tank, to cause the tank to apply fluid outwardly in a first supply mode, or to cause the tank to apply fluid outwardly in a second supply mode.

in a fifth aspect, the present invention provides a cleaning robot comprising:

A main body;

a driving part configured to drive the cleaning robot to move on a surface to be cleaned;

a tank configured to store a fluid;

the cleaning piece is matched with the fluid in the liquid storage tank to clean the surface to be cleaned; and

a controller mounted to the body, the controller configured to:

And controlling the liquid storage tank to apply fluid to the cleaning piece in an intermittent liquid supply mode, wherein the intermittent liquid supply mode is that the liquid storage tank is opened and closed circularly to apply fluid to the cleaning piece.

In one embodiment of the invention, the gap type liquid supply mode comprises a first liquid supply mode and a second liquid supply mode, and the first liquid supply mode applies a larger amount of fluid to the cleaning piece than the second liquid supply mode applies to the cleaning piece in a time length with the same size.

compared with the prior art, the technical scheme of the embodiment of the invention at least has the following beneficial effects:

In the embodiment of the invention, the cleaning robot comprises a main body, a driving part for driving the cleaning robot to move on a surface to be cleaned, a liquid storage tank for storing fluid, a cleaning piece communicated with the liquid storage tank and a controller, when the cleaning robot enters different working modes, the liquid storage tank is controlled to apply the fluid to the cleaning piece in different liquid supply modes or the liquid storage tank is controlled to stop applying the fluid to the cleaning piece, and the amount of the fluid applied to the cleaning piece can be effectively controlled, so that the cleaning effect is improved, and the user experience is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other modifications can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a perspective view of a cleaning robot in an embodiment of the present invention;

FIG. 2 is a bottom view of the cleaning robot in an embodiment of the present invention;

FIG. 3 is a perspective view of a reservoir in accordance with an embodiment of the present invention;

FIG. 4 is a schematic exploded view of a cleaning member according to one embodiment of the invention;

FIG. 5 is a flow chart of method steps performed by the controller;

FIG. 6 is a flow chart illustrating a first fluid supply method for applying fluid to a cleaning member according to an embodiment of the present invention;

FIG. 7 is a flow chart illustrating a second fluid supply method for applying fluid to a cleaning member according to an embodiment of the present invention;

FIG. 8 is a schematic view of the cleaning robot entering a third mode of operation according to an embodiment of the present invention;

FIG. 9 is a block diagram of a sensor system in an embodiment of the invention.

Detailed Description

the technical solutions in the embodiments of the present invention will be described clearly 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 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 "front", "rear", "left" and "right" in the present description refer to the forward direction of the cleaning robot, and the terms "top", "bottom", "up", "down", "horizontal" and "vertical" in the present description refer to the state of the cleaning robot during normal operation.

the patent of the present invention is an exemplary illustration of a cleaning robot mainly used for cleaning a floor home environment, and in other embodiments, the cleaning robot may also be used for cleaning other indoor or outdoor environments, for example: the environment of restaurants, stations, airports and the like is cleaned.

Referring to fig. 1 and 2, fig. 1 is a perspective view of a cleaning robot according to an embodiment of the present invention, and fig. 2 is a bottom view of the cleaning robot according to an embodiment of the present invention. The cleaning robot of the present invention includes: the cleaning robot comprises a main body 10, a driving part 20 for driving the cleaning robot to move on a surface to be cleaned, a liquid storage tank 30 configured to store fluid, a cleaning piece 40 for cleaning the surface to be cleaned by matching with the fluid in the liquid storage tank 30, and a controller 50 installed inside the main body 10.

the body is generally circular in shape in this embodiment, and in other embodiments, the body 10 may be generally oval, triangular, D-shaped, or other shape in shape. The top of the main body 10 is provided with a concave portion 13, the liquid storage tank 30 is mounted in the concave portion 13, and the liquid storage tank 30 may be provided with a fastening component to lock the liquid storage tank 30 in the concave portion 13.

the driving wheel assembly 20 includes left and right driving wheels 21 and omni wheels 22, the left and right driving wheels 21 are installed at left and right sides of a bottom of the main body 10, the bottom is a surface of the main body 10 facing a surface to be cleaned, and the driving wheel assembly 20 is configured to carry the cleaning robot and drive the cleaning robot to move on the surface to be cleaned. The surface to be cleaned can be a relatively smooth floor surface, a carpeted surface, or other surface to be cleaned. The left and right driving wheels 21 are configured to be at least partially extendable and retractable to the bottom of the main body 10. The omni-directional wheel 22 is installed at a front position of the bottom of the main body 10, and the omni-directional wheel 22 is a movable caster wheel which can horizontally rotate 360 degrees, so that the cleaning robot can flexibly turn. The omni-directional wheel 22 may be further installed at a rear position of the bottom of the main body 10, and the left and right driving wheels 21 and the omni-directional wheel 22 are installed to form a triangle, so as to improve the walking smoothness of the cleaning robot.

In the embodiment of the present invention, the controller 50 is installed in the main body 10, and the controller 50 may include a plurality of components, which control the respective components, or may be provided with only one component, which controls all the components. For example: the controller, 50, may include a main controller provided to the main body 10, a driving part controller sensing speed information of the driving part 20 and controlling the driving part 20 to adjust the operation of the cleaning robot, and the like. The controllers of all the components transmit respective information to the main controller, and the main controller processes the information according to all the components and respectively feeds corresponding control instructions back to all the components. All the components take the main controller as a center, communicate with each other and transmit signals. The controller 50 may be a micro-control unit such as a single chip, an FPGA, an ASIC, or a DSP.

The cleaning robot may further include a cleaning assembly 410, the cleaning assembly 410 includes a cleaning roller 411, the cleaning roller 411 is disposed in a receiving groove formed at the bottom of the main body 10, and the cleaning roller 411 may be any one or a combination of a cleaning brush and a cleaning rubber brush. The sweeping assembly 410 may further include a motor-driven side brush 412, and the side brush 412 is disposed at the left and/or right front portion of the main body 10. The edge brush 412 may rotate along an axis substantially perpendicular to the ground. The side brush 412 has a plurality of long bristles spaced around the shaft and extending outwardly beyond the contour of the main body 10 for sweeping the garbage on the ground beyond the coverage of the contour of the main body 10 to the position of the receiving groove at the bottom of the main body 10. The bottom of the body 10 may be provided with one or two side brushes 412.

referring to fig. 3 and 4, fig. 3 is a perspective view of a liquid storage tank according to an embodiment of the invention, and fig. 4 is a disassembled schematic view of a cleaning member according to an embodiment of the invention. The liquid storage box 30 is mounted in the concave portion 13, a liquid inlet 31 is formed in the top of the liquid storage box 30 and used for a user to add fluid into the liquid storage box 30, a communication contact 32 communicated with the controller 50 is arranged on the side wall of the liquid storage box 30, and when the liquid storage box 30 is mounted in the concave portion 13, the controller 50 transmits a control instruction to the liquid storage box 30 through the communication contact 32 to control a liquid supply mode of the liquid storage box 30. The fluid may be a cleaning fluid for more effectively removing dirt attached to a surface to be cleaned, such as a floor surface to which oil stains are attached, and a portion of the fluid having an oil stain cleaning function may be added to the tank 30 to more effectively remove the oil stains. In most cases, of course, the fluid stored in the reservoir 30 is clear water for mopping the surface to be cleaned.

The cleaning member 40 is installed at a rear position of the bottom of the main body 10, and the outer edge of the cleaning member 40 has the same shape as that of the main body 10. The cleaning piece 40 comprises a pad support 41 and a cleaning pad 42 installed on one surface, facing the surface to be cleaned, of the pad support 41, a pressing portion 45 is arranged at the rear end of the pad support 41, a hook 44 is arranged on one surface, facing the bottom of the main body 10, of the pad support 41, the pressing portion 45 is pressed to control the hook 44 to retract, and the pressing portion 45 is released to control the hook 44 to extend. The bottom of the main body 10 is provided with a locking protrusion corresponding to the locking hook 44, and the pad holder 41 can be attached to the main body 10 or detached from the main body 10 by pressing or releasing the pressing part 45. The cleaning pad 42 is mounted on the pad holder 41 and fixed by a hook and loop fastener.

a liquid outlet is formed at the bottom of the liquid storage tank 30, and fluid guide holes 43 are formed in positions of the pad support 41 and the concave portion 13 corresponding to the liquid outlet, so that fluid flowing out of the liquid storage tank 30 is guided to the cleaning pad 42. In other embodiments, fluid from the reservoir 30 may be directed to the cleaning pad 42 through an external conduit. In the normal operation process of the cleaning robot, the cleaning pad 42 is attached to the surface to be cleaned, so as to clean the surface to be cleaned.

To achieve intelligent control of the application of fluid from the reservoir 30 to the cleaning members 40, referring to fig. 5, fig. 5 is a flow chart of method steps performed by a controller.

S10, determining that the reservoir 30 is in communication with the cleaning members 40.

when the cleaning robot is turned on, the controller 50 starts to operate, and the reservoir 30 is mounted in the recess 13, the communication contact 32 and the controller 50 are connected through a first circuit. When the cleaning member 40 is mounted on the main body 10, the cleaning member is communicated with the controller 50 through a second circuit, and when the controller 50 detects that the liquid storage tank 30 and the cleaning member 40 are both mounted on the main body 10, the cleaning robot performs step S20 to enter a first working mode, and controls the liquid storage tank 30 to apply fluid to the cleaning member in a first liquid supply manner.

S20, controlling the cleaning robot to enter a first working mode, so that the liquid storage tank 30 applies the fluid to the cleaning member in a first liquid supply manner.

When the cleaning robot enters a first working mode, when the cleaning robot detects that the liquid storage tank 30 is communicated with the cleaning piece 40, fluid is applied to the cleaning piece in the first liquid supply mode within a preset time length. Referring to fig. 6, fig. 6 is a flow chart illustrating a first fluid supply method for applying fluid to a cleaning member according to an embodiment of the present invention. The cleaning robot enters a first mode of operation, i.e. a process in which the controller 50 controls the reservoir 30 to initiate, comprising step 200 the reservoir 30 starts applying fluid to the cleaning member 40, step 201 the reservoir applies fluid to the cleaning member for a first period of time, and step 202 the reservoir stops applying fluid to the cleaning member for a second period of time. A liquid outlet is formed at the bottom of the liquid storage tank 30, and the fluid flowing out of the liquid storage tank 30 is guided to the cleaning pad 42 corresponding to the fluid guide hole 43 formed in the pad holder 41 and the concave portion 13. When the reservoir 30 is mounted to the recess 13 and the cleaning member 40 is in communication with the reservoir 30, the reservoir 30 begins to apply fluid to the cleaning member 40, the reservoir 30 stops applying fluid to the cleaning member 40 after the fluid application period reaches the second period, and the reservoir 30 reapplies fluid to the cleaning member 40 after the reservoir 30 stops applying fluid to the cleaning member 40 for the first period. And if the execution step 203 reaches the preset time, the controller 50 controls the cyclic execution step 201 to apply fluid to the cleaning member at intervals of a first time and the step 202 to stop applying fluid to the cleaning member at intervals of a second time, timing is carried out, whether the accumulated time of the first time and the second time reaches the preset time is judged in real time, if so, the step S30 is executed, and if not, the step 201 and the step 202 are continuously and cyclically executed. The first liquid supply mode is to open and close the liquid storage tank 30 in a circulating mode to apply the fluid to the cleaning member 40. The manner of opening or closing the liquid storage tank 30 may be to provide other components to open or close the liquid outlet, or to control the fluid to flow out or not to flow out by changing the air pressure inside the liquid storage tank 30. When the cleaning robot enters a first working mode, within a preset time period for controlling the liquid storage tank 30 to apply the fluid to the cleaning member 40 in a first liquid supply mode, a first time period for the liquid storage tank 30 to stop applying the fluid to the cleaning member 40 is shorter than a second time period for the liquid storage tank 30 to apply the fluid to the cleaning member 40.

It is possible to have a larger amount of fluid applied to the cleaning members 40 and to quickly wet the cleaning members 40, during which the cleaning robot is switched on and stays in place. And executing the step S30 to enable the cleaning robot to enter the second working mode until the accumulated time of the first time length and the second time length meets the preset time length.

and S30, controlling the cleaning robot to enter a second working mode, and enabling the liquid storage tank to apply the fluid to the cleaning piece in a second liquid supply mode.

the cleaning robot enters the second working mode, and applies fluid to the cleaning piece 40 in the second fluid supply mode after the first working mode is finished. Referring to fig. 7, fig. 7 is a flow chart illustrating a second fluid supply method for applying fluid to the cleaning member according to an embodiment of the present invention. The applying fluid to the cleaning member in the second supply manner includes applying fluid from the tank 30 to the cleaning member 40 every third period 301 and stopping applying fluid from the tank 30 to the cleaning member 40 every fourth period 302. And when the cleaning robot enters a second working mode, the liquid storage tank 30 applies the fluid to the cleaning piece 40 in a second liquid supply mode, the fluid application to the cleaning piece 40 is stopped after the time for applying the fluid to the cleaning piece 40 by the liquid storage tank 30 reaches a fourth time, and the fluid is applied to the cleaning piece 40 again by the liquid storage tank 30 after the time for applying the fluid to the cleaning piece 40 is stopped reaches a third time.

the second liquid supply mode is to open and close the liquid storage tank 30 in a circulating mode to apply the fluid to the cleaning member 40. The manner of opening or closing the liquid storage tank 30 may be to provide other components to open or close the liquid outlet, or to control the fluid to flow out or not to flow out by changing the air pressure inside the liquid storage tank 30.

After the cleaning robot enters the second mode of operation, it starts to perform a cleaning operation, and in the first mode of operation, the reservoir 30 applies fluid to the cleaning members 40 so that the cleaning members 40 are wetted. The first liquid supply mode applies the fluid at the same speed as the second liquid supply mode applies the fluid, and a third time period for closing the liquid storage tank 30 to apply the fluid to the cleaning member 40 is longer than a fourth time period for opening the liquid storage tank 30 to apply the fluid to the cleaning member 40 in the process of applying the fluid to the cleaning member 40 in the second liquid supply mode. The second supply mode reduces the amount of fluid from the reservoir 30 applied to the cleaning member 40 compared to a first period of time in which the reservoir 30 stops applying fluid to the cleaning member 40 in the first supply mode which is less than a second period of time in which the reservoir 30 applies fluid to the cleaning member 40. The amount of the fluid applied to the cleaning members by the first liquid supply mode is larger than that of the fluid applied to the cleaning members by the second liquid supply mode within the same time length. Cleaning machines people carries out clean working process, prevents that cleaning member 40 is too wet, after dragging and wiping the face of waiting to clean, has liquid drippage to clean face, leads to secondary pollution, improves clean effect effectively, promotes user experience.

In some embodiments, the amount of fluid applied to the cleaning members 40 by the first fluid supply means is greater than the amount of fluid applied to the cleaning members 40 by the second fluid supply means by: the second time period for opening the liquid storage tank 30 to apply the fluid to the cleaning member 40 in the first liquid supply mode is longer than the fourth time period for opening the liquid storage tank 30 to apply the fluid to the cleaning member 40 in the second liquid supply mode, and the first time period for closing the liquid storage tank 30 to apply the fluid to the cleaning member 40 in the first liquid supply mode is shorter than the third time period for closing the liquid storage tank 30 to apply the fluid to the cleaning member 40 in the second liquid supply mode. The amount of the fluid applied to the cleaning members by the first liquid supply mode is larger than that of the fluid applied to the cleaning members by the second liquid supply mode within the same time length. Cleaning machines people carries out clean working process, prevents that cleaning member 40 is too wet, after dragging and wiping the face of waiting to clean, has liquid drippage to clean face, leads to secondary pollution, improves clean effect effectively, promotes user experience.

during the cleaning operation performed when the cleaning robot enters the second operation mode, the controller 50 monitors whether the operation state of the cleaning robot satisfies a condition for entering the third operation mode. And if the working condition is met, controlling the cleaning robot to enter a third working mode, if the working condition is not met, continuing to apply the fluid to the cleaning piece 40 in a second fluid supply mode, and in the process, controlling the fluid storage tank to apply the fluid to the cleaning piece every third time interval in a circulating mode, and stopping applying the fluid to the cleaning piece 40 every fourth time interval by using the fluid storage tank 30. Until step S40 is performed.

in some embodiments, the cleaning robot may further comprise a power device configured to provide power to control the flow or stop of the tank fluid. The power device may be a water pump, and the controller 50 may control the liquid storage tank 30 to apply the fluid to the cleaning members 40 by controlling the water pump to start or stop pumping the water, and specifically may change the rate of pumping the water by controlling the power of the water pump, so that the amount of fluid applied to the cleaning members by the first liquid supply manner is different from the amount of fluid applied to the cleaning members by the second liquid supply manner. For example, when the cleaning robot enters the first operation mode, the water pump operates at a first power, the tank 30 is controlled to apply the fluid to the cleaning member in a first supply manner, when the cleaning robot enters the second operation mode, the water pump operates at a second power, the tank 30 is controlled to apply the fluid to the cleaning member 40 in a second supply manner, the first power is greater than the second power, so that the flow rate of the fluid in the first supply manner is greater than the flow rate of the fluid in the second supply manner, and the tank 30 applies the fluid to the cleaning member in the first supply manner and the second supply manner for the same on-supply duration and the same off-supply duration, so that the amount of the fluid applied to the cleaning member in the first supply manner is greater than the amount of the fluid applied to the cleaning member in the second supply manner.

The motive device may also be a moving part, the movement of which may control opening or closing of the liquid outlet to control the reservoir 30 to apply fluid to the cleaning members 40. For example, the moving part is driven by a motor to move, the moving part closes the liquid outlet in the original state, the moving part moves to open the liquid outlet when the motor rotates forward, the fluid in the liquid storage tank 30 flows out, and after the duration of applying the fluid to the cleaning member reaches the second duration or the fourth duration, the controller 50 controls the motor to rotate reversely, the liquid outlet of the moving part is closed, and the liquid storage tank 30 stops applying the fluid to the cleaning member. And after the time length for stopping applying the fluid reaches the first time length or the third time length, the motor rotates forwards again to open the liquid outlet until the cleaning robot enters other working modes.

In further embodiments, the controller may be configured to control the cleaning robot to enter a first mode of operation causing the tank to apply fluid outwardly in a first supply and to control the cleaning robot to enter a second mode of operation causing the tank to apply fluid outwardly in a second supply. The outward application of fluid may be directed in any direction other than the cleaning robot. For example: when the cleaning robot is an air humidifier, the cleaning robot may apply fluid toward the top of or around the cleaning robot. At this time, the first working mode of the cleaning robot may be a working mode with a slow walking speed, the cleaning robot needs to detect the surrounding environment while walking, determine the region that can be humidified and the region that cannot be humidified, and after determining the region that can be humidified, the cleaning robot enters a second working mode, where the second working mode is a working mode with a slow walking speed. In other embodiments, the cleaning robot may apply the fluid to the surface to be cleaned. The cleaning robot enters a first working mode to cause the liquid storage tank 30 to apply fluid outwards in a first liquid supply manner, and the cleaning robot is controlled to enter a second working mode to cause the liquid storage tank to apply fluid outwards in a second liquid supply manner. The first liquid supply manner and the second liquid supply manner are the same as those of the previous embodiment, and are not described again.

in further embodiments, the controller may be further configured to control the tank 30 to apply fluid to the cleaning members 40 on an intermittent supply that cycles the tank on and off to apply fluid to the cleaning members. The gap type liquid supply mode comprises a first liquid supply mode and a second liquid supply mode, and the amount of fluid applied to the cleaning piece by the first liquid supply mode is larger than that applied to the cleaning piece by the second liquid supply mode within a time length with the same size.

and S40, controlling the cleaning robot to enter a third working mode, and enabling the liquid storage tank to stop applying the fluid to the cleaning piece.

Referring to fig. 8 and 9 in particular, fig. 8 is a schematic diagram illustrating a condition that the cleaning robot enters a third operation mode according to an embodiment of the present invention, and fig. 9 is a block diagram of a sensor system according to an embodiment of the present invention.

the cleaning robot enters a third working mode and at least one of the following conditions is met:

in condition one, the 401 cleaning robot walks to a soft surface to be cleaned. And when the cleaning robot detects that the cleaning robot walks to a soft surface to be cleaned in the cleaning working process executed in the second working mode, the cleaning robot is controlled to enter a third working mode. The soft surface to be cleaned is a surface which is paved with a carpet or a blanket and is not suitable for wet mopping. The sensor system 60 can further comprise a surface type detection sensor 61 to be cleaned, the surface type detection sensor 61 to be cleaned can be an infrared sensor, different surface types to be cleaned have different reflections on infrared sensor signals, the infrared sensor signals are reflected strongly when the surface of cement, ceramic tiles or smooth floors is covered, and when the cleaning robot runs to the surface of a carpet or a blanket, the infrared sensor signals are reflected weakly, so that the type of the surface to be cleaned by the cleaning robot can be judged. In other embodiments, the surface-to-be-cleaned type detecting sensor 61 may be a visual sensor that identifies the type of surface to be cleaned by comparing the difference in pixels on a visual image of different surfaces to be cleaned. In another embodiment, the cleaning robot includes a cleaning roller 411, the type of the surface to be cleaned detecting sensor 61 may be a sensor for detecting a current change of a driving motor of the cleaning roller 411, and when the cleaning robot runs to the surface to be cleaned with a carpet or a blanket laid thereon, an increase in cleaning resistance may cause an increase in current of the driving motor of the cleaning roller, thereby determining that the cleaning robot runs to a soft surface to be cleaned. And when the cleaning robot is detected to walk to a soft surface to be cleaned, the cleaning robot is controlled to enter a third working mode, and the liquid storage tank 30 is controlled to stop applying the fluid to the cleaning piece 40.

In a second condition 402, the power of the cleaning robot is less than a preset power. The cleaning robot may continuously consume the power of the battery during the cleaning operation in the second operation mode, and the sensor system 60 may include a power monitoring sensor 62 for detecting the power of the battery, and when the power of the battery is less than a preset power, the cleaning robot needs to find the recharging base and return to the recharging base for charging. And in the process of finding and recovering the charging seat by the cleaning robot, the cleaning robot enters a third working mode, and the liquid storage tank is controlled to stop applying the fluid to the cleaning piece so as to reduce the consumption of the electric quantity of the battery and prevent the cleaning robot from being dead due to the exhaustion of the electric quantity in the process of finding the charging seat. The electric quantity detection sensor 62 may obtain the current battery electric quantity by detecting information such as current or voltage.

condition three, 403 the cleaning robot is in a charged state. The cleaning robot searches for the charging seat due to the fact that the electric quantity is lower than the preset electric quantity, when the cleaning robot is in a charging state, the cleaning robot enters a third working mode, and the liquid storage tank is controlled to stop applying the fluid to the cleaning piece. Sensor system 60 can be used for detecting cleaning machines people's operating condition including operating condition sensor 63, operating condition sensor 63 can be the charging seat butt joint sensor, can detect cleaning machines people and the charging contact butt joint of charging seat after successful, control liquid reserve tank 30 stops to apply fluid extremely cleaning member 40 prevents that the fluid from flowing out and the charging contact of charging seat, causes charging circuit's short circuit or brings other potential safety hazards.

And in the fourth condition, 404, the cleaning robot is in an abnormal working state. The cleaning robot is in an abnormal working state and is also detected by the working state sensor 63, the working state sensor 63 further includes a collision sensor or an obstacle detection sensor arranged at the front of the main body 10, the collision sensor is configured to detect collision information with an object in the environment during the operation of the cleaning robot, and the obstacle detection sensor is configured to detect operation environment information of the robot, so as to reduce the collision between the main body 10 and the object as much as possible. When the cleaning robot moves in all directions or turns to trigger the collision sensor, the cleaning robot is considered to be trapped, for example, the cleaning robot is difficult to move out when moving to the middle of the stool foot, the cleaning robot is judged to be in an abnormal working state, the cleaning robot enters a third working mode, and the liquid storage tank 30 is controlled to stop applying the fluid to the cleaning member 40. The working state sensor 63 further includes a driving member sensor which can detect the operation conditions of the left and right driving wheels and the front wheel, and thus can determine whether the cleaning robot is in a normal working state. The omni wheel sensor is disposed at a position where the main body 10 of the omni wheel 22 is installed, color blocks between black and white wheels are disposed on the omni wheel 22, the driving part sensor is an infrared sensor, no signal is output when the driving part sensor is reflected by the black blocks, signal is output when the driving part sensor is reflected by the white blocks, when the cleaning robot is in a normal working state, the omni wheel 22 rotates, the black blocks and the white blocks alternately reflect light emitted by the omni wheel sensor, and signal output can be alternately generated. If the signal detected by the omni-directional wheel sensor is continuously output without a signal or continuously output with the same signal within a predetermined time period, it may be determined that the cleaning robot is in an abnormal working state. The driving part sensor may also be a sensor for detecting driving motors of the left and right driving wheels, when the cleaning robot is trapped, it is determined that the cleaning robot is in an abnormal working state by detecting that the current or voltage of the driving motors of the left and right driving wheels is in an abnormal state by the driving part sensor, and the cleaning robot enters a third working mode to control the liquid storage tank 30 to stop applying the fluid to the cleaning member 40. Through the judgment that the cleaning robot is in an abnormal working state, the liquid storage tank 30 is controlled to stop applying the fluid to the cleaning piece 40 in time, and the situation that when the cleaning robot is trapped in the same place or runs in a small range, the fluid applied to the cleaning piece 40 is too much, so that the fluid seeps out of a cleaning surface and causes secondary pollution to the cleaning surface is prevented.

conditional five, the user issues an indication to the cleaning robot to stop applying fluid to the cleaning members. When the user desires the cleaning robot to dry the floor without wet mopping, an indication may be given to the cleaning robot to stop applying fluid to the cleaning members 40. The indication may be sent by a peripheral device of the cleaning robot, such as: remote control or cell-phone APP. Of course, a corresponding switch can be arranged on the cleaning robot for control, and the switch can be a pressing type or a touch type. In other embodiments, the cleaning robot may also be provided with a voice interaction module, and the user may voice control the cleaning robot to stop applying fluid to the cleaning members.

in an embodiment of the invention, when the cleaning robot enters different working modes, the liquid storage tank is controlled to apply the fluid to the cleaning member in different liquid supply modes or the liquid storage tank is controlled to stop applying the fluid to the cleaning member. On the one hand, can realize that intelligent control liquid reserve tank applys fluid to cleaning member, on the other hand can also further effective control apply to the fluid volume of cleaning member improves clean effect, promotes user experience and feels.

in the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "an alternative embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above-described embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.