CN106406300B - Cleaning device and control method thereof - Google Patents
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- CN106406300B CN106406300B CN201510451288.9A CN201510451288A CN106406300B CN 106406300 B CN106406300 B CN 106406300B CN 201510451288 A CN201510451288 A CN 201510451288A CN 106406300 B CN106406300 B CN 106406300B
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Abstract
The invention provides a cleaning device and a control method thereof. The cleaning device comprises an environment sensor, a mobile module and a processing unit. The environment sensor is used for detecting an object. The moving module is used for driving the cleaning device to move. The processing unit is coupled with the environment sensor and the mobile module. While in the mobile mode of the cleaning device, the processing unit detects a triggering event. When the processing unit detects a trigger event, the cleaning device is driven to the parking place through the moving module. And the processing unit judges whether the object can not be detected on the resident place according to the distance threshold value through the environment sensor so as to determine that the object stays in the resident place through the moving module. The invention can avoid the cleaning device from staying in an area which is difficult to find by people.
Description
Technical Field
The present disclosure relates to cleaning devices, and particularly to a movable cleaning device and a control method thereof.
Background
With the advance of technology, various types of automatic control devices have gradually replaced manpower. The automatic control device can provide accurate, rapid and efficient operation, and further brings convenience to people and can reduce artificial risks. In the past, automation control equipment such as a robot arm or a robot, which can be seen only in a factory, is gradually developed to a conventional household appliance along with factors such as market demand, reduction of material cost, mature technology and the like. Intelligent home appliances, such as intelligent air conditioning systems, intelligent cooking machines, intelligent refrigerators, etc., perform their functions in an automated manner by detecting internal or external information.
Cleaning devices (e.g., sweeping, mopping or dust-collecting robots, etc.) are also one of popular items of modern intelligent household appliances. In the past, cleaning works such as sweeping, mopping and the like need to be performed by manpower, and many intelligent cleaning devices can also perform the cleaning works nowadays. These mobile cleaning devices can travel automatically over the floor to perform their cleaning functions. Generally, mobile cleaning devices are often equipped with battery assemblies or modules so that the cleaning devices can travel wirelessly and freely in various environments. However, the problem of machine failure or failure to search for the charging dock within a predetermined time (e.g., 30, 50 minutes, etc.) may cause the cleaning device to fail to return to the charging dock in time for charging. In some situations, the cleaning device may even stay in an area that is difficult for people to find. In this regard, there is a need to provide a control method to avoid the aforementioned problems.
Disclosure of Invention
The invention provides a cleaning device and a control method thereof, which can prevent the cleaning device from staying in an area which is difficult to find by people.
The invention provides a control method of a cleaning device, which comprises the following steps. A trigger event is detected while the cleaning device is in the travel mode. When a triggering event is detected, go to the residence. And judging whether the object can not be detected at the resident place according to the distance threshold value so as to determine to stop at the resident place.
In an embodiment of the present invention, the determining whether the object is not detected at the parking place according to the distance threshold includes the following steps. And if the object is detected on the detection site according to the distance threshold value, the user is prohibited from entering the detection site.
In an embodiment of the invention, the cleaning device includes an environmental sensor. And determining whether the object is not detected at the dwell location based on the distance threshold comprises the following steps. And judging whether an object is detected in the first detection direction and within the distance threshold value through the environment sensor.
In an embodiment of the invention, the first detection direction includes a second detection direction other than the traveling direction of the cleaning device, and the determining whether the object is not detected at the parking place according to the distance threshold includes the following steps. And if the object is detected at the detection place according to the distance threshold and the second detection direction, the object is prohibited from entering the detection place.
The invention provides a cleaning device which comprises an environment sensor, a mobile module and a processing unit. The environment sensor is used for detecting an object. The moving module is used for driving the cleaning device to move. The processing unit is coupled with the environment sensor and the mobile module. While in the mobile mode of the cleaning device, the processing unit detects a triggering event. When the processing unit detects a trigger event, the cleaning device is driven to the parking place through the moving module. And the processing unit judges whether the object can not be detected on the resident place according to the distance threshold value through the environment sensor so as to determine that the object stays in the resident place through the moving module.
In an embodiment of the invention, if an object is detected at the detection location of the environmental sensor according to the distance threshold, the processing unit prohibits the entry into the detection location through the moving module.
In an embodiment of the invention, the environment sensor determines whether an object is detected in the first detection direction and within a distance threshold.
In an embodiment of the invention, the first detection direction includes a second detection direction other than a traveling direction of the cleaning device. And if the environment sensor detects the object according to the distance threshold and the second detection direction at the detection place, the processing unit prohibits the object from entering the detection place through the mobile module.
In an embodiment of the invention, the triggering event includes one or a combination of receiving a triggering signal, detecting an error occurrence, a power source abnormality, and entering a return mode.
Based on the above, the cleaning apparatus and the control method thereof provided in the embodiments of the present invention determine whether an object is detected within a distance threshold by using an environment sensor, so as to stop at a location where no object is located within the distance threshold. Therefore, people do not need to worry about that the cleaning device stays at the position which is difficult to find, such as the bottom of furniture such as a sofa, a bed cabinet and the like, and can find the cleaning device more easily.
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a block diagram of components of a cleaning device according to one embodiment of the present invention;
FIG. 2 is a flow chart illustrating a control method according to an embodiment of the present invention;
fig. 3A to 3C are traveling examples of the cleaning device.
Description of reference numerals:
100. 300, and (2) 300: a cleaning device;
110: an environmental sensor;
130: a moving module;
150: a processing unit;
s210 to S250: a step of;
310: a wardrobe;
350: a charging seat.
Detailed Description
The portable cleaning devices (e.g., floor sweeping robots, floor mopping robots, automatic vacuum cleaners, etc.) in the market are mainly classified into two specifications, i.e., a return charging function and a non-return charging function. For a cleaning device without a return charging function, once the cleaning work is finished, it is possible to stay in an area that is difficult for a person to find (for example, under furniture such as a sofa, a bed cabinet, etc.). For the cleaning device with the return charging function, the problem that the charging seat cannot be found or the device fails can also cause the cleaning device to stay in the area difficult to find. Since the aforementioned areas are typically where objects or obstacles (e.g., sofas, bed cabinets, etc.) are present within a certain range (e.g., 10, 15 centimeters, etc.), embodiments of the present invention move the cleaning device to a location where there are no objects within a distance threshold (e.g., 8, 10, 13 centimeters, etc.) if a number of triggering events (e.g., initiating a return charge mode, machine malfunction, etc.) are triggered. Therefore, people can find the cleaning device at places where objects and the like are easy to find around. The following embodiments are provided to satisfy the spirit of the present invention, and the present invention can be appropriately modified according to the requirements of the users, and is not limited to the following description.
FIG. 1 is a block diagram of components of a cleaning device according to an embodiment of the present invention. Referring to fig. 1, the cleaning apparatus 100 includes an environmental sensor 110, a moving module 130, and a processing unit 150. The cleaning device 100 may be a floor sweeping robot, a floor mopping robot, an automatic vacuum cleaner, or other mobile electronic devices, and the invention is not limited to the application thereof.
The environment sensor 110 may be an image sensor, an infrared sensor, a laser sensor, an ultrasonic sensor, an electromagnetic wave sensor, or the like, which detects an external object or obstacle (e.g., furniture, a human being, an animal, a wall, or the like) through one or more sensing technologies. For example, an image sensor may acquire an image and analyze the image by the processing unit 150 to determine if an object is present within 15 centimeters of the cleaning device 100 and within a field of view of such image sensor (e.g., 120 degrees, 80 degrees, etc.). In another example, the infrared sensor is disposed on the surface of the cleaning device 100 to detect whether an object is present within 12 cm of the detection direction (e.g., within 80-100 degrees from the ground on the ground plane) relative to the ground.
It should be noted that, according to different design requirements, one may dispose the environmental sensors 110 at various positions on the exterior or interior of the cleaning device 100 (for example, on a surface facing the traveling direction of the cleaning device 100, an upper surface on a horizontal plane and perpendicular to the ground, etc.), and each environmental sensor 110 may be disposed in different sensing configurations (for example, a sensing distance, a sensing direction, a sensing range, etc.), which is not limited by the invention.
The moving module 130 is, for example, a member including, but not limited to, a motor, a tire, etc. capable of driving the cleaning device 100 to move, rotate, etc.
The Processing Unit 150 may be a chipset, a microprocessor or a Microcontroller (MCU) having a Central Processing Unit (CPU) with an operation function. In the embodiment of the present invention, the processing unit 150 controls all operations of the cleaning device 100.
It should be noted that, according to different design requirements, the cleaning device 100 may also be configured with a dust collector, a brush, a glue brush, etc. for cleaning under the control of the processing unit 150, and the invention is not limited thereto.
In order to facilitate understanding of the operation flow of the embodiment of the present invention, the control method of the cleaning device 100 of the present invention will be described in detail below with reference to the embodiment. FIG. 2 is a flow chart illustrating a control method according to an embodiment of the invention. Referring to fig. 2, the method of the present embodiment is applied to the cleaning apparatus 100 of fig. 1. Hereinafter, the control method according to the embodiment of the invention will be described with reference to the components of the cleaning apparatus 100. The various processes of the method may be adapted according to the implementation, and are not limited thereto.
In step S210, the processing unit 150 detects a trigger event while the cleaning device 100 is in the moving mode. In this embodiment, the triggering event includes one or a combination of receiving a triggering signal, detecting an error occurrence, a power anomaly, and entering a return mode.
Specifically, the moving mode is a mode in which the moving module 130 is driving the cleaning apparatus 100 to move, including an autonomous moving mode, a return charging mode, and the like, for example. And the trigger signal may be generated by a human or automatic activation. For example, the manual activation may be the cleaning device 100 receiving a control signal from a user via a remote control. Auto-start may be an auto-start triggering event in the event that the processing unit 150 is in a predetermined time (e.g., 10 pm, 12 pm, etc.), state (e.g., cleaning job is complete, has not traveled to a charging dock within a predetermined time range (e.g., 15, 30 minutes) or has entered a predetermined time (e.g., 1, 3 minutes, etc.) before entering standby mode, etc.), etc. The charging stand is a device that can provide power to the cleaning device 100.
In addition, the processing unit 150 may detect the error occurrence due to the motor failure, the fan immobility, and other problems, for example, the cleaning apparatus 100 is further provided with an alarm system, which can detect the abnormal state such as abnormal motor rotation speed and abnormal fan, and report the abnormal state back to the processing unit 150. The power abnormality may be a battery voltage in the cleaning device 100 being less than a voltage threshold (e.g., 15 volts, 5 volts, etc.), a percentage threshold (e.g., ten, fifteen percent, etc.) of a charge being less than a full charge, or a battery failure. In addition, the return mode is, for example, returning to the charging dock or any predetermined area or location, and the return location can be adjusted according to different design requirements.
It should be noted that, according to different design requirements, the trigger event may be an event including one or more of the aforementioned examples, or a trigger event set by a user applying the embodiments of the present invention, and the embodiments of the present invention are not limited to the trigger event.
In other words, the processing unit 150 can first determine whether the moving module 130 is driving the cleaning device 100 to move, and then continuously determine whether a trigger event is detected while the cleaning device 100 is still moving.
In step S230, when the processing unit 150 detects the trigger event, the cleaning device 100 is driven to the parking place by the moving module 130. Specifically, when the processing unit 150 detects one or a combination of the various trigger events described in step S210, the processing unit 150 controls the cleaning apparatus to continue moving and go to the parking place through the moving module 130 in response to the trigger event. The location of residence will be described in detail below.
In step S250, the processing unit 150 determines whether no object is detected at the parking place according to the distance threshold through the environment sensor 110, so as to determine to park at the parking place through the moving module 130. In the embodiment, during the process of the cleaning device 100 going to the parking place, if an object is detected at the detection place of the environmental sensor 110 according to the distance threshold, the processing unit 150 prohibits the entry to the detection place through the moving module 110.
In other words, during the traveling of the cleaning device 100, the processing unit 150 continuously or periodically detects the external object through the environment sensor 110 (e.g., every 3 seconds, 15 seconds, one minute, etc.), and determines whether the object is detectable within a predetermined distance threshold (e.g., 15, 20 centimeters, etc.). And, when the environmental sensor 110 does not detect the object within the distance threshold, the processing unit 150 controls the moving module 130 to stop moving. Here, the position where the cleaning apparatus 100 is currently located in the route to the parking place detected by the environmental sensor 110 is referred to as a detection place.
In one embodiment, the environmental sensor 110 determines whether an object is detected in at least one first detection direction and within a distance threshold. Specifically, the environmental sensor 110 may detect the outside environment with different detection directions, viewing angles, detection ranges, and the like according to different factors such as the type and the detection configuration of the environmental sensor 110. The first detection direction may be one or a combination of a direction parallel to the traveling direction of the cleaning device 100, a direction perpendicular to the ground on the ground plane, or a direction within a predetermined angle (e.g., 70 degrees, 80 degrees, or 90 degrees) with the ground (e.g., 70 degrees to 100 degrees, or 60 degrees to 130 degrees). In some examples, the processing unit 150 may further determine whether a specific object (e.g., a sofa, a tv cabinet, a wall, etc.) appears in the image frame obtained by the image sensor, and determine a relative distance between the object in the image frame and the cleaning device 100 according to the depth information to determine whether the relative distance is within a distance threshold, so as to determine whether the object is detected.
In another embodiment, the first detection direction includes a second detection direction other than the travel direction of the cleaning device 100. For example, the direction perpendicular to the ground on the ground plane, and the direction forming a predetermined angle (for example, 60 degrees, 85 degrees, or 90 degrees) with the ground plane, and the direction forming a predetermined angle range (60-90 degrees, or 70-120 degrees, etc.) with the ground plane. If the environmental sensor 110 detects an object at the detection location according to the distance threshold and the second detection direction, the processing unit 150 prohibits the object from entering the detection location through the moving module 130. Thus, embodiments of the present invention can prevent the cleaning device 100 from entering under low furniture such as sofas, bed cabinets, etc.
It should be noted that, when the trigger event is detected, the processing unit 150 directly determines whether an object is detected through the environment sensor 110. If the environmental sensor 110 detects an object, the processing unit 150 immediately controls the moving module 130 to leave the current position and thereafter prohibits the cleaning device 100 from entering the area again. On the other hand, if the environmental sensor 110 does not detect the object, the processing unit 150 controls the cleaning device 100 to prohibit access to an area where the environmental sensor can detect the object within the distance threshold during the subsequent travel.
In addition, the processing unit 150 prohibits the detection location from being accessed by the moving module 130, for example, by rotating the moving module 130 by a predetermined rotation angle (e.g., 180 degrees, 60 degrees, 90 degrees, etc.) or randomly rotating and then continuing to travel forward, or by directly continuing to travel in a predetermined forward direction of the previous travel direction (e.g., 180 degrees, 720 degrees, 90 degrees, etc. different from the previous travel direction), as long as the cleaning device 100 can not detect any movement pattern of the object within the distance threshold, which is not limited in the embodiments of the present invention. Furthermore, depending on different design requirements, the processing unit 150 may control the moving module 130 to stop moving when the predetermined time (e.g., after 3 minutes, 15 minutes, 20 minutes, etc.), the battery voltage or the battery capacity are less than a predetermined threshold (e.g., the voltage is less than 12 volts, the battery capacity is less than 5 percent of the full battery capacity, etc.), or the walking distance (e.g., 10 meters, 15 meters, etc.) determines that no object is detected, and the current position is called a parking spot. Alternatively, in some examples, the charging dock may also be set as a residence.
Fig. 3A to 3C are traveling examples of the cleaning device. Referring to fig. 3A, the cleaning device 300, the wardrobe 310, and the charging base 350 shown in fig. 3A are for illustration purposes only and are not intended to limit the embodiments of the present invention. The cleaning device 300 may have the same or similar components and modules as the cleaning device 100 of fig. 1. The cleaning device 300 presents the wardrobe 310 in the travel path back to the charging dock 350. Referring to fig. 3B, the cleaning device 300 has received a control signal transmitted by a user through a remote controller, and the cleaning device 300 detects that an object exists at a distance D (e.g., 10 cm) from the infrared sensor disposed on the upper surface of the cleaning device, and the distance D is smaller than the distance threshold value by 15 cm. Referring to fig. 3C, the cleaning device 300 is rotated 90 degrees to the right and leaves the wardrobe 310.
To help understand the detailed flow of the present embodiment, a plurality of embodiments are described below for different situations faced by the cleaning device 100. It should be noted that the environments, parameters, or settings used in the following embodiments are only used to illustrate application examples, but not to limit the embodiments of the present invention.
In one scenario, the cleaning apparatus 100 receives a control signal transmitted by a user via a remote controller, and the processing unit 150 activates an infrared sensor for detecting an object above the floor according to the control signal. The processing unit 150 then controls the cleaning device 100 to inhibit access under a low (e.g., 13 cm or less from the floor) wardrobe.
In another scenario, when the cleaning device 100 detects an error, the cleaning device 100 directly moves to the area in front of the charging stand and stops moving.
In another scenario, before the cleaning device 100 finishes the cleaning operation, if the charging seat is not detected during the cleaning process, the cleaning device 100 will not start the return mode, but enter the standby mode. 3 minutes before entering the standby mode, the cleaning device 100 automatically starts an image sensor, wherein the image sensor can acquire images within a range of 80 to 150 degrees from the ground. Within 3 minutes before entering the standby mode, the cleaning device 100 determines whether an object exists within 12 centimeters according to the image acquired by the image sensor, so as to avoid entering an area where the object exists within the visible range of the image sensor.
In another scenario, during the cleaning operation, the cleaning device 100 enters a return charging mode to find the charging stand due to the battery voltage being too low (e.g., less than 15 volts). If the cleaning apparatus 100 does not detect the charging dock during the cleaning mode of operation, the cleaning apparatus 100 may be allowed to enter the return mode for only 1 minute. Once the cleaning device 100 enters the return mode, the infrared sensor is automatically started to detect an object in an included angle range of 80-100 degrees between the ground and the ground on the ground level, and the object is prohibited from entering the area where the object exists again after being detected within 12 centimeters.
In yet another scenario, in the return to charging mode, the cleaning device 100 immediately determines whether it is located under a low furniture cabinet (e.g., less than 8-13 cm from the floor). Once the cleaning device 100 leaves or is not in the area where the furniture cabinet is located, the ultrasonic sensor is automatically activated to detect whether an object is present within 14 cm of the ground at an angle of 80 degrees to the ground, and accordingly, to prohibit access to the area where the object is present.
In another scenario, a fan motor of the cleaning device 100 fails, which may enter a return charge mode and automatically turn on the laser sensor to detect the presence of an object within 10 centimeters of 85 degrees from the ground level to inhibit the cleaning device 100 from entering under a low (e.g., under 10 centimeters from the ground) furniture cabinet during movement. In addition, when the cleaning device 100 moves to the front of the charging seat (e.g., 15 cm away), it stops moving and enters the standby mode.
In summary, the cleaning apparatus and the control method thereof according to the embodiments of the invention automatically go to the parking place when the cleaning apparatus detects a trigger event, such as a remote control start of a user, an error occurrence, an end of a cleaning operation mode, and the like. In addition, when the cleaning device is detected to be in the distance range during the process of traveling to the residence place, the cleaning device is prohibited from entering the area where the object is located. If the environmental sensor is disposed on the upper surface of the cleaning device, the cleaning device can be prevented from moving under furniture such as a sofa and a wardrobe. Therefore, the cleaning device provided by the embodiment of the invention can be suitable for two specifications of a return charging function and a non-return charging function, and a user can find the cleaning device more easily.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A control method of a cleaning apparatus, characterized by comprising:
detecting a trigger event while the cleaning device is in a mobile mode;
when the trigger event is detected, go to a resident place; and
and judging whether the object can not be detected on the residence place according to the distance threshold value, and stopping moving under the condition that the object is not detected in the preset time and the preset walking distance so as to determine to stay at the residence place.
2. The control method of claim 1, wherein the step of determining whether the object is not detected at the dwell location based on the distance threshold comprises:
and if the object is detected on the detection place according to the distance threshold value, the object is prohibited from entering the detection place.
3. The control method of claim 1, wherein the cleaning device includes an environmental sensor, and the step of determining whether the object is not detected at the dwell location based on the distance threshold includes:
and judging whether the object is detected in at least one first detection direction within the distance threshold value through the environment sensor.
4. The control method of claim 3, wherein the first detection direction comprises a second detection direction other than a travel direction of the cleaning device, and the step of determining whether the object is not detected at the dwell location based on the distance threshold comprises:
and if the object is detected at the detection place according to the distance threshold value and the second detection direction, the object is prohibited from entering the detection place.
5. The control method of claim 1, wherein the triggering event comprises one or a combination of receiving a triggering signal, detecting an error occurrence, a power anomaly, and entering a return mode.
6. A cleaning device, comprising:
an environmental sensor to detect an object;
the moving module is used for driving the cleaning device to move; and
the processing unit is coupled to the environment sensor and the moving module, detects a trigger event when the cleaning device is in a moving mode, drives the cleaning device to go to a residence place through the moving module when the processing unit detects the trigger event, judges whether an object is not detected on the residence place according to a distance threshold value through the environment sensor, and stops moving through the moving module under the condition that the object is not detected according to preset time and preset walking distance so as to determine that the cleaning device stays at the residence place through the moving module.
7. The cleaning apparatus as recited in claim 6, wherein said processing unit inhibits access to said detection location by said movement module if said object is detected at said environmental sensor detection location based on said distance threshold.
8. The cleaning apparatus defined in claim 6, wherein the environmental sensor determines whether the object is detected in at least a first detection direction and within the distance threshold.
9. The cleaning apparatus as recited in claim 8, wherein the first detection direction comprises a second detection direction other than a direction of travel of the cleaning apparatus, and the processing unit inhibits access to a detection location by the movement module if the environmental sensor detects the object at the detection location based on the distance threshold and the second detection direction.
10. The cleaning apparatus as claimed in claim 6, wherein the triggering event comprises one or a combination of receiving a triggering signal, detecting an error occurrence, a power source abnormality, and entering a return mode.
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| CN201510451288.9A CN106406300B (en) | 2015-07-28 | 2015-07-28 | Cleaning device and control method thereof |
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| CN201510451288.9A CN106406300B (en) | 2015-07-28 | 2015-07-28 | Cleaning device and control method thereof |
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| JP6624139B2 (en) * | 2017-03-24 | 2019-12-25 | カシオ計算機株式会社 | Autonomous mobile device, autonomous mobile method and program |
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