CN106025403A - Floor sweeping robot and control method thereof - Google Patents
Floor sweeping robot and control method thereof Download PDFInfo
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- CN106025403A CN106025403A CN201610557185.5A CN201610557185A CN106025403A CN 106025403 A CN106025403 A CN 106025403A CN 201610557185 A CN201610557185 A CN 201610557185A CN 106025403 A CN106025403 A CN 106025403A
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- battery case
- sweeping robot
- electric magnet
- electricity
- cradle
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a floor sweeping robot. The floor sweeping robot comprises a robot body; the robot body comprises a machine body and at least two battery boxes; a battery cabin which is used for accommodating the battery boxes is formed in the machine body; the battery boxes are detachably and electrically connected with the machine body in the battery cabin, and each battery box can supply power to the machine body separately; the floor sweeping robot is provided with at least two batteries, wherein one serves as a power supply battery, and the others serve as standby batteries; the standby batteries can be carried by the floor sweeping robot, and can also be placed at the position of a power supply and be charged for later use; when the electric quantity of the power supply battery is insufficient, the power supply battery can be replaced by the standby batteries, while the power supply battery can be placed back to the position of the power supply for charging, so that the power supply battery and the standby batteries are used alternately; when the battery is charged, the floor sweeping robot can continue to work; the endurance time is long; the cleaning efficiency is high; moreover, the power charging and supplying mode cannot be influenced and limited by distance and interference objects, so that the floor sweeping robot is convenient to clean and good in cleaning effect. The invention also discloses a control method for the floor sweeping robot.
Description
Technical field
The present invention relates to robotics, particularly to a kind of sweeping robot and control method thereof.
Background technology
Along with raising and the progress of technology of people's living standard, robot is utilized to replace the mankind to carry out house
Business work has become as a kind of trend.
At present, sweeping robot on the market the most all uses internal battery to power, and battery capacity is generally
1500 milliamperes～2500 milliamperes, it is possible to the cleaning of competent little area, but when in the face of larger area
During cleaning, often cannot once complete cleaning, needs recharge and the most repeatedly can complete clearly
Clean work, not only reduces cleaning efficiency, brings inconvenience, existing skill to life the most to a certain extent
In art, the mode solving the problems referred to above typically has two kinds, and one is directly to increase battery capacity, but this
The mode of kind can cause sweeping robot weight to rise, and the charging interval cannot work on when increasing and charge,
Use inconvenience and manufacturing cost can be increased；Another kind is the mode using wireless charging to power, Application No.
201410751360.5 patent of invention disclose the electric cleaning electromechanics equipment that a kind of wireless charging is powered, power supply
Wireless transmitter goes out electromagnetic wave by reflector, and electromagnetic wave is delivered to radio energy by space and receives
Device is charged to electric cleaning electromechanics equipment and powers.Although the program can depart to a certain extent
The constraint in space carries out wireless charging to cleaning equipment and powers, and can work continuously, but charging effect is still
Can be limited by distance, distance the most remote, charging effect is the poorest, cause cleaner when away from reflector,
May charge timely and power and quit work and move owing to can not get, especially have in shelter
When body of wall intercepts, the reinforcing bar in body of wall can shield electromagnetic wave so that above-mentioned cleaner is difficult to whole residence
It is cleaned.
Therefore, how sweeping robot is improved so that it is there is longer cruising time, and can be continuous
Operation, it fills power supply and is not affected by distance and chaff interference, becomes those skilled in the art urgently to be resolved hurrily
Important technological problems.
Summary of the invention
In view of this, the invention provides a kind of sweeping robot and control method thereof, to reach to make it have
Having longer cruising time, and can work continuously, it fills power supply and is not affected by distance and chaff interference
Purpose.
For achieving the above object, the present invention provides following technical scheme:
A kind of sweeping robot, including robot body, described robot body includes fuselage and at least
Two battery cases, described fuselage is provided with the battery compartment for accommodating described battery case, described battery case
Detachably electrically connect with described fuselage in described battery compartment, and each described battery case can be all described
Fuselage is individually powered.
Preferably, also including cradle, described cradle can dock with described battery case and to described electricity
Pond box charging.
Preferably, described cradle is provided with homeward discharger, described fuselage is provided with the first control
Device processed and described battery case electric quantity detection apparatus one to one and adaptive with described homeward discharger
Homeward reception device, described electric quantity detection apparatus and described homeward reception device all with described first control
The signal input part of device processed connects, the signal output part of described first controller and machine of sweeping the floor described in driving
The walking mechanism of people's motion connects.
Preferably, it is provided with the first electric magnet in described battery compartment, described battery case is provided with described
The second electric magnet that first electric magnet is adaptive, described fuselage can be by described first electric magnet and described
The energising of the second electric magnet or power-off realize capturing or discharging described battery case.
Preferably, described cradle is provided with the 3rd electric magnet, described battery case is provided with described
The 4th electric magnet that 3rd electric magnet is adaptive, described cradle can pass through described 3rd electric magnet and institute
Energising or the power-off of stating the 4th electric magnet realize capturing or discharging described battery case.
Preferably, described cradle being additionally provided with second controller, described second controller is used for controlling
Described 3rd magnet switching electricity, described first controller can control described first electric magnet, described the
Two electric magnet and the power on/off of described 4th electric magnet.
Preferably, described cradle is L-shaped, including fixed part and the end that is connected to described fixed part
And horizontal-extending junction surface, described 3rd contact and described second electric magnet may be contained within described joint
Portion is towards on the surface of described fixed part.
Preferably, top or the bottom of described fuselage offers the U-shaped for coordinating with described junction surface
Groove, described U-lag connects with described battery compartment and formed between described U-lag and described battery compartment can
Described battery case is carried out spacing step surface.
Preferably, described fixed part is to fit with described fuselage outer side wall towards a side surface at described junction surface
The shape joined and be provided with cushion.
The control method of a kind of sweeping robot as above, it is characterised in that including:
Charge step, described battery case electricity is less than when presetting electricity, and described sweeping robot is described by this
Battery case is placed at power supply and charges, and relies on other described battery case to work.
Preferably, also include:
Power taking step, described sweeping robot docks also with the described battery case filling electricity at described power supply
Taken away described power supply.
Preferably, described power taking step specifically includes:
The electricity of last described battery case less than preset electricity time, described sweeping robot with described
Filled the described battery case docking of electricity at power supply and taken away described power supply.
Preferably, described power taking step specifically includes:
The electricity of any one of battery case less than preset electricity time, described sweeping robot with described
Filled the described battery case docking of electricity at power supply and taken away described power supply.
Preferably, including step:
Battery in described battery case is detected by described electric quantity detection apparatus, presets electricity as being higher than,
Then it is cleaned work, as less than presetting electricity, then entered next step；
Return described cradle, and adjust attitude until the first contact on described battery case and described charging
The second contact docking on seat；
Described first controller control described first electric magnet, described second electric magnet power-off, the described 4th
Electric magnet obtains electric, and described second controller controls described 3rd electric magnet and obtains electric, and described battery case departs from institute
Stating fuselage and be fixed on described cradle, described sweeping robot relies on another described battery case to leave
Described cradle continues cleaning；
When the electricity of the battery in battery case another described is less than when presetting electricity, return described cradle；
Described first controller controls described sweeping robot and adjusts attitude, makes institute empty on described fuselage
State the described battery case described in battery compartment alignment and near until the 3rd contact in described battery compartment is with described
The 4th contact docking on battery case；
Described first controller controls described first electric magnet, described second electric magnet obtains electric, and the described 4th
Electric magnet power-off, described second controller controls described 3rd electric magnet power-off, by described cradle
Described battery case takes away described cradle.
From technique scheme it can be seen that the present invention provide sweeping robot, including robot body,
Robot body includes fuselage and at least two battery case, fuselage is provided with for accommodating battery case
Battery compartment, battery case detachably electrically connects with fuselage in battery compartment, and each battery case can be all machine
Body is individually powered；Present invention also offers the control method of a kind of above-mentioned sweeping robot；
From the above, it is seen that the sweeping robot that this programme provides at least has two pieces of batteries,
During use, one of power for the electrical equipment on sweeping robot as supplying cell, remaining
As reserve battery, reserve battery can be carried with by sweeping robot, it is possible to is placed in by reserve battery
Charging at power supply standby, when supplying cell electricity deficiency, electrical equipment is entered by available backup battery replacement
Row power supply, and supplying cell is put back at power supply and be charged, it is used alternatingly, while battery charges,
Sweeping robot can also continue to work, thus extends the cruising time of sweeping robot, improves cleaning
Efficiency, and above-mentioned power supply mode of filling will not be by distance and chaff interference is affected and restriction, user
Just, cleaning effect is good.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that below,
Accompanying drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The structural representation of the sweeping robot that Fig. 1 provides for the embodiment of the present invention；
The polycrystalline substance schematic diagram of the fuselage of the sweeping robot that Fig. 2 provides for the embodiment of the present invention；
The structural representation of the battery case of the sweeping robot that Fig. 3 provides for the embodiment of the present invention；
The polycrystalline substance schematic diagram of the battery case of the sweeping robot that Fig. 4 provides for the embodiment of the present invention；
The structural representation of the charging station of the sweeping robot that Fig. 5 provides for the embodiment of the present invention；
The flow chart of the control method of the sweeping robot that Fig. 6 provides for another kind embodiment of the present invention.
Detailed description of the invention
The invention provides a kind of sweeping robot, to reach to make it have longer cruising time, and
Can work continuously, it fills the purpose that power supply is not affected by distance and chaff interference.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present invention, and
It is not all, of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out the every other embodiment obtained under creative work premise, broadly fall into the scope of protection of the invention.
Refer to the structural representation of the sweeping robot that Fig. 1 and Fig. 2, Fig. 1 provide for the embodiment of the present invention,
The polycrystalline substance schematic diagram of the fuselage of the sweeping robot that Fig. 2 provides for the embodiment of the present invention.
A kind of sweeping robot that the embodiment of the present invention provides, including robot body, robot body bag
Include fuselage 1 and at least two battery case 2, fuselage 1 is provided with the battery compartment for accommodating battery case 2
1a, battery case 2 detachably electrically connects with fuselage 1 in battery compartment 1a, and each battery case 2 all can
Individually power for fuselage 1.Battery compartment 1a both can arrange one, accommodates multiple battery case 2, it is also possible to
Arrange multiple, with battery case 2 one_to_one corresponding, in each battery compartment 1a, hold a battery case 2.
Compared with prior art, the sweeping robot that the embodiment of the present invention provides, at least there are two pieces of batteries,
In use, one of power for the electrical equipment on sweeping robot as supplying cell, remaining
As reserve battery, reserve battery can be carried with by sweeping robot, it is possible to is put by reserve battery
Charging at power supply standby, when supplying cell electricity deficiency, available backup battery replacement is to electrical equipment
Be powered, and supplying cell put back at power supply and be charged, be used alternatingly, battery charging same
Time, sweeping robot can also continue to work, thus extends the cruising time of sweeping robot, improves
Cleaning efficiency, and above-mentioned power supply mode of filling will not make by distance and chaff interference is affected and restriction
With convenient, cleaning effect is good.
The embodiment of the present invention additionally provides a kind of cradle 5 for being charged above-mentioned battery case 2,
As shown in fig. 1, cradle 5 can dock with battery case 2 and charge battery case 2.
In order to enable, sweeping robot is the most homeward when electricity deficiency to be charged, and implements in the present invention
In example, cradle 5 is provided with homeward discharger, fuselage 1 is provided with the first controller and electricity
Pond box 2 electric quantity detection apparatus one to one and the homeward reception device adaptive with homeward discharger,
Electric quantity detection apparatus and homeward reception device all signal input parts with the first controller are connected, the first control
The signal output part of device processed is connected with the walking mechanism driving sweeping robot motion.Electric quantity detection apparatus will
The information about power of battery case 2 sends to the first controller, when battery case 2 electricity is less than default electricity,
Cradle 5 position signalling received from homeward discharger is sent to the first control by homeward reception device
Device, the first controller drives walking mechanism action according to this position signalling, makes sweeping robot return charging
Seat 5.
In order to make battery case 2 firmly can join with battery compartment 1a in sweeping robot work process
Close, it is to avoid come off, simultaneously can needs to battery case 2 is rechargeable can be very easily by battery case 2
Take off, in embodiments of the present invention, as in figure 2 it is shown, be provided with the first electric magnet 6 in battery compartment 1a,
Being provided with on battery case 2 and the second electric magnet 9 of the first electric magnet 6 adaptation, referring to Fig. 3, Fig. 3 is
The structural representation of battery case of the sweeping robot that the embodiment of the present invention provides, fuselage 1 can be by the
One electric magnet 6 and the energising of the second electric magnet 9 or power-off realize capturing or release battery case 2.
Pass through said structure, it is possible to be fixed on fuselage 1 or on fuselage 1 by battery case 2 very easily
Take off, especially when automatically controlling sweeping robot by controller, electromagnetism can be controlled by controller
The power on/off of ferrum realizes crawl or the release of battery case 2.
Crawl and the release of battery case 2 can also be realized in other way, such as can be at battery compartment 1a
Two relative sidewalls on symmetrical two telescopic arms are set, be matched for clamping tightly electricity by two telescopic arms
Pond box 2, it is also possible to telescopic push rod is set on the sidewall just battery compartment 1a exported, for by electricity
Battery compartment 1a released by pond box 2.Certainly, crawl and release for battery case 2 are not limited only to above-mentioned
Two ways, those skilled in the art can make corresponding adjustment according to practical situation, as long as can be real
The automatic clamping and placing of existing battery case 2.
Optimize technique scheme further, in order to make battery case 2 depart from battery compartment 1a also smoothly
Resting on and be charged on cradle 5, in embodiments of the present invention, referring to Fig. 4 and Fig. 5, Fig. 4 is
The polycrystalline substance schematic diagram of the battery case of the sweeping robot that the embodiment of the present invention provides, Fig. 5 is the present invention
The structural representation of the charging station of the sweeping robot that embodiment provides, cradle 5 is provided with the 3rd electricity
Magnet 3, battery case 2 is provided with and the 4th electric magnet 11 of the 3rd electric magnet 3 adaptation, cradle 5
Can realize capturing or release by the 3rd electric magnet 3 and the energising of the 4th electric magnet 11 or power-off
Battery case 2.So, coordinate with cradle 5 at robot body and put in place and need to make battery case 2 depart from electricity
During the 1a of storehouse, pond, only need to by the first electric magnet 6 and the second electric magnet 9 power-off, make the 3rd electric magnet 3 with
And the 4th electric magnet 11 energising battery case 2 can be taken off, and by battery case 2 from cradle 5 turn
When moving on in battery compartment 1a, only the first electric magnet 6 and the second electric magnet 9 need to be made to be energized, by the 3rd electricity
Magnet 3 and the 4th electric magnet 11 power-off can make battery case 2 depart from cradle 5, and are fixed on battery
In the 1a of storehouse, by arranging said structure, make sweeping robot self-changeable battery become possibility, help
In improving automaticity.
In embodiments of the present invention, battery case 2 is provided with the first contact 10, the corresponding position of cradle 5
Putting and be provided with the second contact 4, battery case 2 and cradle 5 are by the first contact 10 and the second contact
4 electrical connections,
Optimize technique scheme further, in embodiments of the present invention, as in figure 2 it is shown, battery compartment 1a
Sidewall on be provided with the 3rd contact 7, the position of battery case 2 correspondence is provided with the 4th contact 8, battery
Storehouse 1a is electrically connected by the 3rd contact 7 and the 4th contact 8 with battery case 2.
In order to realize the Automatic Control of sweeping robot, in embodiments of the present invention, on cradle 5
Being additionally provided with second controller, second controller is for controlling the 3rd electric magnet 3 power on/off, and first controls
Device can control the first electric magnet the 6, second electric magnet 9 and power on/off of the 4th electric magnet 11, so,
Sweeping robot can not only be the most homeward, and in the Collaborative Control of the first controller Yu second controller
Under, it is possible to it is automatically performed the loading or unloading operation of battery case 2, it is achieved that the full-automation of sweeping robot work.
Cradle 5 can use various shape, as long as can dock smoothly with robot body,
In the embodiment of the present invention, as shown in Figure 5, cradle 5 is L-shaped, including fixed part 51 and connection
At the end of fixed part 51 horizontal-extending junction surface 52, the 3rd contact 7 and the second electric magnet 9 are equal
It is arranged at junction surface 52 towards on the surface of fixed part 51.Junction surface 52 can be connected to fixed part 51
Top, correspondingly, battery compartment 1a is also required to be opened in the top of fuselage 1 sidewall, at this knot
Under structure, the cleaning blind area of sweeping robot will not be become bottom cradle 5, make cleaning the most thorough；When
So, junction surface 52 can also be connected to the bottom of fixed part 51, and battery compartment 1a is opened in fuselage 1 side
The bottom of wall, so, although sweeping robot cannot be cleaned bottom cradle 5, but charging
Seat 5 can more preferable self-contained battery box 2, it is to avoid battery case 2 drops in charging process.
Optimizing technique scheme further, the docking for the ease of fuselage 1 with cradle 5 coordinates,
In this reality inventive embodiments, the top of fuselage 1 or bottom offer the U for coordinating with junction surface 52
Shape groove 1b, U-lag 1b and battery compartment 1a connect and formed between U-lag 1b and battery compartment 1a can
Battery case 2 is carried out spacing step surface, by arranging U-lag 1b, certain guiding can either be played
Effect, it is simple to fuselage 1 coordinates with cradle 5, and formed between U-lag 1b and battery compartment 1a
Step surface can play the effect spacing to battery case 2, make battery case 2 be merely able to the footpath along fuselage 1
To sliding in or out battery compartment 1a, it is simple to fixing of battery case 2.
The damage brought for the shock reduced when robot body coordinates with cradle 5, in the present invention
In embodiment, fixed part 51 is the shape adaptive with fuselage 1 lateral wall towards a side surface at junction surface 52
Shape and be provided with cushion, so can increase the contact surface between robot body and cradle 5
Long-pending, it is to avoid impact force is concentrated, thus protect cradle 5 and robot body to avoid damaging, prolongation makes
Use the life-span.
An embodiment of the present invention additionally provides the control method of a kind of sweeping robot, including charge step,
Charge step is when battery case 2 electricity is less than when presetting electricity, and this battery case 2 is placed in by sweeping robot
Charge at power supply, and rely on other battery case 2 to work.
Further, also include that power taking step, power taking step are sweeping robot and filled electricity at power supply
Battery case 2 dock and taken away power supply.
When battery case 2 has multiple, power taking step can be divided into following two concrete operation step:
One be when last battery case 2 electricity less than preset electricity time, sweeping robot with at electricity
The battery case 2 filling electricity at source docks and is taken away power supply.
Its two be any one battery case 2 electricity less than preset electricity time, sweeping robot with at power supply
Place filled the battery case 2 of electricity and docks and taken away power supply.
Optimize such scheme further, in another kind embodiment of the present invention, it is provided that one is specifically
The control method of sweeping robot, refer to Fig. 6, Fig. 6 for sweeping that another kind embodiment of the present invention provides
The flow chart of the control method of floor-washing robot, including step:
Battery in battery case 2 is detected by electric quantity detection apparatus, as higher than presetting electricity, then carried out
Cleaning, as less than presetting electricity, then entered next step；
Return cradle 5, and adjust attitude until on the first contact 10 on battery case 2 and cradle 5
The second contact 4 dock；
First controller controls first electric magnet the 6, second electric magnet 9 power-off, and the 4th electric magnet 11 obtains electric,
Second controller controls the 3rd electric magnet 3 and obtains electric, and battery case 2 departs from fuselage 1 and is fixed on cradle 5
On, sweeping robot relies on another battery case 2 to leave cradle 5 to continue cleaning；
When the electricity of the battery in another battery case 2 is less than when presetting electricity, return cradle 5；
First controller controls sweeping robot and adjusts attitude, makes battery compartment 1a empty on fuselage 1 be directed at
Battery case 2 and near until the 3rd contact 7 in battery compartment 1a and the 4th contact 8 on battery case 2
Docking；
First controller controls first electric magnet the 6, second electric magnet 9 and obtains electric, the 4th electric magnet 11 power-off,
Second controller controls the 3rd electric magnet 3 power-off, and the battery case 2 on cradle 5 is taken away cradle 5.
In this specification, each embodiment uses the mode gone forward one by one to describe, and each embodiment stresses
Being the difference with other embodiments, between each embodiment, identical similar portion sees mutually.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses
The present invention.Multiple amendment to these embodiments will be aobvious and easy for those skilled in the art
See, generic principles defined herein can without departing from the spirit or scope of the present invention,
Realize in other embodiments.Therefore, the present invention is not intended to be limited to the embodiments shown herein,
And it is to fit to the widest scope consistent with principles disclosed herein and features of novelty.
Claims (14)
1. a sweeping robot, it is characterised in that include robot body, described robot body bag
Including fuselage (1) and at least two battery case (2), described fuselage is provided with for accommodating on (1)
Stating the battery compartment (1a) of battery case (2), described battery case (2) is in described battery compartment (1a) and institute
State fuselage (1) detachably to electrically connect, and each described battery case (2) can be all described fuselage (1)
Individually power supply.
Sweeping robot the most according to claim 1, it is characterised in that also include cradle (5),
Described cradle (5) can dock with described battery case (2) and charge described battery case (2).
Sweeping robot the most according to claim 2, it is characterised in that described cradle (5)
On be provided with homeward discharger, described fuselage (1) is provided with the first controller and described battery case
(2) electric quantity detection apparatus and the homeward reception adaptive with described homeward discharger fill one to one
Putting, described electric quantity detection apparatus and described homeward reception device are all defeated with the signal of described first controller
Enter end to connect, the signal output part of described first controller and the walking driving the motion of described sweeping robot
Mechanism connects.
Sweeping robot the most according to claim 3, it is characterised in that described battery compartment (1a)
Inside it is provided with the first electric magnet (6), described battery case (2) is provided with and described first electric magnet (6)
Adaptive the second electric magnet (9), described fuselage (1) can by described first electric magnet (6) and
The energising of described second electric magnet (9) or power-off realize capturing or discharging described battery case (2).
Sweeping robot the most according to claim 4, it is characterised in that described cradle (5)
On be provided with the 3rd electric magnet (3), described battery case (2) is provided with and described 3rd electric magnet (3)
The 4th adaptive electric magnet (11), described cradle (5) can pass through described 3rd electric magnet (3)
And the energising of described 4th electric magnet (11) or power-off realize capturing or discharging described battery case (2).
Sweeping robot the most according to claim 5, it is characterised in that described cradle (5)
On be additionally provided with second controller, described second controller is used for controlling described 3rd electric magnet (3) break-make
Electricity, described first controller can control described first electric magnet (6), described second electric magnet (9)
And the power on/off of described 4th electric magnet (11).
Sweeping robot the most according to claim 2, it is characterised in that described cradle (5)
For L-shaped, the end including fixed part (51) and being connected to described fixed part (51) is the most horizontal-extending
Junction surface (52), described 3rd contact (7) and described second electric magnet (9) may be contained within institute
State junction surface (52) towards on the surface of described fixed part (51).
Sweeping robot the most according to claim 7, it is characterised in that described fuselage (1)
Top or bottom offer the U-lag (1b) for coordinating, described U with described junction surface (52)
Shape groove (1b) connects with described battery compartment (1a) and described U-lag (1b) and described battery compartment (1a)
Between formed described battery case (2) can be carried out spacing step surface.
Sweeping robot the most according to claim 7, it is characterised in that described fixed part (51)
Towards a side surface of described junction surface (52) be the shape adaptive with described fuselage (1) lateral wall and its
On be provided with cushion.
10. the control method of a sweeping robot as claimed in claim 1, it is characterised in that bag
Include:
Charge step, described battery case (2) electricity is less than when presetting electricity, and described sweeping robot should
Described battery case (2) is placed at power supply and charges, and relies on other described battery case (2) to work.
The control method of 11. sweeping robots according to claim 10, it is characterised in that also wrap
Include:
Power taking step, described sweeping robot is right with the described battery case (2) filling electricity at described power supply
Connect and taken away described power supply.
The control method of 12. sweeping robots according to claim 11, it is characterised in that described
Power taking step specifically includes:
The electricity of last described battery case (2) less than preset electricity time, described sweeping robot with
Filled described battery case (2) docking of electricity at described power supply and taken away described power supply.
The control method of 13. sweeping robots according to claim 11, it is characterised in that described
Power taking step specifically includes:
The electricity of any one of battery case (2) less than preset electricity time, described sweeping robot with
Filled described battery case (2) docking of electricity at described power supply and taken away described power supply.
The control method of 14. 1 kinds of sweeping robots as claimed in claim 6, it is characterised in that bag
Include step:
Battery in described battery case (2) is detected by described electric quantity detection apparatus, as higher than presetting electricity
Amount, then be cleaned work, as less than presetting electricity, then entered next step；
Return described cradle (5), and adjust attitude until the first contact on described battery case (2)
(10) dock with the second contact (4) on described cradle (5)；
Described first controller controls described first electric magnet (6), described second electric magnet (9) power-off,
Described 4th electric magnet (11) obtains electric, and described second controller controls described 3rd electric magnet (3) and obtains electric,
Described battery case (2) departs from described fuselage (1) and is fixed on described cradle (5), described in sweep the floor
Robot relies on another described battery case (2) to leave described cradle (5) continuation cleaning；
When the electricity of the battery in battery case (2) another described is less than when presetting electricity, fill described in return
Electricity seat (5)；
Described first controller controls described sweeping robot and adjusts attitude, makes described fuselage (1) upper empty
The described battery case (2) described in described battery compartment (1a) alignment and near until described battery compartment (1a)
The 3rd interior contact (7) is docked with the 4th contact (8) on described battery case (2)；
Described first controller controls described first electric magnet (6), described second electric magnet (9) obtains electric,
Described 4th electric magnet (11) power-off, described second controller controls described 3rd electric magnet (3) power-off,
Described battery case (2) on described cradle (5) is taken away described cradle (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610557185.5A CN106025403A (en) | 2016-07-13 | 2016-07-13 | Floor sweeping robot and control method thereof |
Applications Claiming Priority (1)
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| CN106410904A (en) * | 2016-10-24 | 2017-02-15 | 北京灵铱科技有限公司 | Rotary contact automatic charge apparatus of intelligent robot cleaner |
| CN106684477A (en) * | 2017-03-09 | 2017-05-17 | 广东大仓机器人科技有限公司 | Robot capable of automatically replacing working battery and charging platform of robot |
| CN107612063A (en) * | 2017-09-14 | 2018-01-19 | 北京翰宁智能科技有限责任公司 | Logistics Workplace haulage equipment and its power intelligence allocating system, method |
| CN107854059A (en) * | 2017-12-01 | 2018-03-30 | 潘美娣 | One kind fire extinguishing monitoring sweeping robot |
| CN108406799A (en) * | 2018-03-18 | 2018-08-17 | 张杭湖 | A kind of bionical Hexapod Robot |
| CN108733061A (en) * | 2018-06-05 | 2018-11-02 | 北京智行者科技有限公司 | A kind of path modification method of cleaning work |
| CN108927804A (en) * | 2018-07-25 | 2018-12-04 | 中科新松有限公司 | Compound robot control system and robot |
| CN109140292A (en) * | 2018-07-16 | 2019-01-04 | 深圳市沃特沃德股份有限公司 | Luminescence component and charging equipment |
| CN109324540A (en) * | 2018-08-29 | 2019-02-12 | 上海常仁信息科技有限公司 | A kind of power management system of the wisdom family based on robot |
| CN109542082A (en) * | 2018-11-15 | 2019-03-29 | 中铁第四勘察设计院集团有限公司 | A kind of train water robot fault-tolerant control system and method |
| CN109758041A (en) * | 2019-01-31 | 2019-05-17 | 莱克电气股份有限公司 | Robot dust collector |
| CN109795687A (en) * | 2019-01-24 | 2019-05-24 | 阮奕彭 | Sweeping robot |
| CN110089982A (en) * | 2018-01-31 | 2019-08-06 | 光宝电子(广州)有限公司 | Cleaning robot system and its operation method |
| CN114079295A (en) * | 2021-03-04 | 2022-02-22 | 浙江绍兴苏泊尔生活电器有限公司 | Power supply control method and device, cleaning base station, storage medium and product program |
| CN114947625A (en) * | 2022-07-05 | 2022-08-30 | 深圳乐动机器人股份有限公司 | Method for supplementing electric quantity for cleaning robot and related device |
| WO2022193184A1 (en) * | 2021-03-17 | 2022-09-22 | 深圳市普森斯科技有限公司 | Sweeping robot and system and control method thereof |
| CN115437381A (en) * | 2022-09-19 | 2022-12-06 | 北京萌特博智能机器人科技有限公司 | Robot pile return guiding method, device and equipment in charging pile power-off mode |
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| CN106410904A (en) * | 2016-10-24 | 2017-02-15 | 北京灵铱科技有限公司 | Rotary contact automatic charge apparatus of intelligent robot cleaner |
| CN106410904B (en) * | 2016-10-24 | 2020-08-21 | 湖南炬神电子有限公司 | Rotary contact type automatic charging device of intelligent floor sweeping robot |
| CN106684477A (en) * | 2017-03-09 | 2017-05-17 | 广东大仓机器人科技有限公司 | Robot capable of automatically replacing working battery and charging platform of robot |
| CN107612063A (en) * | 2017-09-14 | 2018-01-19 | 北京翰宁智能科技有限责任公司 | Logistics Workplace haulage equipment and its power intelligence allocating system, method |
| CN107612063B (en) * | 2017-09-14 | 2024-04-30 | 北京翰宁智能科技有限责任公司 | Logistics production place carrying equipment and power intelligent distribution system and method thereof |
| US11844313B2 (en) | 2017-09-27 | 2023-12-19 | Positec Technology (China) Co., Ltd. | Self-moving device and automatic working system thereof |
| CN107854059A (en) * | 2017-12-01 | 2018-03-30 | 潘美娣 | One kind fire extinguishing monitoring sweeping robot |
| CN110089982A (en) * | 2018-01-31 | 2019-08-06 | 光宝电子(广州)有限公司 | Cleaning robot system and its operation method |
| CN108406799A (en) * | 2018-03-18 | 2018-08-17 | 张杭湖 | A kind of bionical Hexapod Robot |
| CN108733061A (en) * | 2018-06-05 | 2018-11-02 | 北京智行者科技有限公司 | A kind of path modification method of cleaning work |
| CN109140292A (en) * | 2018-07-16 | 2019-01-04 | 深圳市沃特沃德股份有限公司 | Luminescence component and charging equipment |
| CN109140292B (en) * | 2018-07-16 | 2021-09-17 | 深圳市无限动力发展有限公司 | Light emitting component and charging equipment |
| CN108927804A (en) * | 2018-07-25 | 2018-12-04 | 中科新松有限公司 | Compound robot control system and robot |
| CN109324540A (en) * | 2018-08-29 | 2019-02-12 | 上海常仁信息科技有限公司 | A kind of power management system of the wisdom family based on robot |
| CN109542082A (en) * | 2018-11-15 | 2019-03-29 | 中铁第四勘察设计院集团有限公司 | A kind of train water robot fault-tolerant control system and method |
| CN109795687A (en) * | 2019-01-24 | 2019-05-24 | 阮奕彭 | Sweeping robot |
| CN109758041A (en) * | 2019-01-31 | 2019-05-17 | 莱克电气股份有限公司 | Robot dust collector |
| US12103425B2 (en) | 2020-12-04 | 2024-10-01 | Ali Corporation | Automatic battery replacement apparatus, moving platform, and rechargeable battery |
| CN114079295A (en) * | 2021-03-04 | 2022-02-22 | 浙江绍兴苏泊尔生活电器有限公司 | Power supply control method and device, cleaning base station, storage medium and product program |
| WO2022193184A1 (en) * | 2021-03-17 | 2022-09-22 | 深圳市普森斯科技有限公司 | Sweeping robot and system and control method thereof |
| CN114947625A (en) * | 2022-07-05 | 2022-08-30 | 深圳乐动机器人股份有限公司 | Method for supplementing electric quantity for cleaning robot and related device |
| CN114947625B (en) * | 2022-07-05 | 2024-03-26 | 深圳乐动机器人股份有限公司 | Method and related device for supplementing electric quantity for cleaning robot |
| CN115437381A (en) * | 2022-09-19 | 2022-12-06 | 北京萌特博智能机器人科技有限公司 | Robot pile return guiding method, device and equipment in charging pile power-off mode |
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Application publication date: 20161012 |