CN106175603A - floor cleaner and control method thereof - Google Patents
floor cleaner and control method thereof Download PDFInfo
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- CN106175603A CN106175603A CN201510219392.5A CN201510219392A CN106175603A CN 106175603 A CN106175603 A CN 106175603A CN 201510219392 A CN201510219392 A CN 201510219392A CN 106175603 A CN106175603 A CN 106175603A
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Abstract
The invention provides a kind of floor cleaner and control method thereof.This floor cleaner includes: walking cleans module, is configured to be driven moving on the ground in purging zone, to perform cleaning by its internal drive；Blower fan module, is removable installed in walking and cleans the top of module, cleans the air-flow of module to produce to suck to walk by ground dust；Image taking module, is positioned over the top of blower fan module, cleans the surrounding enviroment image of module with shooting walking；Control device, be configured to obtain image, and clean module mobile status according to image by driving means adjustment walking, so that walking cleans module change moving direction and/or translational speed.Use the scheme that the present invention provides, on the one hand can be with each parts of flexible assembling, simple in construction, easy to assembly；On the other hand, control flexibly and easily, it is simple to the use of user.
Description
Technical field
The present invention relates to a kind of field, particularly to a kind of floor cleaner and control method thereof.
Background technology
Floor cleaner is mainly engaged in the cleaning of family's ground health.According to range of application and purposes not
With, sweeping robot has dissimilar, and common type is dust-collecting type floor cleaner, and its principle is at air intake
Between mouth and air outlet, filter bag is set, utilizes blower fan by the dust suction filter bag on ground.
During performing cleaning, floor cleaner can be advanced according to the program set, with right on by ground
The zones of different on ground cleans.And the walking structure of general floor cleaner is typically provided with infrared etc.
Range unit, when running into barrier, can hide in time, but although utilizes infrared distance measurement device
With avoiding barrier, but often can occur, floor cleaner repeats to clean a certain region, and
Some region is then difficult to arrive, and causes cleaning effect bad, have impact on the normal use of user.
The most existing floor cleaner, by integrated to ground-engaging element, filter element, control parts and blower fan
In an enclosure interior, take up room big, be not easy to dismounting.
Summary of the invention
In view of the above problems, it is proposed that the present invention to provide a kind of controls flexibly, cleans effective ground
Cleaner.
The present invention one further objective is that the structure simplifying floor cleaner, it is simple to user operation and tearing open
Dress.
The present invention one further objective is that the ease of use improving floor cleaner.
According to an aspect of the present invention, the invention provides a kind of floor cleaner.This floor cleaner bag
Include: walking cleans module, be configured to be driven by its internal drive move on by the ground in purging zone
Dynamic, to perform cleaning；Blower fan module, being removable installed in walking and cleaning the top of module, incites somebody to action to produce
Ground dust sucks walking and cleans the air-flow of module；Image taking module, is positioned over the upper of blower fan module
Side, cleans the surrounding enviroment image of module with shooting walking；Control device, be configured to obtain image, and root
Adjust walking according to image by driving means and clean module mobile status, so that walking cleans module and changes mobile
Direction and/or translational speed.
Alternatively, above floor cleaner also includes remote control unit, and this remote control unit is configured to: receive user
The telecommand of input transmission, to controlling device, clean according to telecommand control walking for controlling device
Module is run；Telecommand includes following any one or more: arrange by the instruction of purging zone scope,
Walking cleaning module is set and moves the instruction of route, and start or stop the instruction cleaning.
Alternatively, remote control unit is configured to: obtains image and shows, for user according to image to user
Amendment telecommand；Control device to be configured to: control walking according to amended telecommand and clean module
Run.
Alternatively, control device be arranged at walking clean module inside, and with image taking module and remote control
Device is connected by wireless network respectively.
Alternatively, walking cleaning module, blower fan module and image taking module are built-in with respectively for Denso
Put.
According to another aspect of the present invention, the control method of a kind of floor cleaner is additionally provided.This control
Method includes: orders about the walking of floor cleaner and cleans module moving on the ground in purging zone, and
Produced to suck to walk by ground dust by the blower fan module being arranged at above walking cleaning module and clean mould
The air-flow of block, to perform cleaning；Obtain the walking being positioned over the image taking module photograph above blower fan module
Clean the surrounding enviroment image of module；Module mobile status is cleaned, so that walking is clear according to Image Adjusting walking
Sweep module and change moving direction and/or translational speed.
Alternatively, module is cleaned moving on the ground in purging zone in the walking ordering about floor cleaner
The most also include: receive the telecommand that user is inputted by remote control unit；Walking is controlled according to telecommand
Cleaning module is run.
Alternatively, telecommand includes following any one or more: arrange by the instruction of purging zone scope；
Walking cleaning module is set and moves the instruction of route；And start or stop the instruction cleaning.
Alternatively, the walking cleaning module being positioned over the image taking module photograph above blower fan module is being obtained
Also include after image around: send image to remote control unit, to show to user on the remote control device；
Obtain user's telecommand according to amending image of remote control unit return；According to amended telecommand control
System walking cleans module and runs.
Alternatively, also included before performing cleaning: read the image taking module and remote control pre-saved
The communication identifier information of device；Set up respectively with image taking module and remote control unit according to communication identifier information
Data cube computation.
The floor cleaner of the present invention and control method thereof, utilize walking to clean driving means built-in in module
Moving on the ground in purging zone, to perform cleaning, blower fan module is detachably arranged in walking
Clean the top of module, to produce the air-flow that ground dust is sucked walking cleaning module, control device
The walking utilizing the image taking module photograph of the top being positioned over blower fan module cleans the surrounding enviroment of module
Image, adjusts the mobile status of floor cleaner.Floor cleaner moves according to practical situation about
Dynamic, on the one hand on the other hand the region that dust is concentrated can also be carried out concentration clean with avoiding barrier,
Control flexibility and reliability, improve the cleaning effect of floor cleaner.
Further, the floor cleaner of the present invention can also pass through remote control unit, issues remote control for user and refers to
Order, meets user's various cleaning requirement.
Further, the walking of the floor cleaner of the present invention cleans module, blower fan module, image taking
Module all can be independently arranged, and has single housing, can assemble the most easily and split,
Flexible configuration, extensibility is good.
According to below in conjunction with the accompanying drawing detailed description to the specific embodiment of the invention, those skilled in the art will
More understand the above-mentioned of the present invention and other purposes, advantage and feature.
Accompanying drawing explanation
Some describing the present invention the most by way of example, and not by way of limitation in detail are concrete
Embodiment.Reference identical in accompanying drawing denotes same or similar parts or part.Art technology
Personnel are it should be understood that what these accompanying drawings were not necessarily drawn to scale.In accompanying drawing:
Fig. 1 is the schematic diagram of floor cleaner according to an embodiment of the invention；
Fig. 2 is that walking cleans the upward view of module in floor cleaner according to an embodiment of the invention
Fig. 3 is that walking cleans the top view of module in floor cleaner according to an embodiment of the invention；
Fig. 4 is the top view of blower fan module in floor cleaner according to an embodiment of the invention；
Fig. 5 is the upward view of blower fan module in floor cleaner according to an embodiment of the invention；
Fig. 6 be floor cleaner according to an embodiment of the invention blower fan module in blower fan accommodate the showing of chamber
It is intended to；
Fig. 7 is the schematic diagram of the charging inlet of ground surface sweeping device according to an embodiment of the invention；
Fig. 8 is the control schematic block diagram of floor cleaner according to an embodiment of the invention；
Fig. 9 is the schematic diagram of the control method of floor cleaner according to an embodiment of the invention；And
Figure 10 is the optional flow process of one of the control method of floor cleaner according to an embodiment of the invention
Figure.
Detailed description of the invention
Fig. 1 is the schematic diagram of floor cleaner according to an embodiment of the invention.This floor cleaner is general
Property may include that walking clean module 500, blower fan module 100 image, taking module 600 and
Control device.Wherein, walking cleans module 500 and has multiple road wheel 510 that turns to, and arranges in inside
Have driving means, walking to clean module 500 to be driven by the ground in purging zone by internal drive
Upper movement, to perform cleaning；Blower fan module 100 is removable installed in walking and cleans the top of module 500,
To produce the air-flow that ground dust sucks walking cleaning module 500, dust enters walking and cleans module
In the dust bag of 500.Image taking module 600, is positioned over the top of blower fan module 100, to shoot row
Walk to clean the surrounding enviroment image of module 500.Control device and obtain what image taking module 600 shooting obtained
Image, and adjust walking cleaning module 500 mobile status according to image by driving means, so that walking is clear
Sweep module 500 and change moving direction and/or translational speed, to complete avoiding barrier, high to degree of fouling
Region preferentially cleans.
Fig. 2 and Fig. 3 is that walking cleans module in floor cleaner according to an embodiment of the invention respectively
The upward view of 500 and top view, the bottom cleaning module 500 in walking is provided with multiple road wheel 510,
Can advance under the driving of driving means and turn to, the inside cleaning module 500 in walking is disposed with control
The parts (owing to being arranged at inside, not shown in figure) such as device, dust bag, driving means.Walking cleans
The top of module 500 includes by the hollow-out parts 520 of multiple walking module consisted of array arrangement, with
Blower fan module 100 coordinates, and preferably makes through hole and the blower fan module 100 of the hollow-out parts 520 of walking module
Through hole one_to_one corresponding on the first side wall.
In order to ensure that blower fan module 100 and walking clean module 500 and can coordinate closely, walking cleans module
The top surface of 500 is provided with the tenon groove structure coordinated with blower fan module 100 contact surface, so that blower fan mould
When block 100 is positioned over walking cleaning module 500 top, it is ensured that both are assembled into one.Such as walk
Clean and be provided with the annular tongue-and-groove 530 around its hollow-out parts 520 on the top surface of module 500.At blower fan
When module 100 is assembled into one with walking cleaning module 500, annular tongue-and-groove 530 embeds blower fan module 100
Inside the annular tenon bar that the first side wall is arranged, both can ensure that blower fan module 100 was just positioned over walking and cleans
The top of module 500, can avoid again air to clean the combination of module 500 from blower fan module 100 and walking
Portion enters, and causes pick-up performance to decline.In some alternative embodiments, annular tongue-and-groove 530 and annular tenon bar
Position can exchange, namely annular tenon bar be arranged on the first side wall of blower fan module 100, tongue-and-groove sets
Being placed in walking and clean the top of module 500, its effect reached is similar.The additionally floor cleaning of the present embodiment
In device, blower fan module 100 and walking clean module 500 can also use other fixed structures, for example with
Hole, location coordinates with positioning convex, but sealing effectiveness is not as tenon groove structure.
Fig. 4 and Fig. 5 is according to the bowing of blower fan module 100 in one embodiment of the invention floor cleaner respectively
View and upward view, and Fig. 6 is the blower fan module 100 of floor cleaner according to an embodiment of the invention
Middle blower fan accommodates the schematic diagram in chamber.
Blower housing 110 limits blower fan and accommodates chamber 120, and blower fan 130 is arranged at blower fan and accommodates in chamber 120
Portion.Its blower housings 110 at least has the first side wall 111 and the second sidewall 112 being oppositely arranged, the
Being respectively provided with, on one sidewall 111 and the second sidewall 112, the hollow-out parts that air passes, blower fan 130 configures
Become to suck air at the first side wall 111 and discharge to the second sidewall 112.In the process carrying out floor cleaning
In, the first side wall 111 and the second sidewall 112 can preferentially be set to be horizontally disposed with, wherein and the second sidewall
112 are arranged at top.Blower fan 130 corresponding configuration becomes to suck from below air and discharges from top portion.First
The array that hollow-out parts on sidewall 111 and the second sidewall 112 can be made up of multiple arrays of openings is formed.Wind
Machine module 100 is positioned over walking and cleans the top of module 500, the air-flow that blower fan 130 produces by air thus
Ground sucks in the dust bag that walking cleans within module 500, and air cleans the top of module 500 through walking
Portion, after the hollow-out parts and blower fan receiving wall of the first side wall 111, thus second side-walls on top is discharged.
The blower fan module 100 of the ground surface sweeping device in the present embodiment can select the blower fan of various needs flexibly
130, such as centrifugal blower, axial flow blower and cross flow fan, preferably can use axial flow blower, knot
Structure is simple, solid and reliable.Accommodate at blower fan and wind can be set according to the specification of blower fan 130 inside chamber 120
Machine supporting construction, to be fixed on blower fan 130 in blower fan receiving chamber 120.
In order to meet the power reguirements of ground surface sweeping device, blower fan module 100, walking clean module 500, figure
Power supply component all it is built-in with as taking module 600 is internal.Wherein blower fan 130 can be held by being similarly provided at blower fan
The blower fan power supply section (not shown) received in chamber 120 is powered.This blower fan power supply section can make electricity consumption
The electrical power storage element such as pond, super capacitor, its power capacity needs to meet the blower fan 130 pre-timing of continuous service
Between requirement, and available external power source is charged.
Structure can not had within blower fan accommodates chamber 120 to do with blower fan 130 with flexible arrangement with fan power supply section
The position related to, such as, be arranged in blower fan 130 around.In a kind of alternative embodiment, blower housing 110
Can be rectangular structure, such as, longitudinally disposed perisporium 115 and be respectively perpendicular and be arranged at perisporium 115
The first side wall 111 at two ends and the second sidewall 112 jointly limit blower fan and accommodate chamber 120.Perisporium 115
Could be arranged to sandwich, namely perisporium 115 can include outer wall and the inwall be arrangeding in parallel, outer wall
As the outer surface of blower housing 110, inner wall limit blowing machine accommodates chamber 120, and blower fan power supply section is arranged at
In outer wall and the interlayer that is internally formed.Owing to outer wall and inwall are enclosed construction, not shown in Fig. 6, blower fan supplies
Electricity portion.This structure utilizes the space that perisporium 115 is the most abundant, meets the wind arranging predetermined power capacity
The arrangement space requirement of machine power supply section.
In order to meet the charging requirement of blower fan power supply section, blower housing 110 is also provided with: charging
Mouthful, it is connected with blower fan power supply section, is configured to connect external power source joint to charge to blower fan power supply section.This fills
Electrical interface can select various electric interfaces flexibly, provides suitable charging voltage to blower fan power supply section.?
In the present embodiment, the blower fan module 100 in the present embodiment preferably employs a kind of novel magnetic-type charging inlet
140.Fig. 7 is the schematic diagram of the charging inlet 140 of ground surface sweeping device according to an embodiment of the invention,
This charging inlet 140 includes: at least one conducting connecting part 141 and magnetic retention means 142.Conduction is even
Fitting 141, magnetic retention means 142 can embed and be arranged in the pedestal that insulant is made.Wherein conduct electricity
One end of connector 141 forms conduction on the outer surface of blower housing 110 (the such as second sidewall 112)
Contact regions, the other end stretches into blower fan and accommodates in chamber 120, with connecting fan power supply section.Magnetic retention means 142
It is configured to make external power source joint attract to be attached in magnetic retention means 142 by magnetic force, so that at least one
The conductive contact district of individual conducting connecting part 141 contacts against to the corresponding electrical connection section of external power source joint, shape
Become electrical connection.In the example depicted in fig. 7, the middle position at charging inlet 140 arranges magnetic retention means
142, this magnetic retention means 142 uses the alloy of soft magnetic materials to make, can be by the permanent magnetism of external power source joint
Parts attract.And magnetic retention means can also the effect of integrated electrically conducting connector 141, as an electrode.
Can arrange multiple conducting connecting part 141 around this magnetic retention means 142, concrete quantity can be according to filling
The type of electrical interface 140 determines.Such as, as positive pole and the negative pole of DC interface, around magnetic retention means
142 form positive pole, are connected with the power end of external power source joint.Magnetic retention means 142 as negative pole, with
Connecting for ground end of external power source joint.
It addition, walking clean module 500 and image taking module 600 can also use be similar to above-mentioned
Magnetic-type charging inlet, it is achieved thereby that versatility.
The middle position of the second sidewall 112 of blower fan module 100 is provided with supporting part 117, this supporting part 117
For being connected with image taking module 600, the edge of this supporting part has flange, with by image taking module
Pedestal be positioned in flange.Namely image taking module 600 can be placed directly on supporting part, nothing
Need extra assembling process.
Image taking module 600, is positioned over the top of blower fan module 100, cleans module 500 with shooting walking
Surrounding enviroment image, preferably there is the photographic head of wide angle shot function, owing to the focal length of wide angle shot is short,
Visual angle is big, in the range of shorter shooting distance, can photograph the image of larger area, meet the present embodiment
The floor cleaner requirement to image.
Owing to each parts of the floor cleaner of the present embodiment are the structure that can dismount flexibly, above walking cleans
Module 500, blower fan module 100, image taking module 600 are also used as performing in addition to floor cleaning
Function.Such as blower fan module 100 is also used as the blower fan of air purifier, and walking cleans module 500
Can carry the object of some lighter in weight, image taking module 600 can be as the shooting of the systems such as security protection
Head.Thus when needs ground surface sweeping device, user can assemble easily, improves the general of parts
Property.
Fig. 8 is the control schematic block diagram of floor cleaner according to an embodiment of the invention, floor cleaner
Also include: remote control unit 710.The telecommand that this remote control unit 710 is configured to receive user's input is concurrent
Deliver to control device 720, control walking cleaning module 500 for controlling device 720 according to telecommand
Driving means 730 is run, and making walking clean module 500 can be moved by telecommand.Telecommand includes
The most any one or more: to arrange by the instruction of purging zone scope, walking cleaning module 500 is set and moves
The instruction of dynamic route, and start or stop the instruction cleaning.Remote control unit 710 can be that user uses
All kinds of intelligent terminal, such as smart mobile phone, HPC, panel computer etc..This remote control unit 710 is being held
Before the control function of row floor cleaner, the control of the floor cleaner for the present embodiment can be previously provided with
Interface processed, provides input window or the adjustment instrument of above telecommand under this control interface.User
By the operation to this control interface, it is achieved the transmission of above telecommand.
Remote control unit 710 in the floor cleaner of the present embodiment can also obtain from image taking module 600
Take the image of its shooting, shown to user by screen, for user according to amending image telecommand；Control
Device 720 processed can also control walking cleaning module 500 according to amended telecommand and run.Additionally wind
The wind-force size that machine module 100 produces can also have remote control unit 710 and control device 720 to carry out accordingly
Adjust.
Above remote control unit 710, control device 720, image taking module 600 and the driving mould of blower fan
Block all can carry out data cube computation, for example with Wi-Fi, ZigBee, bluetooth etc. wirelessly.
Present invention also offers the control method of a kind of floor cleaner, Fig. 9 is according to the present invention one enforcement
The schematic diagram of the control method of the floor cleaner of example, the control method of this floor cleaning includes:
Step S902, the walking ordering about floor cleaner cleans module 500 by the ground in purging zone
Mobile；
Step S904, is produced on ground by the blower fan module 100 being arranged at above walking cleaning module 500
Dust suck walking clean module 500 air-flow, to perform cleaning；
Step S906, obtains the walking being positioned over image taking module 600 shooting above blower fan module 100
Clean the surrounding enviroment image of module 500；
Step S908, cleans module 500 mobile status according to Image Adjusting walking, so that walking cleans module
500 change moving direction and/or translational speed.
Before step S902, it is also possible to receive the telecommand that user is inputted by remote control unit；According to
Telecommand controls walking cleaning module 500 and runs.These telecommands can include following any one or
Multinomial content: arrange by the instruction of purging zone scope；Walking cleaning module 500 is set and moves the finger of route
Order；And start or stop the instruction cleaning.
When using the floor cleaner of the present embodiment, user can be sent by remote control unit and start cleaning
Order, wakes up walking up and cleans module 500 and image taking module 600, it is possible to clap by obtaining image
The image definition taking the photograph module 600 needs the target area of cleaning, or manually control mode, will walking
Clean module 500 to move to specifying region.The control method of the floor cleaner of the present embodiment can preset
Multiple cleaning modes, such as the pattern that severe is dirty, can breeze up, reduce the speed of travel simultaneously.
The motion track the most such as can also with multiple types of floors cleaner is selective, clear for example with moving left and right
Sweep, move forward and backward the cleaning track cleaning or being similar to bee dance track.Additionally can include user's hands
The dynamic mode controlled is carried out, the direct remote-controlled walking of user clean the moving direction of module 500, translational speed
And wind-force size.
Image can also be sent to remote control unit, with on the remote control device to user's exhibition after step S906
Show；Obtain user's telecommand according to amending image of remote control unit return；Refer to according to amended remote control
Order controls walking cleaning module 500 and runs.
More than controlling device, control device, image taking module 600 and blower fan drives module can use wireless
Communication mode carries out data cube computation, and the binding relationship of component communication identification information can preserve in advance.Should
Binding relationship can be configured by user, or obtains module list by scanning, is selected by user
To binding relationship.Setting up during data cube computation crosses, only communicating with the module bound the most in advance.
Alternatively, the image taking module 600 pre-saved and remote control dress can also be read before performing cleaning
The communication identifier information put；Build respectively with image taking module 600 and remote control unit according to communication identifier information
Vertical data cube computation.
The binding relationship of component communication mark can be pre-stored within control device and remote control unit, according to
These binding relationships complete the data transmission of above cleaning task.
The floor cleaner of the present embodiment used below carries out cleaning an instantiation to be come this floor cleaning
The control method of device is further illustrated, and Figure 10 is floor cleaner according to an embodiment of the invention
The optional flow chart of one of control method, the control device 720 of floor cleaner can perform following steps:
Step S1001, what acquisition user sent starts to clean instruction, and this instruction can be sent by remote control unit,
After user starts, to remote control unit input, the order cleaned, remote control unit cleans mould to the walking bound in advance
Block sends this to start to clean instruction, and the control device cleaning module for corresponding walking obtains；
Step S1002, wakes up walking up and cleans module and image taking module, and walking cleans module and image
Taking module starts to initialize；
Step S1003, obtains the initial parameter in telecommand, and this initial parameter may include that needs are clear
The region swept, the speed of travel, track route etc.；
Step S1004, makes walking clean module according to initial parameter and starts mobile, blower fan module generation dust suction
Air-flow, image taking module start shooting and clean the environment around module；
Step S1005, identifies that user needs Non-follow control or is set as automatic cleaning, if user is manual
Control, then perform step S1006, if user needs automatic cleaning, then perform step S1008；
Step S1006, according to the order-driven walking cleaning part of user's input, user can utilize remote control to fill
Putting and directly control forward-reverse or turn to, the image that image taking module is shot in real time simultaneously is sent to
Remote control unit, in order to user watches；
Step S1007, after getting the telecommand cleaned, performs step S1011, completes clear
Sweep, if not receiving cleaning to complete instruction, repeated execution of steps S1006；
Step S1008, identifies the pattern of automatic cleaning, can preset multiple the most clear in controlling device
The pattern of sweeping respectively provided walking route track (move forward and backward, move left and right, bee dance formula moves),
The wind-force of blower fan, the speed of movement；
Step S1009, moves according to the order-driven walking cleaning part of regulation in the cleaning modes identified,
During automatic cleaning, can be with the image of Real time identification image taking module photograph, to avoid barrier
And adjust moving direction in time；
Step S1010, it may be judged whether complete the target of automatic cleaning, if it is not, repeated execution of steps S1009,
If being carried out, step S1011 closes walking cleaning module, blower fan generates air-flow and image taking module,
Complete whole cleaning process.
Ground surface sweeping device and the control method of ground surface sweeping device of present invention offer are provided, on the one hand can be flexible
Assemble each parts, simple in construction, easy to assembly；On the other hand, control flexibly and easily, it is simple to user makes
With.
So far, although those skilled in the art will appreciate that and the most detailed illustrate and describing the present invention's
Multiple exemplary embodiments, but, without departing from the spirit and scope of the present invention, still can be according to this
Disclosure of invention directly determines or derives other variations or modifications of many meeting the principle of the invention.Cause
This, the scope of the present invention is it is understood that and regard as covering other variations or modifications all these.
Claims (10)
1. a floor cleaner, including:
Walking cleans module, is configured to be driven by its internal drive move on by the ground in purging zone
Dynamic, to perform cleaning；
Blower fan module, is removable installed in described walking and cleans the top of module, to produce described ground
On dust suck described walking clean module air-flow；
Image taking module, is positioned over the top of described blower fan module, to shoot described walking cleaning module
Surrounding enviroment image；
Control device, be configured to obtain described image, and adjusted by described driving means according to described image
Described walking cleans module mobile status, so that described walking cleans module and changes moving direction and/or mobile speed
Degree.
Floor cleaner the most according to claim 1, also includes that remote control unit, described remote control unit are joined
It is set to:
Receive the telecommand of user's input and send extremely described control device, for described control device according to
Described telecommand controls described walking and cleans module operation；
Described telecommand includes following any one or more: arrange the described finger by purging zone scope
Order, arranges described walking cleaning module and moves the instruction of route, and start or stop the instruction cleaning.
Floor cleaner the most according to claim 2, wherein
Described remote control unit is configured to: obtains described image and shows, for user according to described to user
Telecommand described in amending image；
Described control device is configured to: controls described walking according to amended telecommand and cleans module fortune
OK.
4. according to the floor cleaner described in Claims 2 or 3, wherein
Described control device is arranged at walking and cleans the inside of module, and with described image taking module and described
Remote control unit is connected by wireless network respectively.
Floor cleaner the most according to claim 1, wherein
Described walking cleans module, described blower fan module and described image taking module and is built-in with confession respectively
Electric installation.
6. a control method for floor cleaner, including:
Order about the walking of described floor cleaner and clean module moving on the ground in purging zone, and by
It is arranged at described walking and cleans the blower fan module generation above module by described for the suction of described ground dust
Walking cleans the air-flow of module, to perform cleaning；
Obtain the described walking cleaning module being positioned over the image taking module photograph above described blower fan module
Surrounding enviroment image；
Clean module mobile status according to walking described in described Image Adjusting, change so that described walking cleans module
Become moving direction and/or translational speed.
Control method the most according to claim 6, wherein, in the walking ordering about described floor cleaner
Clean before module moves on by the ground in purging zone and also include:
Receive the telecommand that user is inputted by remote control unit；
Control described walking according to described telecommand and clean module operation.
Control method the most according to claim 7, wherein, described telecommand includes following any one
Item or multinomial:
The described instruction by purging zone scope is set；
Described walking cleaning module is set and moves the instruction of route；And
Start or stop the instruction cleaning.
9. according to the control method described in claim 7 or 8, wherein, it is positioned over described blower fan mould in acquisition
The described walking of the image taking module photograph above block also includes after cleaning the image around module:
Described image is sent, to show to user on described remote control unit to described remote control unit；
Obtain user's telecommand according to described amending image of described remote control unit return；
Control described walking according to amended telecommand and clean module operation.
10. according to the control method described in claim 7 or 8, wherein, also included before performing cleaning:
Read the described image taking module and the communication identifier information of described remote control unit pre-saved；
Number is set up respectively with described image taking module and described remote control unit according to described communication identifier information
According to connection.
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| CN201510219392.5A CN106175603A (en) | 2015-04-30 | 2015-04-30 | floor cleaner and control method thereof |
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| CN201510219392.5A CN106175603A (en) | 2015-04-30 | 2015-04-30 | floor cleaner and control method thereof |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106963296A (en) * | 2017-03-31 | 2017-07-21 | 湖北工程学院 | Sweeper and sweeper control method |
| CN107242836A (en) * | 2017-08-08 | 2017-10-13 | 东莞市智科智能科技有限公司 | A kind of dust catcher with camera-shooting scanning orientating function |
| CN108319266A (en) * | 2018-01-18 | 2018-07-24 | 安徽三弟电子科技有限责任公司 | Row method and its control system are swept based on shape recognition sweeping machine |
| CN109493581A (en) * | 2017-09-13 | 2019-03-19 | 富士施乐株式会社 | Information processing unit and the computer-readable medium for storing program |
| CN109842175A (en) * | 2019-01-30 | 2019-06-04 | 弗徕威智能机器人科技（上海）有限公司 | A kind of magnetic-type charging unit of the robot with cooling device |
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| CN111134570A (en) * | 2018-11-02 | 2020-05-12 | 添可智能科技有限公司 | Dust collector with image acquisition function and camera shooting equipment |
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| CN114073448A (en) * | 2020-08-11 | 2022-02-22 | 北京石头世纪科技股份有限公司 | Cleaning method and apparatus |
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