CN104898670B - Intelligence mops floor system and control method thereof - Google Patents
Intelligence mops floor system and control method thereof Download PDFInfo
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- CN104898670B CN104898670B CN201510218904.6A CN201510218904A CN104898670B CN 104898670 B CN104898670 B CN 104898670B CN 201510218904 A CN201510218904 A CN 201510218904A CN 104898670 B CN104898670 B CN 104898670B
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Abstract
The invention discloses a kind of intelligence to mop floor system and control method thereof, this intelligence system of mopping floor includes floor cleaning machine and at least one virtual wall device, virtual wall device for the first infrared signal to the first preset direction transmitting predeterminated frequency to form virtual wall；Floor cleaning machine includes: start the control module of formation virtual wall for sending the first control instruction to all virtual wall devices to control virtual wall device, for the cleaning module cleaned in a room with default cleaning modes, with edgewise mode operation after the cleaning completing current room, and pass through arbitrary virtual wall to next room according to the traversing times of the virtual wall run into, until complete roomed cleaning pass through module；Mopped floor system by above-mentioned intelligence, virtual wall is set at door so that floor cleaning machine is when cleaning flooring, point room cleans, and i.e. when a room cleans, will not run and clean to other region, thus improving the sweeping efficiency in single clearing region, cleaning effect is good.
Description
Technical field
The present invention relates to clean apparatus field, particularly relate to a kind of intelligence and mop floor system and control method thereof.
Background technology
At present, application intelligence floor cleaning machine is when cleaning flooring, due to can not be to each of house
Room carries out subregion cleaning, then in cleaning process, it is understood that there may be clean in some region repetitive cycling,
And situation about cleaning is not carried out in other region, need artificially the cleaning region of intelligence floor cleaning machine to be entered
Row sum-equal matrix.In these cases, the cleaning weak effect of intelligence floor cleaning machine, and cleaning efficiency is low.
Summary of the invention
Present invention is primarily targeted at a kind of intelligence of offer to mop floor system, it is intended to solve intelligence floor cleaning machine clear
Sweep weak effect, problem that cleaning efficiency is low.
For achieving the above object, the present invention provides a kind of intelligence to mop floor system, for the cleaning of flooring,
The described intelligence system of mopping floor includes floor cleaning machine and at least one virtual wall device, and the side of each door is provided with one
Described virtual wall device, this virtual wall device is for red to the first of the first preset direction transmitting predeterminated frequency
External signal can block the virtual wall of door to be formed；Described floor cleaning machine includes:
Control module, for sending the first control instruction to all described virtual wall devices, described to control
Virtual wall device starts and forms virtual wall；
Clean module, for cleaning in a room with default cleaning modes；
Pass through module, be used for after the cleaning of current room with edgewise mode operation, and according to running into
The traversing times of virtual wall passes through arbitrary virtual wall to next room, until completing roomed cleaning.
Preferably, described floor cleaning machine also includes:
First ultrasonic wave module, is used for launching ultrasonic signal extremely described virtual wall device, and receives described
The ultrasonic signal of virtual wall device feedback；
Computing module, for launching ultrasonic signal according to described first ultrasonic wave module and receiving ultrasound wave
Time difference between signal, calculates the distance between main frame and virtual wall；
Exempt to touch module, be used for when described distance reaches preset value, turning operation.
Preferably, pass through module described in include:
Record unit, for recording the accumulative traversing times of each virtual wall；
Performance element, for when the accumulative traversing times of the virtual wall run into is 0, then passes through this virtual
Wall enters next room, cleans with default cleaning modes；When the virtual wall run into accumulative is passed through time
When number is 1 and the accumulative traversing times of all virtual wall of current room is all higher than 0, then pass through this virtual
Wall enters next room, with edgewise mode operation；When the accumulative traversing times of the virtual wall run into be 2 and
When the accumulative traversing times of the virtual wall of current room is 2, then cleaning process terminates.
Preferably, the described intelligence system that mops floor also includes that cradle, described control module have been additionally operable to institute
After roomed cleaning, send the second control instruction to described cradle, to control described cradle to
Two preset directions launch the second infrared signal；Described floor cleaning machine also includes charging module, described charging module
It is charged for running extremely described cradle according to described second infrared signal.
Preferably, described charging module is specifically for completing after roomed cleaning, to transport along edge mode
OK, when receiving described second infrared signal, along the direction straight line contrary with described second preset direction
Run and be charged to described cradle.
Additionally, for achieving the above object, present invention also offers a kind of intelligence and mop floor the control method of system,
For the cleaning of flooring, the mop floor control method of system of described intelligence comprises the following steps:
Described floor cleaning machine sends the first control instruction to all described virtual wall devices, described virtual to control
Wall device starts and forms virtual wall；
Clean in a room with default cleaning modes；
Complete after the cleaning of current room with edgewise mode operation, and wear according to the accumulative of the virtual wall run into
More number of times passes through arbitrary virtual wall and cleans to next room, until completing roomed cleaning.
Preferably, the described step cleaned in a room with default cleaning modes specifically includes:
Launch ultrasonic signal extremely described virtual wall device, and receive the ultrasonic of described virtual wall device feedback
Ripple signal；
According to the time difference launched between ultrasonic signal and received ultrasonic signal, calculate with virtual wall it
Between distance；
When described distance reaches preset value, then turning operation.
Preferably, the accumulative traversing times of the virtual wall that described basis runs into passes through arbitrary virtual wall to next
Room cleans, until complete the step of roomed cleaning specifically include:
Record the accumulative traversing times of each virtual wall；
When the accumulative traversing times of the virtual wall run into is 0, then passes through this virtual wall and enter next room,
Clean with default cleaning modes；
When the accumulative traversing times of the virtual wall run into is 1 and the accumulative of all virtual wall of current room is worn
When more number of times is all higher than 0, then passes through this virtual wall and enter next room, with edgewise mode operation；
When the accumulative traversing times of the virtual wall run into is 2 and the virtual wall of current room accumulative is passed through time
When number is 2, then cleaning process terminates.
Preferably, described complete roomed cleaning step after also include:
Send the second control instruction to described cradle, send out to the second preset direction controlling described cradle
Penetrate the second infrared signal；
Run extremely described cradle according to described second infrared signal to be charged.
Preferably, described move, according to described second infrared signal, the step being charged to described cradle
Specifically include:
With edgewise mode operation, when receiving described second infrared signal, preset side along with described second
Linear running is charged to described cradle in the opposite direction.
A kind of intelligence provided by the present invention mops floor system and control method thereof, by arranging void at door
Intend wall so that floor cleaning machine is when cleaning flooring, and a point room cleans, i.e. in a room
When (specific region) cleans, will not run and clean to other room or region, thus promote single
The sweeping efficiency in room (cleaning region), and cleaning effect is greatly enhanced.
Accompanying drawing explanation
Fig. 1 is that intelligence of the present invention mops floor the high-level schematic functional block diagram of system one embodiment；
Fig. 2 is that intelligence of the present invention mops floor the high-level schematic functional block diagram of an embodiment of floor cleaning machine of system；
Fig. 3 is that intelligence of the present invention mops floor the high-level schematic functional block diagram of an embodiment of virtual wall device of system；
Fig. 4 is that intelligence of the present invention mops floor the high-level schematic functional block diagram of the embodiment passing through module of system；
Fig. 5 is to apply the intelligence of the present invention system that mops floor to carry out the cleaning of an embodiment of subregion cleaning by room
Schematic diagram；
Fig. 6 is that intelligence of the present invention mops floor the schematic flow sheet of control method one embodiment of system；
Fig. 7 is the process refinement figure of an embodiment of step S200 in Fig. 6；
Fig. 8 is the process refinement figure of an embodiment of step S300 in Fig. 6；
Fig. 9 is that intelligence of the present invention mops floor the high-level schematic functional block diagram of another embodiment of control method of system；
Figure 10 is the process refinement figure of an embodiment of step S500 in Fig. 9.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, do referring to the drawings further
Explanation.
Detailed description of the invention
Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to limit
Determine the present invention.
The invention provides a kind of intelligence to mop floor system.
With reference to Fig. 1, Fig. 2 and Fig. 3, Fig. 1 is that intelligence of the present invention mops floor the functional module of system one embodiment
Schematic diagram；Fig. 2 is that intelligence of the present invention mops floor the high-level schematic functional block diagram of an embodiment of floor cleaning machine of system；
Fig. 3 is that intelligence of the present invention mops floor the high-level schematic functional block diagram of an embodiment of virtual wall device of system.?
In the present embodiment, this intelligence mops floor the system 10 cleaning for flooring, it include floor cleaning machine 100,
At least one virtual wall device 200 and cradle 300, the side of each door is provided with virtual wall dress described in
Putting 200, this virtual wall device 200 for launching the first infrared letter of predeterminated frequency to the first preset direction
Number can block the virtual wall 400 of door to be formed；Described floor cleaning machine 100 includes:
Control module 110, for sending the first control instruction to all described virtual wall devices 200, with
Control described virtual wall device 200 and start formation virtual wall 400；
Specifically, virtual wall device 200 is placed in the side of door, and floor cleaning machine 100 is provided with the first nothing
Line communication module 190, it is infrared that virtual wall device 200 is provided with the second wireless communication module 220 and first
Transmitter module 210, is communicated with the second wireless communication module 220 by the first wireless communication module 190,
All of virtual wall device 200 is communicated to connect with floor cleaning machine 100, and now, control module 110 is led to
Cross the first wireless communication module 190 and transmit the first control instruction to the second wireless communication module 220, control
Virtual wall device 200 starts, and after virtual wall device 200 starts, the first infrared transmission module 210 is launched
First infrared signal of predeterminated frequency is to the opposite side of corresponding door, thus forms virtual wall 400 on doorway.
Further, floor cleaning machine 100 is additionally provided with record unit 131, at virtual wall device 200 and floor cleaning machine
In the communication process of 100, this record unit 131 is by the results verification virtual wall device 200 according to communication
Total number.It should be noted that, be provided with driving switch on virtual wall device 200, each gear is opened
Pass has multiple gear, is allocated to different gears, and the first infrared signal that virtual wall 400 is launched is different,
For the ease of the floor cleaning machine 100 each virtual wall of Division identification 400, the driving switch of each virtual wall 400 is dialled
Gear different, the frequency of the first infrared signal that the most each virtual wall device 200 is launched is different.
Clean module 120, for cleaning in a room with default cleaning modes；
When each virtual wall device 200 launches the first infrared signal, just each room is formed a closing
Cleaning region.
When cleaning each room, all can preset the cleaning time, this Preset Time can be according to clearly
The size in clean region is set, when floor cleaning machine 100 reaches default in the cleaning time of current room
During value, control module 110 stops the cleaning of current room by controlling cleaning module 120；Hereafter, control
Control floor cleaning machine 100 with edgewise mode operation, to find arbitrary virtual wall 400, and is worn by module 110
More this virtual wall 400, enters next room.
Pass through module 130, be used for after the cleaning of current room with edgewise mode operation, and according to chance
To the traversing times of virtual wall 400 pass through arbitrary virtual wall 400 to next room, until completing to own
The cleaning in room.
Specifically, this floor cleaning machine 100 also includes identification module 180, floor cleaning machine 100 in room with
During edgewise mode operation, when floor cleaning machine 100 receives the first infrared signal, floor cleaning machine 100 is described
Running to door, now the frequency of the first infrared signal that this receives is known by identification module 180
Not, this virtual wall 400 is numbered, and by this number record；Meanwhile, this floor cleaning machine 100 will turn
To running to get around this virtual wall 400, prevent the closing formed in this room cleaning region from not cleaning dry
Only other room is entered.When floor cleaning machine 100 after one circle, i.e. runs into same with edgewise mode operation
During virtual wall 400, then floor cleaning machine 100 is by complete for all virtual wall 400 identiflication number in this room,
Now judge whether to pass through this virtual wall according to the accumulative traversing times of this same virtual wall 400 run into
400, until completing roomed cleaning.
Mopped floor system 10 by above-mentioned intelligence, by arranging virtual wall 400 at door so that floor cleaning machine
100 when cleaning flooring, and a point room cleans, i.e. in a room (specific region)
During cleaning, will not run and clean to other region, thus sweeping efficiency is high, cleaning effect is good.
Further, floor cleaning machine 100 also includes:
First ultrasonic wave module 140, is used for launching ultrasonic signal extremely described virtual wall device 200, and connects
Receive the ultrasonic signal of described virtual wall device 200 feedback；
In order to prevent floor cleaning machine 100 from bumping against virtual wall 400, floor cleaning machine 100 is additionally provided with first ultrasonic
Mode block 140 (owing to floor cleaning machine 100 does not identifies the particular location of virtual wall 400, is then mopping floor
The periphery of machine 100 is provided with multiple first ultrasonic wave module 140, thus the first ultrasonic wave module 140 can
Ultrasonic signal is all sent to all directions), accordingly, virtual wall device 200 is provided with second ultrasonic
Mode block 230；Floor cleaning machine 100 controls the first ultrasonic wave module 140 and launches ultrasonic signal, and simultaneously
The time of record ultrasonic emitting, when the second ultrasonic wave module 230 receives this ultrasonic signal, will
Feed back a same ultrasonic signal to the first ultrasonic wave module 140 of floor cleaning machine 100, when first is ultrasonic
When mode block 140 receives the ultrasonic signal of feedback, floor cleaning machine 100 records the time of this reception.
Computing module 150, for launching ultrasonic signal according to described first ultrasonic wave module 140 and connect
Receive the time difference between ultrasonic signal, calculate the distance between floor cleaning machine 100 and virtual wall 400；
Due to the aerial propagation rate of sound wave it is known that and the floor cleaning machine 100 operation under preset mode
Speed is certain, thus by computing module 150 according to the first ultrasonic wave module 140 launch ultrasonic signal with
Time difference between received ultrasonic signal, can calculate between floor cleaning machine 100 and virtual wall 400
Distance.
Exempting to touch module 160, for when described distance reaches preset value, turning operation is to get around described void
Intend wall 400.
After computing module 150 is by being calculated floor cleaning machine 100 and the distance in real time of virtual wall 400, right
This real-time distance judges, when this real-time distance reaches the preset value within floor cleaning machine 100, then drags
Exempting within ground machine 100 touches module 160 will control floor cleaning machine 100 turning operation, it is thus possible in advance
Prevent floor cleaning machine 100 from colliding virtual wall 400.
Specifically, in the present embodiment, the power consumption of comprehensive consideration the first ultrasonic wave module 140 and crashproof
Degree of accuracy, the first ultrasonic wave module 140 of floor cleaning machine 100 launch ultrasound wave time interval be preferably
1 second.
Further, it is that intelligence of the present invention mops floor the enforcement passing through module of system with reference to Fig. 4, Fig. 4
The high-level schematic functional block diagram of example；Described module 130 of passing through also includes:
Record unit 131, for recording the accumulative traversing times of each virtual wall 400；
Performance element 132, for when the accumulative traversing times of the virtual wall 400 run into is 0, then wears
More this virtual wall 400 enters next room, cleans with default cleaning modes；When the virtual wall run into
The accumulative traversing times of 400 is 1 and the accumulative traversing times of all virtual wall 400 of current room is the biggest
In 0 time, then pass through this virtual wall 400 and enter next room, with edgewise mode operation；When the void run into
The accumulative traversing times of plan wall 400 is 2 and the accumulative traversing times of the virtual wall 400 of current room is
When 2, then cleaning process terminates
Specifically, floor cleaning machine 100, when passing through virtual wall 400, is both needed to the virtual wall 400 that record is passed through
Numbering and correspondence pass through the numbering of this virtual wall 400.
With reference to Fig. 5, Fig. 5 be apply intelligence of the present invention mop floor system by room carry out subregion cleaning one real
Execute the cleaning schematic diagram of example；In the present embodiment, room layout is three rooms, in actual applications,
Concrete cleaning region is not limited to the present embodiment.In the present embodiment, total cleaning region include room 20a,
Room 20b, room 20c, wherein have a door, room 20b between room 20a and room 20b
And having a door between room 20c, the intelligence system 10 that mops floor includes floor cleaning machine 100, virtual wall device
200a, virtual wall device 200b and cradle 300, virtual wall device 200a is placed in room 20a
And the side of the door between room 20b, virtual wall device 200b is placed in room 20b and room 20c
Between the side of door, when virtual wall device 200a, virtual wall device 200b lead to floor cleaning machine 100
After letter, respective first infrared transmission module 210 will be started, and launch the first infrared letter of predeterminated frequency
Number to the opposite side of corresponding door, thus form twice virtual wall 400a and virtual wall on two doorways
400b；In the present embodiment, floor cleaning machine 100 is pre-placed in room 20a, then clean module 120
With default cleaning modes in the closing cleaning region being made up of the wall of virtual wall 400a and room 20a clear
Sweep.
When the cleaning time of room 20a reaches Preset Time, then stopping cleaning, floor cleaning machine 100 is with edge
Edge mode runs, and after having run a circle, virtual wall 400a is identified numbering, virtual when again running into
During wall 400a, according to the accumulative traversing times judgement of virtual wall 400a of record unit 131 record it is then
No pass through virtual wall 400a.Before passing through virtual wall 400a, the virtual wall of record unit 131 record
The traversing times of 400a is 0, then pass through virtual wall 400a and enter room 20b, and record virtual wall 400a
Traversing times be 1 time；In like manner, floor cleaning machine 100 also will with default cleaning modes by virtual wall 400a,
The closing cleaning region that the wall of virtual wall 400b and room 20b is constituted cleans, when reaching clear
During flyback time, stopping the cleaning of current room 20b, floor cleaning machine 100, again with edgewise mode operation, runs
After a complete circle, virtual wall 400a, virtual wall 400b are identified numbering, when again running into virtual wall
During 400a, then determine whether according to the accumulative traversing times of virtual wall 400a of record unit 131 record
Pass through virtual wall 400a；Or when again running into virtual wall 400b, then remember according to record unit 131
The accumulative traversing times of virtual wall 400b of record determines whether to pass through virtual wall 400b.
Now, the traversing times of virtual wall 400a of record unit 131 record is 1, the virtual wall of record
The traversing times of 400b is 0, the most above-mentioned when again running into virtual wall 400a, does not the most pass through virtual wall 400a,
When again running into virtual wall 400b, then pass through this virtual wall 400b, enter room 20c, and record virtual
The traversing times of wall 400b is also 1 time；In like manner, floor cleaning machine 100 also will be with default cleaning modes by void
The closing cleaning region that the wall of plan wall 400b and room 20c is constituted cleans, when reaching to clean
During the time, stopping the cleaning of current room 20c, floor cleaning machine 100 with edgewise mode operation, has run again
After one circle, virtual wall 400b is identified numbering, when again running into virtual wall 400b, then basis
The accumulative traversing times of virtual wall 400b of record unit 131 record determines whether to pass through virtual wall 400b.
Now, in the traversing times of virtual wall 400b of record unit 131 record is 1, and room 20c
The traversing times of all of virtual wall 400 is all higher than 0, the most above-mentioned when again running into virtual wall 400b, then
Pass through this virtual wall 400b, enter room 20b, and the traversing times recording virtual wall 400b is also 2
Secondary；Hereafter, floor cleaning machine 100 continues with edgewise mode operation, then after running a circle, when again running into void
When intending wall 400a, then judge according to the accumulative traversing times of virtual wall 400a of record unit 131 record
Whether pass through virtual wall 400a；Or when again running into virtual wall 400b, then according to record unit 131
The accumulative traversing times of virtual wall 400b of record determines whether to pass through virtual wall 400b.
Now, the traversing times of virtual wall 400a of record unit 131 record is 1, the virtual wall of record
The traversing times of 400b is 2, the most above-mentioned when again running into virtual wall 400b, does not the most pass through this virtual wall
400b；When again running into virtual wall 400a, then pass through virtual wall 400a, enter room 20a, and record
The traversing times of virtual wall 400a is also 2 times；Hereafter, floor cleaning machine 100 continues with edgewise mode operation,
After then running a circle, when again running into virtual wall 400a, then according to recording the virtual of unit 131 record
The accumulative traversing times of wall 400a determines whether to pass through virtual wall 400a；Now, record unit 131 is remembered
The traversing times of virtual wall 400a of record is the passing through time of all of virtual wall 400 in 2, and current room
Number is 2, then cleaning process terminates.
Further, after described control module 110 has been additionally operable to the roomed cleaning of institute, fill to described
Electricity seat 300 sends the second control instruction, launches the to the second preset direction controlling described cradle 300
Two infrared signals；Described floor cleaning machine 100 also includes that charging module 170, described charging module 170 are used for
Run extremely described cradle 300 according to described second infrared signal to be charged.
Specifically, described cradle 300 is provided with the second infrared transmission module (not shown), cradle
After 300 the second control instructions receiving control module 110, launch the second infrared letter to the second preset direction
Number.In order to distinguish the first infrared signal and the second infrared signal, the frequency of this second infrared signal and first
The frequency of infrared signal is different.
Described charging module 170 is specifically for completing after roomed cleaning, with edgewise mode operation,
When receiving described second infrared signal, along the direction linear running contrary with described second preset direction
It is charged to described cradle 300.
After whole cleaning process terminates, this floor cleaning machine 100 will be according to edgewise mode operation, now, and control
Molding block 110 controls cradle 300 will launch the second infrared signal, then floor cleaning machine along the second preset direction
100 when running to the most relative with this second preset direction position, and it is second red that floor cleaning machine 100 will receive this
External signal, now, charging module 170 will control floor cleaning machine 100 by contrary along this second preset direction
Direction linear running, final operation is charged to this cradle 300.
By this kind of mode, floor cleaning machine 100 can automatically return at cradle 300, and the shortest,
Save the power consumption of floor cleaning machine 100.
The present invention provides the control method that a kind of intelligence mops floor system 10.
With reference to Fig. 6, Fig. 6 be intelligence of the present invention mop floor system control method one embodiment flow process signal
Figure；In the present embodiment, the mop floor control method of system 10 of this intelligence for controlling above-mentioned intelligence and mopping floor is
The cleaning that system 10 carries out flooring, the mop floor control method of system 10 of described intelligence comprises the following steps:
Step S100, described floor cleaning machine 100 sends the first control to all described virtual wall devices 200 and refers to
Order, to control described virtual wall device 200 startup formation virtual wall 400；
Specifically, virtual wall device 200 is placed in the side of door, and floor cleaning machine 100 is provided with the first nothing
Line communication module 190, it is infrared that virtual wall device 200 is provided with the second wireless communication module 220 and first
Transmitter module 210, is communicated with the second wireless communication module 220 by the first wireless communication module 190,
All of virtual wall device 200 is communicated to connect with floor cleaning machine 100, and now, control module 110 is led to
Cross the first wireless communication module 190 and transmit the first control instruction to the second wireless communication module 220, control
Virtual wall device 200 starts, and after virtual wall device 200 starts, the first infrared transmission module 210 is launched
First infrared signal of predeterminated frequency is to the opposite side of corresponding door, thus forms virtual wall 400 on doorway.
Further, floor cleaning machine 100 is additionally provided with record unit 131, at virtual wall device 200 and floor cleaning machine
In the communication process of 100, this record unit 131 is by the results verification virtual wall device 200 according to communication
Total number.It should be noted that, be provided with driving switch on virtual wall device 200, each gear is opened
Pass has multiple gear, is allocated to different gears, and the first infrared signal that virtual wall 400 is launched is different,
For the ease of the floor cleaning machine 100 each virtual wall of Division identification 400, the driving switch of each virtual wall 400 is dialled
Gear different, the frequency of the first infrared signal that the most each virtual wall device 200 is launched is different.
Step S200, cleans in a room with default cleaning modes；
When each virtual wall device 200 launches the first infrared signal, just each room is formed a closing
Cleaning region.
When cleaning each room, all can preset the cleaning time, this Preset Time can be according to clearly
The size in clean region is set, when floor cleaning machine 100 reaches default in the cleaning time of current room
During value, control module 110 stops the cleaning of current room by controlling cleaning module 120；Hereafter, control
Control floor cleaning machine 100 with edgewise mode operation, to find arbitrary virtual wall 400, and is worn by module 110
More this virtual wall 400, enters next room.
Specifically, with reference to the process refinement figure of the embodiment that Fig. 7, Fig. 7 are step S200 in Fig. 6；
In the present embodiment, step S200 specifically includes:
Step S210, launches ultrasonic signal extremely described virtual wall device 200, and receives described virtual wall
The ultrasonic signal of device 200 feedback；
In order to prevent floor cleaning machine 100 from bumping against virtual wall 400, floor cleaning machine 100 is additionally provided with first ultrasonic
Mode block 140 (owing to floor cleaning machine 100 does not identifies the particular location of virtual wall 400, is then mopping floor
The periphery of machine 100 is provided with multiple first ultrasonic wave module 140, thus the first ultrasonic wave module 140 can
Ultrasonic signal is all sent to all directions), accordingly, virtual wall device 200 is provided with second ultrasonic
Mode block 230；Floor cleaning machine 100 controls the first ultrasonic wave module 140 and launches ultrasonic signal, and simultaneously
The time of record ultrasonic emitting, when the second ultrasonic wave module 230 receives this ultrasonic signal, will
Feed back a same ultrasonic signal to the first ultrasonic wave module 140 of floor cleaning machine 100, when first is ultrasonic
When mode block 140 receives the ultrasonic signal of feedback, floor cleaning machine 100 records the time of this reception.
Step S220, according to the time difference launched between ultrasonic signal and received ultrasonic signal, calculates
And the distance between virtual wall 400.
Due to the aerial propagation rate of sound wave it is known that and the floor cleaning machine 100 operation under preset mode
Speed is certain, thus by computing module 150 according to the first ultrasonic wave module 140 launch ultrasonic signal with
Time difference between received ultrasonic signal, can calculate between floor cleaning machine 100 and virtual wall 400
Distance.
Step S230, when described distance reaches preset value, then turning operation.
After computing module 150 is by being calculated floor cleaning machine 100 and the distance in real time of virtual wall 400, right
This real-time distance judges, when this real-time distance reaches the preset value within floor cleaning machine 100, then drags
Exempting within ground machine 100 touches module 160 will control floor cleaning machine 100 turning operation, it is thus possible in advance
Prevent floor cleaning machine 100 from colliding virtual wall 400.
Specifically, in the present embodiment, the power consumption of comprehensive consideration the first ultrasonic wave module 140 and crashproof
Degree of accuracy, the first ultrasonic wave module 140 of floor cleaning machine 100 launch ultrasound wave time interval be preferably
1 second.
Step S300, with edgewise mode operation and virtual according to run into after completing the cleaning of current room
The accumulative traversing times of wall 400 passes through arbitrary virtual wall 400 and cleans to next room, until completing
Roomed cleaning.
Specifically, this floor cleaning machine 100 also includes identification module 180, floor cleaning machine 100 in room with
During edgewise mode operation, when floor cleaning machine 100 receives the first infrared signal, floor cleaning machine 100 is described
Running to door, now the frequency of the first infrared signal that this receives is known by identification module 180
Not, this virtual wall 400 is numbered, and by this number record；Meanwhile, this floor cleaning machine 100 will turn
To running to get around this virtual wall 400, prevent the closing formed in this room cleaning region from not cleaning dry
Only other room is entered.When floor cleaning machine 100 after one circle, i.e. runs into same with edgewise mode operation
During virtual wall 400, then floor cleaning machine 100 is by complete for all virtual wall 400 identiflication number in this room,
Now judge whether to pass through this virtual wall according to the accumulative traversing times of this same virtual wall 400 run into
400, until completing roomed cleaning.
The control method of the system that mopped floor by above-mentioned intelligence, by arranging virtual wall 400 at door, is made
Floor cleaning machine 100 when flooring is cleaned, a point room cleans, i.e. a room (spy
Determine region) clean time, will not run and clean to other room or region, thus promote single room
The sweeping efficiency in (cleaning region), and cleaning effect is greatly enhanced.
Meanwhile, reference Fig. 8, Fig. 8 are the process refinement figure of an embodiment of step S300 in Fig. 6,
In the present embodiment, step S300 the most also includes:
Step S310, records the accumulative traversing times of each virtual wall 400,
Step S320, when the accumulative traversing times of the virtual wall 400 run into is 0, then passes through this virtual
Wall 400 enters next room, cleans with default cleaning modes；
Step S330, when the accumulative traversing times of the virtual wall 400 run into is 1 and current room all
When the accumulative traversing times of virtual wall 400 is all higher than 0, then passes through this virtual wall 400 and enter next room,
With edgewise mode operation；
Step S340, when the accumulative traversing times of the virtual wall 400 run into is 2 and current room virtual
When the accumulative traversing times of wall 400 is 2, then cleaning process terminates.
Specifically, floor cleaning machine 100, when passing through virtual wall 400, is both needed to be recorded institute by record unit 131
The numbering of the virtual wall 400 passed through and correspondence pass through the numbering of this virtual wall 400.
Illustrating as a example by Fig. 5, in the present embodiment, floor cleaning machine 100 is pre-placed in room 20a
In, then clean module 120 and be made up of the wall of virtual wall 400a and room 20a with default cleaning modes
Closing cleaning region in cleaning.
When the cleaning time of room 20a reaches Preset Time, then stopping cleaning, floor cleaning machine 100 is with edge
Edge mode runs, and after having run a circle, virtual wall 400a is identified numbering, virtual when again running into
During wall 400a, according to the accumulative traversing times judgement of virtual wall 400a of record unit 131 record it is then
No pass through virtual wall 400a.Before passing through virtual wall 400a, the virtual wall of record unit 131 record
The traversing times of 400a is 0, then pass through virtual wall 400a and enter room 20b, and record virtual wall 400a
Traversing times be 1 time；In like manner, floor cleaning machine 100 also will with default cleaning modes by virtual wall 400a,
The closing cleaning region that the wall of virtual wall 400b and room 20b is constituted cleans, when reaching clear
During flyback time, stopping the cleaning of current room 20b, floor cleaning machine 100, again with edgewise mode operation, runs
After a complete circle, virtual wall 400a, virtual wall 400b are identified numbering, when again running into virtual wall
During 400a, then determine whether according to the accumulative traversing times of virtual wall 400a of record unit 131 record
Pass through virtual wall 400a；Or when again running into virtual wall 400b, then remember according to record unit 131
The accumulative traversing times of virtual wall 400b of record determines whether to pass through virtual wall 400b.
Now, the traversing times of virtual wall 400a of record unit 131 record is 1, the virtual wall of record
The traversing times of 400b is 0, the most above-mentioned when again running into virtual wall 400a, does not the most pass through virtual wall 400a,
When again running into virtual wall 400b, then pass through this virtual wall 400b, enter room 20c, and record virtual
The traversing times of wall 400b is also 1 time；In like manner, floor cleaning machine 100 also will be with default cleaning modes by void
The closing cleaning region that the wall of plan wall 400b and room 20c is constituted cleans, when reaching to clean
During the time, stopping the cleaning of current room 20c, floor cleaning machine 100 with edgewise mode operation, has run again
After one circle, virtual wall 400b is identified numbering, when again running into virtual wall 400b, then basis
The accumulative traversing times of virtual wall 400b of record unit 131 record determines whether to pass through virtual wall 400b.
Now, in the traversing times of virtual wall 400b of record unit 131 record is 1, and room 20c
The traversing times of all of virtual wall 400 is all higher than 0, the most above-mentioned when again running into virtual wall 400b, then
Pass through this virtual wall 400b, enter room 20b, and the traversing times recording virtual wall 400b is also 2
Secondary；Hereafter, floor cleaning machine 100 continues with edgewise mode operation, then after running a circle, when again running into void
When intending wall 400a, then judge according to the accumulative traversing times of virtual wall 400a of record unit 131 record
Whether pass through virtual wall 400a；Or when again running into virtual wall 400b, then according to record unit 131
The accumulative traversing times of virtual wall 400b of record determines whether to pass through virtual wall 400b.
Now, the traversing times of virtual wall 400a of record unit 131 record is 1, the virtual wall of record
The traversing times of 400b is 2, the most above-mentioned when again running into virtual wall 400b, does not the most pass through this virtual wall
400b；When again running into virtual wall 400a, then pass through virtual wall 400a, enter room 20a, and record
The traversing times of virtual wall 400a is also 2 times；Hereafter, floor cleaning machine 100 continues with edgewise mode operation,
After then running a circle, when again running into virtual wall 400a, then according to recording the virtual of unit 131 record
The accumulative traversing times of wall 400a determines whether to pass through virtual wall 400a；Now, record unit 131 is remembered
The traversing times of virtual wall 400a of record is the passing through time of all of virtual wall 400 in 2, and current room
Number is 2, then cleaning process terminates.
Further, with reference to Fig. 9, Fig. 9 be intelligence of the present invention mop floor system control method another implement
The schematic flow sheet of example；In the present embodiment, also include after step S300:
Step S400, sends the second control instruction to described cradle 300, to control described cradle
300 launch the second infrared signal to the second preset direction.
Being provided with the second infrared transmission module (not shown) on described cradle 300, cradle 300 receives
After second control instruction of control module 110, launch the second infrared signal to the second preset direction.In order to
Distinguish the first infrared signal and the second infrared signal, the frequency of this second infrared signal and the first infrared signal
Frequency different.
Step S500, runs extremely described cradle 300 according to described second infrared signal and is charged.
With reference to the process refinement figure of the embodiment that Figure 10, Figure 10 are step S500 in Fig. 9, in this reality
Executing in example, step S500 the most also includes:
Step S510, with edgewise mode operation, when receiving described second infrared signal, along with described
The direction linear running that second preset direction is contrary is charged to described cradle 300
After whole cleaning process terminates, this floor cleaning machine 100 will be according to edgewise mode operation, now, and control
Molding block 110 controls cradle 300 will launch the second infrared signal, then floor cleaning machine along the second preset direction
100 when running to the most relative with this second preset direction position, and it is second red that floor cleaning machine 100 will receive this
External signal, now, charging module 170 will control floor cleaning machine 100 by contrary along this second preset direction
Direction linear running, final operation is charged to this cradle 300.
By this kind of mode, floor cleaning machine 100 can automatically return at cradle 300, and the shortest,
Save the power consumption of floor cleaning machine 100
These are only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every
Utilize equivalent structure or equivalence flow process conversion that description of the invention and accompanying drawing content made, or directly or
Connect and be used in other relevant technical fields, be the most in like manner included in the scope of patent protection of the present invention.
Claims (10)
1. intelligence mops floor a system, for the cleaning of flooring, it is characterised in that include floor cleaning machine
At least one virtual wall device, the side of each door is provided with virtual wall device described in, and this virtual wall fills
Put and can block door for the first infrared signal launching predeterminated frequency to the first preset direction to be formed
Virtual wall；Described floor cleaning machine includes:
Control module, for sending the first control instruction to all described virtual wall devices, described to control
Virtual wall device starts and forms virtual wall；
Clean module, for cleaning in a room with default cleaning modes；
Pass through module, be used for after the cleaning of current room with edgewise mode operation, and according to running into
The traversing times of virtual wall passes through arbitrary virtual wall to next room, until completing roomed cleaning.
2. intelligence as claimed in claim 1 mops floor system, it is characterised in that described floor cleaning machine also includes:
First ultrasonic wave module, is used for launching ultrasonic signal extremely described virtual wall device, and receives described
The ultrasonic signal of virtual wall device feedback；
Computing module, for launching ultrasonic signal according to described first ultrasonic wave module and receiving ultrasound wave
Time difference between signal, calculates the distance between main frame and virtual wall；
Exempt to touch module, be used for when described distance reaches preset value, turning operation.
3. intelligence as claimed in claim 1 mops floor system, it is characterised in that described in pass through module and include:
Record unit, for recording the accumulative traversing times of each virtual wall；
Performance element, for when the accumulative traversing times of the virtual wall run into is 0, then passes through this virtual
Wall enters next room, cleans with default cleaning modes；When the virtual wall run into accumulative is passed through time
When number is 1 and the accumulative traversing times of all virtual wall of current room is all higher than 0, then pass through this virtual
Wall enters next room, with edgewise mode operation；When the accumulative traversing times of the virtual wall run into be 2 and
When the accumulative traversing times of the virtual wall of current room is 2, then cleaning process terminates.
4. intelligence as claimed in claim 1 mops floor system, it is characterised in that described intelligence mops floor system
After also including that cradle, described control module have been additionally operable to the roomed cleaning of institute, to described cradle
Send the second control instruction, launch the second infrared signal to the second preset direction controlling described cradle；
Described floor cleaning machine also includes charging module, and described charging module is for running according to described second infrared signal
It is charged to described cradle.
5. intelligence as claimed in claim 4 mops floor system, it is characterised in that described charging module is concrete
For completing after roomed cleaning, with edgewise mode operation, when receiving described second infrared signal
Time, it is charged at the direction linear running contrary with described second preset direction extremely described cradle.
6. the intelligence described in claim 1 mops floor a control method for system, clear for flooring
Sweep, it is characterised in that comprise the following steps:
Described floor cleaning machine sends the first control instruction to all described virtual wall devices, described virtual to control
Wall device starts and forms virtual wall；
Clean in a room with default cleaning modes；
Complete after the cleaning of current room with edgewise mode operation, and wear according to the accumulative of the virtual wall run into
More number of times passes through arbitrary virtual wall and cleans to next room, until completing roomed cleaning.
7. intelligence as claimed in claim 6 mops floor the control method of system, it is characterised in that described with
The step that default cleaning modes cleans in a room specifically includes:
Launch ultrasonic signal extremely described virtual wall device, and receive the ultrasonic of described virtual wall device feedback
Ripple signal；
According to the time difference launched between ultrasonic signal and received ultrasonic signal, calculate with virtual wall it
Between distance；
When described distance reaches preset value, then turning operation.
8. intelligence as claimed in claim 6 mops floor the control method of system, it is characterised in that described
Pass through arbitrary virtual wall according to the accumulative traversing times of the virtual wall run into clean to next room, until
Complete the step of roomed cleaning specifically include:
Record the accumulative traversing times of each virtual wall；
When the accumulative traversing times of the virtual wall run into is 0, then passes through this virtual wall and enter next room,
Clean with default cleaning modes；
When the accumulative traversing times of the virtual wall run into is 1 and the accumulative of all virtual wall of current room is worn
When more number of times is all higher than 0, then passes through this virtual wall and enter next room, with edgewise mode operation；
When the accumulative traversing times of the virtual wall run into is 2 and the virtual wall of current room accumulative is passed through time
When number is 2, then cleaning process terminates.
9. intelligence as claimed in claim 6 mops floor the control method of system, it is characterised in that described intelligence
The system that can mop floor also includes cradle, described complete roomed cleaning step after also include:
Send the second control instruction to described cradle, send out to the second preset direction controlling described cradle
Penetrate the second infrared signal；
Run extremely described cradle according to described second infrared signal to be charged.
10. intelligence as claimed in claim 9 mops floor the control method of system, it is characterised in that described
Run, according to described second infrared signal, the step being charged to described cradle to specifically include:
With edgewise mode operation, when receiving described second infrared signal, preset side along with described second
Linear running is charged to described cradle in the opposite direction.
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| CN105388898B (en) * | 2015-11-27 | 2018-05-04 | 苏州爱普电器有限公司 | A kind of self-movement robot system for restricting |
| CN106272420B (en) * | 2016-08-30 | 2019-07-02 | 北京小米移动软件有限公司 | Robot and robot control method |
| CN106974592A (en) * | 2016-11-11 | 2017-07-25 | 广东探金电子科技有限公司 | A kind of intelligent floor-mopping robot system |
| CN108776473A (en) * | 2018-05-23 | 2018-11-09 | 上海圭目机器人有限公司 | A kind of working method of intelligent disinfecting robot |
| CN110495821B (en) * | 2019-09-05 | 2023-11-28 | 北京石头世纪科技股份有限公司 | Cleaning robot and control method thereof |
| CN110597253B (en) * | 2019-09-05 | 2022-12-09 | 珠海一微半导体股份有限公司 | Robot control method, chip and laser type cleaning robot |
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| KR101021267B1 (en) * | 2010-09-20 | 2011-03-11 | 주식회사 모뉴엘 | Cleaning robot system and its method for controlling |
| CN109965778B (en) * | 2013-01-18 | 2022-08-16 | 艾罗伯特公司 | Environment management system including mobile robot and method of using the same |
| CN103767633B (en) * | 2014-02-28 | 2016-04-20 | 柯约瑟 | The displacement operation system of Full automatic displacement cleaning device |
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