CLEANING SYSTEM FOR SELF-MOVING CLEANING DEVICE AND CLEANING METHOD THEREOF
The present invention involves a washing device and a cleaning method for cleaning self-moving cleaning devices. The cleaning method includes: moving the self-moving cleaning device towards the washing device, and causing a first side of the self-moving cleaning device to be aligned with the washing device, wherein the self-moving cleaning device includes a mop; and moving a mop to a location over a cleaning unit of the washing device, and cleaning the mop of the cleaning member of the cleaning unit, including, during a first period, causing the cleaning unit in a first direction over the first side; and during a second period, causing the self-moving cleaning device to move in a second direction different from the first direction.
This application claims the benefit of China Application No. 202211100780.8 filed on Sep. 9, 2022, the disclosures of which is hereby incorporated by reference in its entirety.
TECHNICAL FIELDEmbodiments of the present invention relate to a cleaning system for a self-moving cleaning device and a cleaning method thereof, and more particularly to a mop washing device and a cleaning method for a self-moving robot.
BACKGROUNDThe existing sweeping robots usually clean the floor with a dry-cleaning mode, or with a wet-cleaning mode through help of water or cleaning liquid to clean the floor after the mop or the surface to be cleaned is wetted. However, in this way, dirt, dust, hair or fine debris tends to accumulate on the mop. Therefore, after a period of operation with the dry-cleaning or wet-cleaning mode, it is necessary to replace or wash the soiled mop to maintain the cleaning performance in the subsequent mopping operations. The current sweeping robot can automatically clean the floor, but it cannot automatically clean the mop. That would require cleaning or replacing the mop manually, but such requirement seriously compromises the intended effect of automatic sweeping of the sweeping robot without human intervention. Therefore, it is necessary to design a new sweeping robot to resolve the above-mentioned deficiencies.
INVENTION SUMMARYOne aspect of the present disclosure discusses a method of operating a washing device, the method includes: moving a self-moving cleaning device toward the washing device and aligning a first side of the self-moving cleaning device with the washing device, wherein the self-moving cleaning device includes a first mop; and moving the first mop of the self-moving cleaning device to be over a cleaning unit of the washing device, and cleaning the first mop using a cleaning member of the cleaning unit, including: during a first period, moving the cleaning unit in a first direction to be under the first mop; and during a second period, causing the self-moving cleaning device to move in a second direction different from the first direction.
According to some embodiments, the first direction and the second direction are perpendicular to each other; and the cleaning unit is configured to move in a third direction relative to the self-moving cleaning device, wherein the third direction is consistent with a first edge contour of the first mop.
According to some embodiments, a cleaning route, relative to the self-moving cleaning device, of the cleaning unit during cleaning is formed of a plurality of connected cleaning segments, and a shape of the cleaning route corresponds to a first edge contour of the first mop.
According to some embodiments, control signals associated with a formation of a present one of the plurality of cleaning segments are transmitted to the cleaning unit and the self-moving cleaning device, during a period for proceeding with a previous one of the plurality of cleaning segments before the present one of the plurality of cleaning segments.
According to some embodiments, the cleaning unit further includes a water outlet configured to spray cleaning liquid in a direction facing the first mop, the self-moving cleaning device includes a first infrared module, the washing device includes a second infrared module, and the aligning of the first side of the self-moving cleaning device with the washing device is performed via the first infrared module and the second infrared module. The method further includes using the first infrared module and the second infrared module to transmit the control signals of the cleaning unit and the self-moving cleaning device, wherein the control signals include information on at least one of a displacement, a moving direction, and a moving speed.
According to some embodiments, the first period does not overlap the second period so that when the cleaning unit is configured to move in the first direction, the self-moving cleaning device is kept still; or when the self-moving cleaning device is configured to move in the second direction, the cleaning unit is kept still.
According to some embodiments, the first period overlaps the second period with at least an overlapping portion of the first period; and during the overlapping portion of the first period, when the cleaning unit is configured to move in the first direction, the self-moving cleaning device is configured to simultaneously move in the second direction.
According to some embodiments, the method further includes: causing the self-moving cleaning device to exit from the washing device; aligning a second side of the self-moving cleaning device with the washing device, wherein the self-moving cleaning device includes a second mop; and moving the second mop of the self-moving cleaning device to be above the cleaning unit of the washing device, and cleaning the second mop by the cleaning member of the cleaning unit.
According to some embodiments, a length of the cleaning member measured in the second direction is less than a length of the first mop or the second mop measured in the second direction.
According to some embodiments, the first side of the self-moving cleaning device is a rear side of the self-moving cleaning device and the second side of the self-moving cleaning device is a front side, or the first side of the self-moving cleaning device is the front side of the self-moving cleaning device and the second side is the rear side of the self-moving cleaning device.
According to some embodiments, the cleaning unit includes a roller brush, and the roller brush includes the cleaning member; and during the cleaning of the first mop with the cleaning member of the roller brush of the cleaning unit, the roller brush contacts the first mop and rotates.
According to some embodiments, the roller brush further includes a brush shaft configured to support the cleaning member, and the cleaning member includes scraping strips or bristles extending outward along a surface of the cleaning member.
According to some embodiments, the cleaning unit includes a cleaning tank configured to accommodate the roller brush, and the cleaning tank has an opening disposed at a bottom thereof, the opening overlapping the cleaning member.
According to some embodiments, a rotational speed of the roller brush and a moving speed of the cleaning unit in the first direction are independent of each other.
According to some embodiments, the washing device includes a toothed rack, and the cleaning unit includes a driving assembly configured to move the cleaning unit along the first direction, wherein the cleaning unit further includes a sliding block connected to the driving assembly, wherein when the cleaning unit is configured to move along the first direction, the sliding block presses against the toothed rack and slides along the first direction.
According to some embodiments, the toothed rack includes a sliding rail, and the sliding block is configured to engage the sliding rail to slide along the first direction.
According to some embodiments, the toothed rack is connected to one side of the cleaning unit, and the driving assembly is configured to drive the cleaning unit to move on the toothed rack via a single side of the cleaning unit.
According to some embodiments, the sliding block has a length substantially equal to that of the driving assembly measured in the first direction.
According to some embodiments, the cleaning unit forms an included angle with a bottom of a base of the washing device in the second direction.
Yet another aspect of the present disclosure discusses a cleaning system, including a self-moving cleaning device and a washing device for cleaning the self-moving cleaning device, wherein the self-moving cleaning device includes a mop, and the washing device includes: a clean water tank configured to store cleaning liquid; a base arranged on one side of the clean water tank; and a cleaning unit, including: a driving assembly adjacent to the base and configured to move on the base in a first direction; a water outlet configured to spray the cleaning liquid in a direction away from the base; and a cleaning member extending in a second direction and configured to clean the mop of the self-moving cleaning device. The cleaning system further includes a sewage tank, configured to collect the cleaning liquid sprayed from the water outlet when the cleaning unit is configured to clean the mop. The washing device and the self-moving cleaning device are configured to communicate with each other and perform the methods discussion above.
With the above-mentioned method of operating the washing device in the present invention, the dirty mop can be effectively and automatically cleaned, so that the mobile robot can be advanced to perform floor cleaning and self-cleaning in a fully automatic manner, greatly reducing human intervention. Moreover, the cleaning method of the present invention with a single-sided toothed rack-driven cleaning unit is not only efficient in operation, but also simplifies the design, reduces the apparatus size, and decreases the failure rate. The method for operating the washing device of the present invention can also cooperate with the cleaning robot to clean any irregularly shaped mop, so that the performance of cleaning the mop is not affected by the shape of the mop. Therefore, the working efficiency of the self-moving cleaning device (such as the self-moving robot) can be improved.
Aspects of the embodiments of the present invention can be better understood from the implementation manners described below when read in conjunction with the accompanying drawings. It should be noted that, in accordance with the standard practice in the industry, various structures may not be drawn to scale. In fact, the dimensions of the various structures may be arbitrarily increased or decreased for clarity of discussion. The drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained according to these drawings on the premise of referring to the known technology.
The following disclosure provides many different embodiments, or examples, for implementing different features of the provided subject matter. Specific examples of components and arrangements are described below to simplify the present disclosure. These are, of course, merely examples and are not intended to be limiting. For example, the formation of a first feature over or on a second feature in the description that follows may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features may be formed between the first and second features, such that the first and second features may not be in direct contact. In addition, the present disclosure may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.
Further, spatially relative terms, such as “beneath,” “below,” “lower,” “above,” “over,” “upper,” “on,” and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The apparatus may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein may likewise be interpreted accordingly.
As used herein, although the terms such as “first,” “second” and “third” describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another. The terms such as “first,” “second” and “third” when used herein do not imply a sequence or order unless clearly indicated by the context.
Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the disclosure are approximations, the numerical values set forth in the specific examples are reported as precisely as possible. Any numerical value, however, inherently contains certain errors necessarily resulting from the deviation normally found in the respective testing measurements. Also, as used herein, the terms “about,” “substantial” or “substantially” generally mean within 10%, 5%, 1% or 0.5% of a given value or range. Alternatively, the terms “about,” “substantial” or “substantially” mean within an acceptable standard error of the mean when considered by one of ordinary skill in the art. Other than in the operating/working examples, or unless otherwise expressly specified, all of the numerical ranges, amounts, values and percentages such as those for quantities of materials, durations of times, temperatures, operating conditions, ratios of amounts, and the likes thereof disclosed herein should be understood as modified in all instances by the terms “about,” “substantial” or “substantially.” Accordingly, unless indicated to the contrary, the numerical parameters set forth in the present disclosure and attached claims are approximations that can vary as desired. At the very least, each numerical parameter should at least be construed in light of the number of reported significant digits and by applying ordinary rounding techniques. Ranges can be expressed herein as being from one endpoint to another endpoint or between two endpoints. All ranges disclosed herein are inclusive of the endpoints, unless specified otherwise.
The present invention relates to a washing device for a self-moving cleaning device. It is designed so that after the self-moving cleaning device uses a mop to perform a cleaning task, if the mop becomes soiled, the automatic cleaning provided by the washing device according to embodiments of the present invention can restore the mop to its original clean status, and enable the self-moving cleaning device to continue the cleaning task. Therefore, the washing device can achieve a complete cleaning process without human intervention, and greatly improve the user experience.
Referring to
According to some embodiments, the washing device 10 includes a lower stage 20, a middle stage 30 and a water tank seat 40. According to some embodiments, the lower stage 20 includes a base 22, a guiding plate 24, a connecting member 26, a toothed rack 28 and a cleaning unit 100. According to some embodiments, the cleaning unit 100 may also be referred to as a cloth washing stand. According to some embodiments, the middle stage 30 is provided with components such as a circuit board 48, infrared modules 52, 54, charging electrodes 56, an alignment unit (not shown), and a range finder (not shown). According to some embodiments, the water tank seat 40 has an inner space for accommodating a sewage tank 42 and a clean water tank 44. According to some embodiments, the clean water tank 44 is used to store cleaning liquid. According to some embodiments, the clean water tank 44 is provided with a liquid level gauge for detecting the level of the cleaning liquid. When the liquid level gauge detects that the cleaning liquid is insufficient, the user can be notified to replenish the cleaning liquid. According to some embodiments, the clean water tank 44 is provided with an air hole for balancing the air pressure between the clean water tank 44 and an ambient air pressure when the cleaning liquid level drops. According to some embodiments, the clean water tank 44 is provided with an air hole cover 46 to cover the air hole, and a slit is provided in the air hole cover 46 to allow air to pass through. The air hole cover 46 can be made of elastic materials, and when the air pressure inside and outside the clean water tank 44 is balanced, the slit is kept closed. Otherwise, when the air pressure is unbalanced, the slit is opened due to the pressure difference to allow air to pass through. According to some embodiments, the sewage tank 42 is used to collect cleaning liquid or sewage sprayed by the cleaning unit 100 when the mop 16 is cleaned. According to some embodiments, the sewage tank 42 is provided with a liquid level gauge for detecting the sewage level. When the liquid level gauge detects that the sewage is full, the user can be notified to empty the sewage tank 42, which can prevent the sewage from polluting the surrounding environment of the washing device 10 and effectively reduce the frequency of dumping the sewage by the user.
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According to some embodiments, the infrared module 54 of the washing device 10 is divided into a left emitting unit group and a right emitting unit group, and each of the emitting unit groups has one or more (for example, two) infrared emitting units. The infrared emitting units of the left emitting unit group emit a left alignment control signal, while the infrared emitting units of the right emitting unit group emit a right alignment control signal, and the signal formats of the left alignment control signal and the right alignment control signal are different from each other. In this way, when the self-moving cleaning device 11 is going to perform an alignment procedure with the washing device 10, it can determine whether the self-moving cleaning device 11 itself has been fully aligned with the washing device 10 based on whether the detected signal is a left alignment control signal or a right alignment control signal, as well as the relative signal strengths or encoded formats of the two signals. According to some embodiments, after the self-moving cleaning device 11 is aligned with the washing device 10 with help of the infrared module 54 of the washing device 10, the completion of the alignment procedure is further confirmed through determination that the battery electrode has made electrical contact with the charging electrode 56 of the middle stage 30.
According to some embodiments, the mop 16 is moved above the cleaning unit 100 on the base 22 through the movement of the self-moving cleaning device 11. According to some embodiments, the self-moving cleaning device 11 can simultaneously perform the steps of charging and cleaning the mop 16 using the cleaning unit 100. In other embodiments, the self-moving cleaning device 11 performs the steps of charging and cleaning the mop 16 at different time instants.
According to some embodiments, the toothed rack 28 is disposed on the base 22 and extends along the direction of X-axis. According to some embodiments, a plurality of teeth 38 of the toothed rack 28 are located on the upper side of the toothed rack 28, extending along the direction of Y-axis and arranged in parallel. The lower side of the toothed rack 28 is opposite to the upper side and is connected to or facing the base 22. According to some embodiments, the cleaning unit 100 is connected to the toothed rack 28 and configured to move back and forth along the direction of X-axis, and through the arrangement that the mop 16 is moved in the direction of Y-axis to be directly above the cleaning unit 100 that the cleaning unit 100 can move back and forth in the inner space of the base 22 in the direction of X-axis and clean the mop 16 by the roller brush 122. According to some embodiments, a trench is provided below the base 22, in which sewage or the overflowing cleaning liquid that is generated when the cleaning unit 100 cleans the mop 16 can be collected by the trench and drained to the sewage tank 42 through the trench and a recycling pipeline (not shown).
According to some embodiments, the roller brush 122A or 122B has a first end and a second end, and the two ends are opposite to each other. The first end is connected to the gear 142 at the side of the brush handle 124 and receives the driving force delivered by the gear 142. The second end is located at the end of the cleaning member 126, which end is also on the side of the fixing member 128, and is further away from the toothed rack 28 than the first end. The second ends of the roller brush 122A or 122B can respectively rotate relative to the fixing member 128. According to some embodiments, the brush handle 124 is basically composed of a material with substantially no or low flexibility. According to some embodiments, the length of the cleaning member 126 only accounts for a part of the roller brush 122 to concentrate the cleaning force. According to some embodiments, the ratio of the length of the cleaning member 126 to the length of the roller brush 122 is substantially lower than ½, for example between ¼ and ½, between ⅓ and ½, or ⅓ and ½. Therefore, when the cleaning unit 100 cleans different parts of the mop 16 along the Y-axis direction, the purpose of shifting the cleaning member 126 cannot be achieved by stretching or compressing the brush handle 124. Rather, only by moving the self-moving cleaning device 11 on the Y-axis to change the relative positions of the mop 16 and the cleaning member 126, the different portions of the mop 16 along the Y-axis can be touched.
According to some embodiments, the washing device 10 or the cleaning unit 100 is provided with a controller (not shown), which generates preset control signals through the control circuit, and determines the output powers of the moving motor 112 and the rotating motor 114 through a control voltage or control current, thereby respectively determining the moving speed or stop position of the cleaning unit 100 on the toothed rack 28, and the rotation speed of the roller brushes 122A and 122B. Since the moving motor 112 and the rotating motor 114 operate independently of each other, the output powers of the two motors are independent of each other, so the moving speed of the cleaning unit 100 and the rotating speed of the roller brush 122 are independent of each other as well.
Compared with the existing washing device operated by a single motor, the output power of a single motor can select only one output power at a time. As a result, no matter whether it is selected for the optimal adjustment of the moving speed of the cleaning unit 100 or of the rotation speed of the roller brush 122, either selection will show the effect of speeding up or slowing down at the same time. That cannot satisfy the design of individual optimization of the movement and the rotation at the same time. In contrast, the dual-motor drive design of the present invention can optimize the movement and rotation individually, thereby providing a better cleaning effect. According to some embodiments, since the roller brushes 122A and 122B are driven by the same rotating motor 114, the rotating speeds of the roller brushes 122A and 122B are dependent upon each other. According to some embodiments, the roller brushes 122A and 122B rotate at the same speed but in the opposite directions. According to some embodiments, the roller brushes 122A and 122B rotate in a clockwise or counterclockwise direction. According to some embodiments, the roller brushes 122A and 122B are located above the toothed rack 28 and separated from the toothed rack 28 by a distance.
According to some embodiments, the cleaning tank 102 includes a tank body 108 and an upper cover 118 (as shown in
According to some embodiments, the cleaning members 126A and 126B rotate in opposite directions R1, R2, that is, their portions exposed through the upper cover 118 and close to the mop 16 rotate toward the water outlet 116, respectively. According to some embodiments, the cleaning members 126A and 126B rotate in the directions facing the base 22 on a side close to the water outlet 116. According to some embodiments, the roller brushes 122A and 122B not only cause the cleaning member 126 to rotate for achieving the purpose of cleaning the mop 16, but also are located on opposite sides of the water outlet 116, so that they can serve as shielding walls for each other. Each one of the shielding walls can prevent the cleaning liquid thrown out by the other of the shielding walls. Most of the cleaning liquid can be stopped when it is thrown toward the outer area of the cleaning tank 102. According to some embodiments, due to the enclosed space provided by the cleaning tank 102, the cleaning liquid can be picked up by the roller brush 122 in the cleaning tank 102 and brought to the mop 16, so as to increase the recycling rate of the cleaning liquid. Therefore, the design of the double roller brush of the present invention can also be used as an auxiliary structure of the cleaning tank 102 to prevent the cleaning liquid from spilling out or push the cleaning liquid toward the central area of the cleaning tank 102, and therefore the cleaning performance of the cleaning liquid can optimized and sewage collecting efficiency can be maximized.
According to some embodiments, the scraper provided in the cleaning member 126 rubs the mop 16 when moving along the first direction so as to scrape off the dust or garbage on the mop 16. According to some embodiments, when the driving assembly 110 drives the roller brush 122 along the X-axis to perform cleaning task, the roller brush 122 can rotate clockwise, counterclockwise or stand still depending upon the requirements. When the roller brush 122 stands still, the cleaning unit 100 relies on the movement of the roller brush 122 along the X-axis direction to generate friction with the mop 16. Referring to
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According to some embodiments, when the first end of the cleaning unit 100 is driven by the driving assembly 110 and the second end is not driven by the driving assembly 110, the first end and the second end of the cleaning unit 100 are unevenly stressed so that a torque may be generated easily on the cleaning unit 100, causing the cleaning unit 100 unable to move smoothly, such as exhibiting vibration. In response to such phenomenon, the sliding block 130 is made elongated to extend along the axial direction of the toothed rack 28, and the upper and lower sides of the “C” shape of the sliding block 130 and the sides connecting the upper and lower sides are tightly clamped to the sliding rail 702. The sliding rail 702 limits the freedom of movement or rotation of the sliding block 130 and the cleaning unit 100 in directions other than the X-axis direction. Therefore, according to some embodiments, the gear 140 of the cleaning unit 100 provides the power for the cleaning unit 100 to move on the toothed rack 28 and determines the speed at which the cleaning unit 100 moves on the toothed rack 28. The sliding block 130 has a length equivalent to the length of the driving assembly 110 in the direction of X-axis, which can provide a sufficiently great stabilizing force to limit the movement of the cleaning unit 100 to move along the X-axis direction only, thereby decreasing the chance of unsmooth moment or vibration caused by the uneven force on both ends of the cleaning unit 100.
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As mentioned above, when the design of the conventional single-sided toothed rack 28 enables the cleaning unit 100 or the roller brush 122 to move in the X-axis direction, the moving speeds and receiving forces between the first side of driving assembly 110 and the second side of the fixed member 128 may be somewhat different due to the single-sided driving of the driving assembly 110. A torque is generated in the planar direction of the cleaning unit 100, so that the cleaning tank 102 or the roller brush 122 cannot maintain stability without vibration or rotation in the Y direction. Through the arrangement of the above-mentioned sliding block 130 and the protrusions 602 of the present invention, the single-sided driving of the driving assembly 110 or the torque generated by the single-sided toothed rack 28 can be suppressed or compensated for by the design of the sliding block 130 and the protrusions 602. As a result, movement stability of the cleaning unit 100 can be effectively maintained, and rotations or vibrations in any direction can be reduced. Regarding the arrangement of the single-sided toothed rack 28, compared with the driving mode of the double-sided rack, two racks of the double-sided rack need to be positioned on the front side and back side, respectively, in the Y-axis direction. Further, it is necessary to arrange two gears 140 on the front side and the rear side, respectively, of the cleaning unit 100, and simultaneously drive the gears 140 on the both side of double-sided rack so as to enable synchronous movements of the two sides of roller brush on the base 22 along the X-axis direction. In this way, the unsmooth movement caused by the aforementioned torque can be reduced. However, the disadvantage of such design is that the manufacturing tolerance of the cleaning unit 100 is very small. When the manufacturing tolerance of the cleaning unit 100 is too large, the gears 140 at both ends may not be precisely engaged with the teeth 38 of the toothed rack 28 at the same time. Furthermore, during the assembly and manufacture processes, the gears 140 located at both ends of the cleaning unit 100 also need to correspond to specific teeth 38 of the toothed rack 28 so that the gears 140 on both sides can meet the stringent requirement of synchronization during movement, and such synchronization requirement will increase the complexity and cost of the design or the maintenance difficulty in the future. The assembling process would also be relatively difficult. In contrast, the design of the single-sided toothed rack 28 of the present invention is simpler, the area of the cleaning unit is decreased, and the failure rate can be reduced, thereby saving the cost and power consumption spent on the driving on the second side.
In addition, the cleaning unit 100 moves along the X-axis direction using the sliding block 130 and the protrusions 602, in which fast movement is not necessary, so it is not necessary to use rollers or gears to move back and forth on the base 22 or the toothed rack 28. Time is sufficient to complete the cleaning task on each portion of the mop 16 with the movement under a low-noise manner, which can further reduce noise caused by the rotary drive. According to some embodiments, the moving speed of the cleaning unit 100 during the cleaning task is within 1 cm per second, or within 3 cm per second.
In contrast, in the conventional washing device the cleaning unit is arranged parallel to the ground, so its guiding plate must be formed by two sections, in which the first section is similar to the guiding plate of the present invention and has an inclined angle, while the second section is parallel to the ground and connected to the base. The first section can guide the self-moving cleaning device from the ground to the height of the cleaning unit, then keep it in an inclined posture. Next, moving forward to the second section, which becomes parallel to the ground and within the range of which the cleaning task is performed. The guiding plate of the above-mentioned conventional washing device will become longer, so that the volume of the entire washing device would be too bulky. Alternatively, the self-moving cleaning device would move back and forth on a planar surface with a corner to perform the cleaning task. However, under that situation, due to the potential corner arranged between the mop and the cleaning unit, the mop and the cleaning unit cannot be in close contact with each other, so the cleaning task cannot be effectively performed.
According to some embodiments, the washing device 10 and the self-moving cleaning device 11 form a cleaning system, wherein the cleaning unit 100 is configured to clean the mop 16. For the convenience of illustration,
According to the embodiment of
According to some embodiments, the method 1200 aligns one of the front side and the rear side (for example, the rear side) of the self-moving cleaning device 11 with the washing device 10, and moves the self-moving cleaning device 11 to the guiding plate 24 of the washing device 10. The respective step may correspond to step 1202 in
According to some embodiments, the method 1200 sets a first zone of the mop 16, such as zone Z1, as the current cleaning zone. The respective step may correspond step 1206 in
According to some embodiments, in step 1208, the controller of the washing device 10 is connected to the moving motor 112 of the cleaning unit 100 to control the related parameters of the displacement Dx of the cleaning unit 100 in the first direction (such as the X-axis direction), such as the moving speed, the moving period, the pause location, and the pause period. According to some embodiments, the controller of the washing device 10 is connected to the rotating motor 114 of the cleaning unit to control the rotational parameters of the roller brush 122, such as the rotational speed and the direction of rotation about the second direction (which can be the Y-axis direction) as the axis. According to some embodiments, the first direction and the second direction are different directions, for example, the first direction and the second direction are perpendicular to each other. According to some embodiments, the controller of the washing device 10 is connected to the signal emitting unit (such as an infrared emitting unit) of the washing device 10 to transmit a control signal to the self-moving cleaning device 11 and control the parameters related to displacement Dy of the mop 16 on the self-moving cleaning device, such as the moving speed, the moving period, the pause location, and the pause period. By simultaneously controlling the displacement-related parameters of the cleaning unit 100, the rotation-related parameters of the roller brush 122 and the displacement-related parameters of the mop 16 for the cleaning task of the current cleaning zone Z1 can be accomplished. According to some embodiments, the controller of the washing device 10 controls the valve of the water outlet 116 to determine parameters related to the spray, such as the length of spraying time, the time interval of spraying, and the amount of spraying. According to some embodiments, the controller of the washing device 10 controls the pumping motor (not shown) connected to the sewage tank 42 to determine the pumping time and pumping rate with which the sewage collected at the bottom of the base 22 or in the cleaning tank 102 is pumped to the sewage tank 42.
According to some embodiments, the method 1200 determines a cleaning mode for the current cleaning zone Z1. The respective step may correspond to step 1210 in
According to some embodiments, step 1210 may be performed before step 1208, or step 1208 and step 1210 may be performed simultaneously. According to some embodiments, steps 1208, 1212, 1214 are performed simultaneously or in a different order.
When the cleaning task for the current cleaning zone Z1 is accomplished, the method 1200 would determine whether the cleaning tasks of all the cleaning zones have been accomplished. The respective step may correspond to step 1216 in
According to some embodiments, the method 1200 follows the trajectory of the English letter “Z” to complete the cleaning task of the successive cleaning zones Z1 to Z3. For example, when cleaning task is performed on the cleaning zones Z1 and Z3, the cleaning is performed from the left side of
If the cleaning tasks of all the cleaning zones have been completed, the method 1200 proceeds to step 1226. According to some embodiments, when the cleaning tasks of all the zones are completed, the self-moving cleaning device 11 would exit from the washing device 10. According to some embodiments, the controller of the washing device 10 causes the self-moving cleaning device 11 to leave the base 22 and generate a necessary displacement Dy along the second direction to leave the washing device 10 from the guiding plate 24.
According to some embodiments, when the cleaning unit 100 is used to clean the regular zones Z1l, Z12 and Z13, the cleaning tasks can be completed sequentially with reference to the linear cleaning mode shown in
According to some embodiments, when the cleaning unit 100 is used to clean the irregular zones Z21, Z22, Z23, Z24, Z25 and Z26, the method 1200 determines at step 1210 that a curved cleaning mode is suitable for the above-mentioned zones. According to some embodiments, the method 1200 generates the displacement Dx by shifting the cleaning unit 100 in the first direction (e.g., the X-axis direction). The respective steps may correspond to step 1222 in
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According to some embodiments, the cleaning tasks performed by moving the cleaning unit 100 laterally along the X-axis direction and moving the self-moving cleaning device 11 vertically along the Y-axis direction may be performed in parallel or interleaved. According to some embodiments, the controller divides the execution time of the cleaning task into a plurality of segmented periods. The cleaning unit 100 moves along the X-axis direction to clean the mop 16 in one or more first periods of the segmented periods, and the self-moving cleaning device 11 moves along the Y-axis direction during one or more second periods of the segmented periods. These first periods and second periods may be set as alternate with each other. According to some embodiments, when cleaning the regular zones of the mop 16, such as zone Z11, Z12 or Z13, only one or more first periods are allocated, or the first periods and the second periods are not overlapped with each other. In these one or more first periods, the cleaning unit 100 moves along the X-axis direction to clean the mop 16, while the self-moving cleaning device 11 is kept still. In another embodiment, when cleaning the irregular zone of the mop 16, such as the edge contour of the zone Z25 or Z26, only one or more second periods are allocated, or the second period are not overlapped with the first periods. Further, during the one or more second periods, the self-moving cleaning device 11 is moved along the Y-axis direction to clean the mop 16 while the cleaning unit 100 is kept still. In yet another embodiment, when the irregular zone of the mop 16 is cleaned, such as the edge contour of the zone Z23 or Z24, a plurality of first periods and second periods are allocated, wherein these first periods and second periods at least partially overlap. As a result, in the multiple first periods or second periods, at least in part of the periods, the cleaning unit 100 can move along the X-axis direction, and at the same time the self-moving cleaning device 11 also moves along the Y-axis direction to clean mop 16.
According to some embodiments, when the cleaning unit 100 is used to clean the irregular zones Z31 to Z34, the method 1200 determines to perform the cleaning task in a curved cleaning mode at step 1210. According to some embodiments, the method 1200 moves the cleaning unit 100 along the first direction (e.g., the X-axis) to thereby generate a displacement Dx. The perspective step may correspond to step 1222 in
According to some embodiments, one or more intermediate points 36V are set for each irregular zone Z31 to Z34 according to the cleaning trajectory 36T. The controller can form a cleaning trajectory 36T by connecting multiple cleaning segments 36S according to multiple intermediate points 36V, and causes the cleaning unit 100 to perform cleaning tasks along the cleaning trajectory 36T. Specifically, although the shapes and contours of the irregular zones Z31 to Z34 are not formed of pure rectangles or are formed by pure irregular shapes, thereby the corresponding cleaning trajectory 36T may include linear lines and non-linear lines, the cleaning unit 100 can still simulate the shapes of the actual irregular zones Z31 to Z34 in a computationally-efficient manner through a piecewise linear trajectory or a curved trajectory, which is achieved by forming multiple segmented cleaning segments 36S and connecting them via multiple intermediate points 36V. According to some embodiments, when the cleaning task for a certain cleaning segment 36S is in progress or completed, the relevant parameters of a next cleaning segment 36S can be determined. The predetermined length of the next cleaning segment 36S can be any length, the predetermined direction can be any direction, and the predetermined moving time can be any time, all of which are determined at the intermediate point 36V serving as the end point of the currently cleaning segment 36S which is completed. For example, a certain relative displacement Ds shown in
According to some embodiments, as mentioned above, before the cleaning unit 100 performs the cleaning task of each next cleaning segment 36S, the controller needs to perform calculations to determine the relevant parameter information on the relative displacement Ds of the cleaning unit 100 relative to the mop 36. Moreover, according to the relative displacement Ds, the relevant parameter information on the displacement Dy of the self-moving cleaning device 11 in the Y-axis direction and the relevant parameter information on the displacement Dx of the cleaning unit 100 in the X-axis direction are further determined. In order to simplify the calculation and reduce the transmission load, the controller can send a control signal to the cleaning unit 100 and/or the self-moving cleaning device 11 for the relative displacement Ds of the next cleaning segment 36S when the cleaning trajectory 36T of the cleaning unit 100 arrives at each of the intermediate points 36V.
According to some embodiments, the controller is used for the cleaning unit 100 and/or the control signal sent to the self-moving cleaning device 11 may include one or more sets of data formed of various parameters, which include at least one of parameters such as respective displacements Dx and Dy, or at least one of parameters such as the respective moving times, moving speeds, and moving directions. Parameters such as displacement Dx and Dy, moving time, moving speed, and moving direction can be used to determine the magnitude of the relative displacement Ds and the trajectory direction. According to some embodiments, the controller transmits a control signal for the cleaning task of the cleaning segment 36S starting at each intermediate point 36V. When multiple sets of data in the control signal are transmitted, the time interval between the two sets of data is a fixed period. When the controller of washing device 10 and the self-moving cleaning device 11 executes the multiple sets of data in sequence, it can represent the current cleaning segment 36S starting at the corresponding intermediate point 36V in the cleaning task of the cleaning unit 100 and/or self-moving cleaning device 11 during cleaning. Therefore, under this presumption, it is not required to additionally transmit control signals or parameters of the cleaning time (moving time) for all cleaning segments 36S.
According to some embodiments, the aforementioned controller may be an embedded controller of the washing device 10, or an embedded controller of the self-moving cleaning device 11. In an embodiment, an embedded controller of the self-moving cleaning device 11 is used. The controller of the self-moving cleaning device 11 calculates the control signal, and transmits the control signal necessary for the cleaning unit 100 to the washing device 10. According to some embodiments, the control signal includes multiple sets of data, and each set of data records various parameters such as the moving direction and the moving speed. The controllers of the self-moving cleaning device 11 and the washing device 10 execute multiple sets of data in the respective control signals sequentially, so as to continuously control or change the moving direction and the moving speed of the self-moving cleaning device 11 and the washing device 10 on a time basis.
As mentioned above, the controller, the cleaning unit 100 and the self-moving cleaning device 11 only need to transmit and receive control signals for a predetermined intermediate point 36V. Nevertheless, the controller, the cleaning unit 100 and the self-moving cleaning device 11 do not need to transmit and receive control signals when the cleaning task in each cleaning segment 36S does not reach the next intermediate point 36V. In this way, the transmission load of the control signals can be further reduced.
According to some embodiments, since the transmission load of the control signal is reduced, the information exchange between the cleaning unit 100 and the self-moving cleaning device 11 can use the control signals generated by the infrared modules 52 and 54 to transmit the control signals. As mentioned above, the infrared modules 52, 54, 62, 64, and 66 respectively provide communication channels between the cleaning unit 100 and the self-moving cleaning device 11, and can be used for alignment operations of the cleaning unit 100 and the self-moving cleaning device 11. According to some embodiments, the infrared modules 52, 54, 62, 64, and 66 can also be used to transmit other control signals, such as the displacements Dx and Dy of the cleaning unit 100 and the self-moving cleaning device 11 during performing the cleaning task, or their respective moving times, moving directions, and moving speeds. According to some embodiments, transmission and reception of the control signal for the cleaning unit 100 and the self-moving cleaning device 11 are performed by respective infrared modules 52, 54, 62, 64, 66.
In addition, the controller can determine the position of the next intermediate point 36V or the relative displacement Ds of the next cleaning segment 36S in real time according to the received sensing information at each intermediate point 36V, such as the degree of contamination of the sewage. In this way, the cleaning trajectory 36T can be optimized for the cleaning task of the mop 36 with the same shape and profile but with different dirt distribution conditions, so as to improve the cleaning efficiency of the cleaning unit 100.
The above description shows that the cleaning unit 100 can clean the irregular zones Z31 to Z34 through cooperation with the self-moving cleaning device 11, so that the roller brush 122 can generate a relative displacement Ds in any direction relative to the mop 36. The advantage is that an adaptive cleaning is performed according to the edge contour 36P of the mop 36 to achieve better cleaning performance and save cleaning time. In addition, the cleaning task is performed through the cleaning zone partition method shown in
The cleaning method shown in
Referring to
Next, referring to
Referring to
The cleaning method 1400 shown in
The foregoing outlines structures of several embodiments so that those skilled in the art may better understand the aspects of the present disclosure. Those skilled in the art should appreciate that they may readily use the present disclosure as a basis for designing or modifying other processes and structures for carrying out the same purposes and/or achieving the same advantages of the embodiments introduced herein. Those skilled in the art should also realize that such equivalent constructions do not depart from the spirit and scope of the present disclosure, and that they may make various changes, substitutions, and alterations herein without departing from the spirit and scope of the present disclosure.
Claims
1. A method of operating a washing device, comprising:
- moving a self-moving cleaning device toward the washing device and aligning a first side of the self-moving cleaning device with the washing device, wherein the self-moving cleaning device comprises a first mop; and
- moving the first mop of the self-moving cleaning device to be over a cleaning unit of the washing device, and cleaning the first mop using a cleaning member of the cleaning unit, including: during a first period, moving the cleaning unit in a first direction to be under the first mop; and during a second period, causing the self-moving cleaning device to move in a second direction different from the first direction.
2. The method according to claim 1, wherein
- the first direction and the second direction are perpendicular to each other; and
- the cleaning unit is configured to move in a third direction relative to the self-moving cleaning device, wherein the third direction is consistent with a first edge contour of the first mop.
3. The method according to claim 1, wherein a cleaning route, relative to the self-moving cleaning device, of the cleaning unit during cleaning is formed of a plurality of connected cleaning segments, and a shape of the cleaning route corresponds to a first edge contour of the first mop.
4. The method according to claim 3, wherein control signals associated with a formation of a present one of the plurality of cleaning segments are transmitted to the cleaning unit and the self-moving cleaning device, during a period for proceeding with a previous one of the plurality of cleaning segments before the present one of the plurality of cleaning segments.
5. The method according to claim 4, wherein
- the cleaning unit further comprises a water outlet configured to spray cleaning liquid in a direction facing the first mop,
- the self-moving cleaning device comprises a first infrared module,
- the washing device comprises a second infrared module,
- the aligning of the first side of the self-moving cleaning device with the washing device is performed via the first infrared module and the second infrared module, and
- the method further comprises using the first infrared module and the second infrared module to transmit the control signals of the cleaning unit and the self-moving cleaning device,
- wherein the control signals include information on at least one of a displacement, a moving direction, and a moving speed.
6. The method according to claim 1, wherein the first period does not overlap the second period so that when the cleaning unit is configured to move in the first direction, the self-moving cleaning device is kept still, or when the self-moving cleaning device is configured to move in the second direction, the cleaning unit is kept still.
7. The method according to claim 1, wherein
- the first period overlaps the second period with at least an overlapping portion of the first period; and
- during the overlapping portion of the first period, when the cleaning unit is configured to move in the first direction, the self-moving cleaning device is configured to simultaneously move in the second direction.
8. The method of claim 1, further comprising:
- causing the self-moving cleaning device to exit from the washing device;
- aligning a second side of the self-moving cleaning device with the washing device, wherein the self-moving cleaning device includes a second mop; and
- moving the second mop of the self-moving cleaning device to be above the cleaning unit of the washing device, and cleaning the second mop by the cleaning member of the cleaning unit.
9. The method according to claim 8, wherein a length of the cleaning member measured in the second direction is less than a length of the first mop or the second mop measured in the second direction.
10. The method according to claim 8, wherein
- the first side of the self-moving cleaning device is a rear side of the self-moving cleaning device and the second side of the self-moving cleaning device is a front side, or
- the first side of the self-moving cleaning device is the front side of the self-moving cleaning device and the second side is the rear side of the self-moving cleaning device.
11. The method according to claim 1, wherein
- the cleaning unit comprises a roller brush, and the roller brush includes the cleaning member; and
- during the cleaning of the first mop with the cleaning member of the roller brush of the cleaning unit, the roller brush contacts the first mop and rotates.
12. The method according to claim 11, wherein the roller brush further comprises a brush shaft configured to support the cleaning member, and the cleaning member includes scraping strips or bristles extending outward along a surface of the cleaning member.
13. The method according to claim 11, wherein the cleaning unit comprises a cleaning tank configured to accommodate the roller brush, and the cleaning tank has an opening disposed at a bottom thereof, the opening overlapping the cleaning member.
14. The method according to claim 11, wherein a rotational speed of the roller brush and a moving speed of the cleaning unit in the first direction are independent of each other.
15. The method according to claim 1, wherein the washing device comprises a toothed rack, and the cleaning unit comprises a driving assembly configured to move the cleaning unit along the first direction, wherein the cleaning unit further comprises a sliding block connected to the driving assembly, wherein when the cleaning unit is configured to move along the first direction, the sliding block presses against the toothed rack and slides along the first direction.
16. The method according to claim 15, wherein the toothed rack comprises a sliding rail, and the sliding block is configured to engage the sliding rail to slide along the first direction.
17. The method according to claim 15, wherein the toothed rack is connected to one side of the cleaning unit, and the driving assembly is configured to drive the cleaning unit to move on the toothed rack via a single side of the cleaning unit.
18. The method according to claim 15, wherein the sliding block has a length substantially equal to that of the driving assembly measured in the first direction.
19. The method according to claim 1, wherein the cleaning unit forms an included angle with a bottom of a base of the washing device in the second direction.
20. A cleaning system, comprising a self-moving cleaning device and a washing device for cleaning the self-moving cleaning device, wherein the self-moving cleaning device includes a mop, and the washing device includes:
- a clean water tank configured to store cleaning liquid;
- a base arranged on one side of the clean water tank;
- a cleaning unit, including: a driving assembly adjacent to the base and configured to move on the base in a first direction; a water outlet configured to spray the cleaning liquid in a direction away from the base; and a cleaning member extending in a second direction and configured to clean the mop of the self-moving cleaning device; and
- a sewage tank, configured to collect the cleaning liquid sprayed from the water outlet when the cleaning unit is configured to clean the mop,
- wherein the washing device and the self-moving cleaning device are configured to communicate with each other and perform the method according to claim 1.
Type: Application
Filed: Jul 24, 2023
Publication Date: Mar 14, 2024
Inventors: CHI MOU CHAO (HSINCHU COUNTY), MIN-CHIH TSENG (HSINCHU COUNTY)
Application Number: 18/357,712