Robot, robot system, dust box, and control method

Abstract

Embodiments of the present disclosure provide a robot, a robot system, a dust box, and a control method. The robot includes a body, provided with a suction port and a dust box, which are fluid communicated. The dust box is provided with a plurality of dust outlets and a dust inlet communicated with the suction port. All of the plurality of dust outlets are closed when the body is in a first mode, and dust on a surface is collected into the dust box through the suction port. The plurality of dust outlets work cooperatively to discharge the dust stored in the dust box under an action of a suction airflow when the body is in a second mode. The amount of dust residue in the dust box may be effectively reduced according to the technical solution provided by the embodiments of the present disclosure.

1 . A robot, comprising:
 a body, provided with a suction port and a dust box; wherein,   the suction port and the dust box are fluid communicated, and the dust box is provided with a plurality of dust outlets and a dust inlet communicated with the suction port;   and wherein,   all of the plurality of dust outlets are closed when the body is in a first mode, and dust on a surface where the body being located is collected into the dust box through the suction port; and   the plurality of dust outlets work cooperatively to discharge the dust stored in the dust box under an action of a suction airflow when the body is in a second mode.   
     
     
         2 . The robot according to  claim 1 , wherein the dust box is provided with a first dust outlet and a second dust outlet, and the first dust outlet and the second dust outlet are arranged on two sides of the dust inlet respectively. 
     
     
         3 . The robot according to  claim 2 , wherein an airflow whirling region is disposed in the dust box, the first dust outlet or the second dust outlet is provided in the airflow whirling region. 
     
     
         4 . The robot according to  claim 2 , wherein,
 the first dust outlet and the second dust outlet are located above the dust inlet; or   the first dust outlet and the second dust outlet are located below the dust inlet; or   one of the first dust outlet and the second dust outlet is located above the dust inlet, and the other one of the first dust outlet and the second dust outlet is located below the dust inlet.   
     
     
         5 . The robot according to  claim 2 , wherein the dust box is in a plane symmetrical structure;
 a symmetrical plane of the dust box is located at a middle portion;   the dust inlet is provided in the middle portion; and   the first dust outlet and the second dust outlet are symmetrically provided with respect to the symmetrical plane.   
     
     
         6 . The robot according to  claim 2 , wherein the dust box is in a hexahedral structure;
 the hexahedral structure comprises: a top surface, a bottom surface, and four side surfaces connecting the top surface and the bottom surface, wherein the four side surfaces comprise: a first side surface and a second side surface opposite to each other, and a third surface and a fourth side surface opposite to each other;   the dust inlet is provided in the first side surface or the second side surface;   the first dust outlet is provided in the bottom surface or the third side surface; and   the second dust outlet is provided in the bottom surface or the fourth side surface.   
     
     
         7 . The robot according to  claim 1 , wherein
 all of the plurality of dust outlets are opened when the body is in the second mode; and   the suction airflow flows from the dust inlet into the dust box and then disperses to form multi-flow airflows respectively flowing from the dust inlet to the plurality of dust outlets, so that the dust stored in the dust box is discharged through the plurality of dust outlets under the action of the suction airflow.   
     
     
         8 . The robot according to  claim 7 , wherein each of the plurality of dust outlets is provided with a sealing device;
 the sealing devices block the dust outlets when the body is in the first mode; and   a vacuum is formed at each of the plurality of dust outlets when the body is in the second mode, and the sealing devices act to open the dust outlets when an acting force of an air pressure difference formed by a degree of vacuum acting on the sealing devices satisfies a first preset condition.   
     
     
         9 . The robot according to  claim 1 , wherein,
 a part of the plurality of dust outlets is opened when the body is in the second mode, and the opened dust outlet is closed and the other part of the plurality of dust outlets is opened, to switch the opened dust outlet when a second preset condition is satisfied; or   a part of the plurality of dust outlets is opened when the body is in the second mode, and the other part of the plurality of dust outlets is opened, to dynamically add the opened dust outlet when a third preset condition is satisfied.   
     
     
         10 . The robot according to  claim 1 , further comprising:
 a plurality of closing doors, configured to close or expose the plurality of dust outlets;   a driving device, configured to provide motion power to the plurality of closing doors; and   a first controller, connected to the driving device for controlling the driving device to output a corresponding driving force to drive the plurality of closing doors to work cooperatively when the body is in the second mode.   
     
     
         11 . A robot system, comprising a robot and a base, wherein,
 the robot comprises:   a body, provided with a suction port and a dust box; wherein the suction port and the dust box are fluid communicated, and the dust box is provided with a plurality of dust outlets and a dust inlet communicated with the suction port;   the base comprises a dust collection chamber and a vacuum source;   and wherein,   all of the plurality of dust outlets are closed when the body is in a first mode, and dust on a surface where the body being located is collected into the dust box through the suction port; and   the body and the base are docked when the body is in a second mode, and the plurality of dust outlets work cooperatively to discharge the dust stored in the dust box to the dust collection chamber under an action of a suction airflow generated by the vacuum source.   
     
     
         12 . The robot system according to  claim 11 , wherein the base further comprises:
 a second controller, connected to the vacuum source for controlling, based on a cooperative mode of the plurality of dust outlets, the vacuum source to generate a suction force adapted to the cooperative mode,   wherein the cooperative mode comprises at least one of: a mode of opening all of the plurality of dust outlets, a mode of switching opened dust outlet, and a mode of dynamically adding opened dust outlet.   
     
     
         13 . A dust box applied to a cleaning device, comprising: a dust inlet;
 wherein the dust box is provided with a first dust outlet and a second dust outlet, and the first dust outlet and the second dust outlet are arranged on two sides of the dust inlet respectively.   
     
     
         14 . A robot control method, comprising:
 performing a set action in a first mode to collect dust on a surface where a robot being located into a dust box;   switching to a second mode when an amount of the dust stored in the dust box of the robot satisfies a dumping condition; and   controlling a plurality of dust outlets on the dust box to work cooperatively to discharge the dust stored in the dust box under an action of a suction airflow in the second mode.   
     
     
         15 . The method according to  claim 14 , wherein the controlling the plurality of dust outlets on the dust box to work cooperatively to discharge the dust stored in the dust box under the action of the suction airflow comprises:
 controlling all of the plurality of dust outlets to be opened; or   opening a part of the plurality of dust outlets, and closing the opened dust outlet and opening the other part of the plurality of dust outlets, to switch the opened dust outlet when a second preset condition is satisfied; or   opening a part of the plurality of dust outlets, and opening the other part of the plurality of dust outlets to dynamically add the opened dust outlet when a third preset condition is satisfied.   
     
     
         16 . The method according to  claim 15 , wherein the opening the part of the plurality of dust outlets, and closing the opened dust outlet and opening the other part of the plurality of dust outlets when a second preset condition is satisfied comprises:
 opening a part of the plurality of dust outlets, and closing the opened dust outlet and opening the other part of the plurality of dust outlets when an opening duration of the opened dust outlet is greater than a first preset duration; or   opening a part of the plurality of dust outlets, and closing the opened dust outlet and opening the other part of the plurality of dust outlets when determining that an amount of dust stored in the dust box is lower than a first preset amount based on a sensing signal sent by a sensor.   
     
     
         17 . The method according to  claim 15 , wherein the opening the part of the plurality of dust outlets, and opening the other part of the plurality of dust outlets when the third preset condition is satisfied comprises:
 opening a part of the plurality of dust outlets, and opening the other part of the plurality of dust outlets when an opening duration of the opened dust outlet is greater than a second preset duration; or   opening a part of the plurality of dust outlets, and opening the other part of the plurality of dust outlets when determining that an amount of dust stored in the dust box is lower than a second preset amount based on a sensing signal sent by a sensor.   
     
     
         18 .- 19 . (canceled) 
     
     
         20 . The robot according to  claim 3 , wherein the dust box is in a hexahedral structure;
 the hexahedral structure comprises: a top surface, a bottom surface, and four side surfaces connecting the top surface and the bottom surface, wherein the four side surfaces comprise: a first side surface and a second side surface opposite to each other, and a third surface and a fourth side surface opposite to each other;   the dust inlet is provided in the first side surface or the second side surface;   the first dust outlet is provided in the bottom surface or the third side surface; and   the second dust outlet is provided in the bottom surface or the fourth side surface.   
     
     
         21 . The robot according to  claim 4 , wherein the dust box is in a hexahedral structure;
 the hexahedral structure comprises: a top surface, a bottom surface, and four side surfaces connecting the top surface and the bottom surface, wherein the four side surfaces comprise: a first side surface and a second side surface opposite to each other, and a third surface and a fourth side surface opposite to each other;   the dust inlet is provided in the first side surface or the second side surface;   the first dust outlet is provided in the bottom surface or the third side surface; and   the second dust outlet is provided in the bottom surface or the fourth side surface.   
     
     
         22 . The robot according to  claim 5 , wherein the dust box is in a hexahedral structure;
 the hexahedral structure comprises: a top surface, a bottom surface, and four side surfaces connecting the top surface and the bottom surface, wherein the four side surfaces comprise: a first side surface and a second side surface opposite to each other, and a third surface and a fourth side surface opposite to each other;   the dust inlet is provided in the first side surface or the second side surface;   the first dust outlet is provided in the bottom surface or the third side surface; and   the second dust outlet is provided in the bottom surface or the fourth side surface.