CN101502406B - Floor processing system as well as rapid butt-joint method for floor treating device and charging stand - Google Patents
Floor processing system as well as rapid butt-joint method for floor treating device and charging stand Download PDFInfo
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- CN101502406B CN101502406B CN2009100251032A CN200910025103A CN101502406B CN 101502406 B CN101502406 B CN 101502406B CN 2009100251032 A CN2009100251032 A CN 2009100251032A CN 200910025103 A CN200910025103 A CN 200910025103A CN 101502406 B CN101502406 B CN 101502406B
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Abstract
The invention provides a ground processing system, comprising an automatic mobile ground processing device and a charging seat. The ground processing device sets a work mode and a charging mode, with repeatedly charged energy-supply unit and a control unit. When the electric quantity of the energy-supply unit is lower than the preset value, the ground processing device changes the work mode into the charging mode by the control unit. The charging seat is used for charging the energy-supply unit and comprises a signal transmission device, A rotation mechanism is set on the charging seat and the rotation mechanism drives a signal transmission device rotate relative to the charging seat basis for actively searching the position of the ground processing device. The butt-joint charging time of the ground processing device is reduced and the effective work time is prolonged and the work efficiency is increased.
Description
Technical field
The present invention relates to a kind of Ground Processing System; Specifically; But this Ground Processing System comprises from moving and the floor-treating device and the cradle of recharge, and described floor-treating device relates to a kind of such as automatic cleaner, wax-polishing machine, the mop floor domestic treating apparatus of machine etc. and so on automatically automatically further.
Background technology
Along with improving constantly of scientific and technological level, floor-treating device no longer rests on through artificially it being moved around along pending ground such as dust catcher, wax-polishing machine or the like and to realize the stage of different operating demand.Various intelligent sweeping robots, intelligent wax-polishing machine arise at the historic moment, and make a lot of housewives break away from heavy housework.
The Ground Processing System that occurs in the market comprises floor-treating device and cradle mostly.Floor-treating device comprises rechargeable supply unit and control module.Under the energy supply of supply unit, floor-treating device is done regularly on pending ground or is moved randomly, satisfies the real work needs with this, and this supply unit also little by little discharges electric energy in the floor treatment process.When the electric weight that monitors this supply unit when the built-in control module of ground treating apparatus was lower than preset value, this control module treating apparatus earthward sent work order, orders about this floor-treating device and changes the pattern of seeking cradle automatically over to.This cradle has the energy source that charge for the supply unit be built in floor-treating device once more.The charging electrode that is provided with through cradle docks the accurate of receiving electrode with floor-treating device, realizes that cradle gives this supply unit charging.In case charging finishes, next work order will carried out or wait for to this floor-treating device.
In prior art and product; Automatically the mobile robot can return the cradle charging automatically under the situation of electric weight deficiency; For example publication number is that the Chinese patent of CN1284177A has disclosed a kind of Ground Processing System; Its cardinal principle is: have the sender unit of an emission infrared target radiation on the cradle, this sender unit has that directionality is poor, first transmitter unit that forms remote angle pencil of ray and high directivity, form closely second transmitter unit of arrow beam of light.Automatically comprise a rechargeable battery on the mobile robot, a control module, the receiving system that is connected with control module, receiving system is used for receiving the infrared target radiation that sender unit is launched on the cradle.If the electric weight of rechargeable battery is lower than a lower limit; And when the mobile robot has got near field or orientation, far field automatically; Control module will be given instruction of robot; Order about it and drive towards through the guide of remote light beam and, and then, realize accurately docking with cradle again through the closely guiding of light beam near cradle.
Therefrom can find out; When battery electric quantity is lower than a lower limit; If the mobile robot is not in the near field or far-field range of cradle automatically, promptly receiver does not receive the infrared target radiation that the cradle emitter is launched, and sweeping robot just can not return cradle immediately; Must wait until after automatic mobile robot finds the infrared target radiation of cradle emitter emission and could return cradle, so just increase the time of charging and docking.In order to guarantee that automatic mobile robot can realize successfully docking with cradle; Certainly will to improve the lower limit of electric quantity of rechargeable battery; Seek the time that cradle possibly need to prolong automatic mobile robot, have to sacrifice the actual effectively working time of automatic mobile robot therefrom.
Summary of the invention
The objective of the invention is to solve the problems of the technologies described above; Through a whirligig is installed on cradle; Make that at least the first transmitter unit is rotatable in the sender unit; The realization cradle is initiatively sought automatic mobile robot's position, reduces the time that robot returns cradle, has improved the efficient of charging butt joint.
The object of the invention realizes through following technical scheme:
A kind of Ground Processing System comprises: the floor-treating device that moves automatically, and this floor-treating device is provided with mode of operation and charge mode, but has supply unit, control module and the signal receiving device of recharge on the described floor-treating device; Described control module comprises the monitoring side that links to each other with said supply unit, and the electric weight that monitors described supply unit when this monitoring side is during more than or equal to preset value, and said control module is controlled described floor-treating device and is in mode of operation; The electric weight that monitors described supply unit when this monitoring side is during less than preset value, and said control module is controlled described floor-treating device and is in charge mode; Cradle, this cradle are used for the supply unit charging to said floor-treating device, and said cradle is provided with sender unit, and this sender unit is used for transmitting to the signal receiving device of said floor-treating device; Said sender unit comprises the first signal transmitter unit and secondary signal transmitter unit; Said cradle comprises pedestal and at least one rotating mechanism, has at least first transmitter unit to link to each other with said rotating mechanism in the said sender unit, so that said first transmitter unit is realized with respect to said pedestal rotation.
Further, said first transmitter unit is the transmitter unit of the wide shape of emission, remote directionality infrared beam; Said second transmitter unit is the narrow shape of emission, the transmitter unit of directionality infrared beam closely.Said cradle also comprises first emitting module, and said first transmitter unit is arranged on said first emitting module, and said second transmitter unit is arranged on the pedestal of cradle.
Again further, said pedestal is provided with a rotating shaft, and said first emitting module is set on the said rotating shaft, so that said first emitting module can rotate with respect to the cradle pedestal.
Further; Said rotating mechanism is made up of with the chute that is arranged on the said pedestal the rotor plate that can be rotatably set in first emitting module; Off-centre is provided with a rotor plate salient point on the said rotor plate, and this rotor plate salient point is arranged in the chute and can in chute, slides.The said first emitting module inside also is provided with a motor, and the motor shaft of this motor and described rotor plate are affixed.
Again further, said floor-treating device is provided with omnidirectional's receiver and directional receiver simultaneously, and said omnidirectional receiver is installed in the top ends of described floor-treating device, is used for 360 ° of directions and receives the signal that described first transmitter unit sends; Described directional receiver is used for directionality ground and receives the signal that described second transmitter unit sends.
The present invention has also disclosed the rapid abutting joint method of a kind of floor-treating device and cradle, comprises the steps:
(1) first transmitter unit that drives at least in the sender unit of said cradle of the rotating mechanism of said cradle rotates with respect to the cradle pedestal;
(2) when the target emanation of first transmitter unit of said cradle or the emission of second transmitter unit is received by the signal receiving device of said floor-treating device, the control module of said floor-treating device sends signal and stops the rotation by the sender unit of cradle;
(3) said floor-treating device guides through the signal that signal receiving device receives the sender unit emission of cradle; Its direction towards cradle is advanced, and the attitude through the adjustment floor-treating device makes the head of this floor-treating device aim at cradle again;
(4) floor-treating device advances towards cradle, and detects the charging electrode of cradle and floor-treating device whether receiving electrode is docked, dock successfully after, said floor-treating device stops, and by said cradle said floor-treating device is charged.
In (4) above-mentioned step; If said floor-treating device contacts with this cradle; And the charging electrode of said cradle and floor-treating device receiving electrode is not docked success; Then described floor-treating device is drawn back and is stopped behind the segment distance, gets into described (3) step again.
Further, whether the charging electrode that the voltage on the receiving electrode or electric current are judged this cradle through detecting this floor-treating device and this floor-treating device docks success to receiving electrode.
Beneficial effect of the present invention is mainly reflected in: function 1) easily achieves a butt joint: at least the first transmitter unit is rotatable on the sender unit of cradle; Initiatively seek the position of floor-treating device; Make floor-treating device to get into the cradle zone that transmits in the very first time; The effect of the directional receiver that is provided with through the floor-treating device front end again, the adjustment floor-treating device to cradle near athletic posture, function easily achieves a butt joint; 2) effective time prolongs: because cradle can initiatively be sought floor-treating device; Realize that floor-treating device accurately and apace docks with cradle; Therefore the preset value in the time of can suitably reducing battery charge; The actual effectively working time of floor-treating device prolongs thus, has improved disposable ground treatment effeciency.
Description of drawings
Below in conjunction with accompanying drawing technical scheme of the present invention is described further:
Fig. 1: the front view of the cradle of the preferred embodiments of the present invention.
Fig. 2: the vertical view of the cradle among Fig. 1.
Fig. 3: the left view of the cradle among Fig. 1.
Fig. 4: among Fig. 1 along the cutaway view of A-A direction.
Fig. 5: floor-treating device is sought the sketch map of cradle automatically.
Fig. 6: the structural representation of the rotor plate among Fig. 4.
Fig. 7: the structural representation of first emitting module of the cradle among Fig. 1.
Fig. 8: the structural representation of the charger pedestal of the cradle among Fig. 1.
Fig. 9: the sketch map of the application of the cradle of the preferred embodiment of the present invention.
Figure 10: the sketch map of the application of the cradle of prior art.
Wherein: 10, floor-treating device; 102, housing; 103, driving wheel; 104, to receiving electrode; 105, omnidirectional's receiver; 106, directional receiver;
20, cradle; 201, charging electrode; 203, cradle bottom surface; 207, sender unit; 208, first transmitter unit; 209, second transmitter unit; 210, first emitting module; 211, motor; 212, rotor plate; 213, rotating shaft; 214, rotor plate salient point; 215, chute; 216, charger pedestal; 217, rotor plate motor axis hole.
The specific embodiment
The present invention has disclosed a kind of Ground Processing System, and is as shown in Figure 5, comprises floor-treating device 10 and cradle 20.The same with prior art, but comprising the inside of housing 102, housing 102, floor-treating device 10 is provided with the supply unit (not shown) and the control module (not shown) of recharge.Floor-treating device 10 also comprises traveling mechanism, and two driving wheels 103 lay respectively at the both sides of floor-treating device 10 and are positioned at the below of floor-treating device 10, and each driving wheel 103 is equipped with an electro-motor (not shown) respectively and drives.Electro-motor is arranged on housing 102 inside, is driven and is achieved by supply unit supplying energy, control module control.Floor-treating device 10 is provided with mode of operation and charge mode.When the electric weight of described supply unit during more than or equal to preset value, described control module is controlled described floor-treating device and is in mode of operation.Through the work order of control module, floor-treating device 10 carries out work on pending ground, being in operational mode state under the rotation of two driving wheels 103, and supply unit is consumed energy gradually in the process of work also.In case when the energy of supply unit is lower than preset value, place the control module in the housing 102 will send instruction, floor-treating device 10 transfers to get into the charge mode of seeking cradle 20 automatically by current mode of operation.Floor-treating device 10 also comprises two to receiving electrode 104, and this is positioned at the head of floor-treating device 10 to receiving electrode 104.Cradle 20 is used for recharging to supply unit, which is provided with two charging electrodes 201, and the symmetry axis of the center line of charging electrode 201 and cradle 20 is positioned on the same vertical plane.When ground treating apparatus 10 searches out cradle 20, receiving electrode 104 is closely contacted with charging electrode 201, thus the effect that realization recharges to supply unit.When the electric weight of supply unit is charged to a certain degree, will stops current charge mode, then get into next work order.
To shown in Figure 3, cradle 20 comprises a pedestal 216 and first emitting module 210 like Fig. 1, and described charging electrode 201 promptly is arranged on this cradle pedestal 216, and the center line of charging electrode 201 and the symmetry axis of cradle are positioned on the same vertical plane.The same with existing cradle among Figure 10 10, said cradle pedestal 216 also comprises the cradle bottom surface 203 and second transmitter unit 209 that are used for cradle 20 steadily is placed on ground.First emitting module 210 comprises that first transmitter unit, 208, the first transmitter units 208 and second transmitter unit 209 close and is called sender unit 207.The center line of first transmitter unit 208 and second transmitter unit are sent out 209 center line and are positioned on the same vertical plane; And the center line of the center line of first transmitter unit 208 and second transmitter unit 209 all is positioned on the same vertical plane with the symmetry axis of cradle 20, that is: the charging electrode 201 of the center line of sender unit 207 and cradle 20 center line be positioned on the same vertical plane.First transmitter unit 208 comprises an infrared transmitting tube; Through adopting the method that strengthens current strength and track structure design; Adjust the light beam of infrared emission tube with this; Make the infrared emission tube emission be spindle shape light beam far away and wide, angular range is at 30 °～40 °, and beam length is greater than 3 meters.Second transmitter unit 209 comprises an infrared emission tube; Weaken the method for current strength and track structure design through employing; Adjust the light beam of infrared emission tube with this; Make the infrared emission tube emission be near and narrow spindle shape light beam, angular range is roughly at 10 °, and beam length is less than 2 meters.Be the energy of enhancing signal, be convenient to the stack that partially overlaps each other of closely light beam that remote light beam that floor-treating device 10 searches out the emission of cradle 20, the first transmitter units 208 fast and second transmitter unit 209 launch.
As shown in Figure 5, the floor-treating device 10 of present embodiment is provided with signal receiving device, comprises that being arranged on floor-treating device 10 tops is provided with omnidirectional's receiver 105 and the directional receiver 106 that is arranged on the front end of floor-treating device 10.Said omnidirectional receiver 105 is used for 360 ° of directions and receives the signal that first transmitter unit 208 sends.This omnidirectional's receiver 105 comprises an infrared receiver component and lens, and in the present embodiment, infrared receiver component is an infrared receiving diode.Lens with the upper end of infrared receiver component and around be closed ground envelope and enclose, through this simple, cheap method, realized the function of omnidirectional's reception infrared signal.For ease of receiving the infrared emission signal better, directional receiver 106 is arranged on the front end of floor-treating device 10, and this directional receiver 106 is used for directionality ground and receives the signal that described sender unit 207 sends.For guaranteeing that better floor-treating device docks effect with cradle, two center lines to receiving electrode 104 on the center line of this directional receiver 106 and the floor-treating device 1 are positioned on the same vertical plane.In the present embodiment, this directional receiver 106 is an infrared optical sensor.
In the present invention, said cradle 10 is provided with a rotating mechanism, described rotating mechanism drive at least in the said sender unit 207 first transmitter unit 208 with respect to cradle pedestal 216 rotation.In this preferred embodiment, as shown in Figure 4, said first transmitter unit 208 fixedly installs on first emitting module 210, and said second transmitter unit 209 is fixedly installed on the cradle pedestal 216.To shown in Figure 8, said cradle pedestal 216 is provided with a rotating shaft 213 and an adjacent with it chute 215 in conjunction with Fig. 6, and said rotating shaft 213 is arranged on the extended line of axis of chute 215.Said first emitting module 210 is set on the said rotating shaft 213, and said rotating mechanism drives first emitting module 210 with respect to said cradle pedestal 216 rotations, promptly drives first transmitter unit 208 with respect to 216 rotations of cradle pedestal.
Specifically, said rotating mechanism comprises the rotor plate 212 that can be rotatably set in first emitting module, 210 inside and is arranged on the chute 215 on the cradle pedestal.The inside of said first emitting module 210 is installed with a motor 211, and the motor shaft of said motor 211 and rotor plate 212 are affixed, and promptly motor 211 can drive rotor plate 212 rotations.Specifically with reference to Fig. 6; Said rotor plate 212 is a plectane; Its circle centre position is provided with rotor plate motor axis hole 217, is provided with a rotor plate salient point 214 in its place's of keeping to the side off-centre, and said rotor plate salient point 214 is arranged in the chute 215 and can in chute 215, slides.
What the rotating mechanism of this preferred embodiment adopted is typical toggle.When motor 211 rotated, motor shaft drove rotor plate 212 rotations, promptly drives rotor plate salient point 214 and also will rotate simultaneously.And because rotor plate salient point 214 is arranged in the chute 215 simultaneously, therefore defines and drive the motion of rotor plate salient point 214 perpendicular to chute 215 directions.Because chute 215 is fixed itself, therefore can drive rotor plate salient point 214 and in chute 215, reciprocatingly slide, and then drive first emitting module 210 and in an angular extensions alpha, swing, as shown in Figure 9.In contrast to the prior art of Figure 10; The infrared beam scope compared to prior art that first transmitter unit 208 on meeting discovery first emitting module 210 sends is big about 5 times; Therefore when after the energy of the supply unit (not shown) of ground treating apparatus 10 is lower than preset value, changing charge mode over to automatically; Can be recharged seat 20 more quickly and search out, and then shorten the time of butt joint charging.
The rotating mechanism that this preferred embodiment is lifted is merely the embodiment of an optimum, and the present invention does not get rid of the rotating mechanism of other similar functions.
In a preferred embodiment of the invention; Also be provided with an omnidirectional signal emitter (not shown) that places its top on the described floor-treating device 10; This omnidirectional signal emitter is controlled by the control module on the floor-treating device 10, is used for 360 ° of direction emission one remote beam signals.A corresponding omnidirectional or the phasing signal receiver (not shown) of being provided with is used to receive the signal that the omnidirectional signal emitter on the floor-treating device 10 is launched on the described cradle 20.Further, also be provided with a control module on the said cradle 20, the input of this control module links to each other with omnidirectional or phasing signal receiver on the cradle 20, and output links to each other with first emitting module 210.When the target emanation of first transmitter unit, 208 emissions is received by the signal receiving device on the floor-treating device 10; Control module control omnidirectional signal emitter on the said floor-treating device 10 sends omnidirectional's beam signal to cradle 20; After signal receiving device on the cradle 20 receives this signal; Control module on it just sends an instruction to first emitting module 210, controls first emitting module 210 and stops swinging.
Energy for enhancing signal; Be convenient to floor-treating device 10 and search out cradle 20 apace; When ground treating apparatus 10 and cradle 20 were in closely (＜2 meters) between the two, the information that floor-treating device 10 is collected can be the closely light beam of remote light beam and 209 emissions of second transmitter unit of 208 emissions of first transmitter unit transmitting of partially overlapping each other and superpose.
When described floor-treating device 10 changed charge mode over to, floor-treating device 10 comprised the steps: with the docking calculation of cradle 20
(1) first transmitter unit 208 of said cradle rotates with respect to cradle pedestal 203 under the effect of rotating mechanism;
When the target emanation of (2) launching when first transmitter unit 208 of said cradle is received by the signal receiving device of said floor-treating device; The control module of said floor-treating device 10 sends signal and stops the rotation by first transmitter unit 208 of cradle 20, that is: first emitting module 210 is static;
(3) said floor-treating device 10 guides through the signal that signal receiving device receives the sender unit emission of cradle 20; Its direction towards cradle 20 is advanced, and the attitude through adjustment floor-treating device 10 makes the head of this floor-treating device 10 aim at cradle 20 again;
(4) floor-treating device 10 advances towards cradle 20; And the detection charging electrode 201 of cradle 20 and floor-treating device 10 whether receiving electrode 104 is docked; After docking successfully, said floor-treating device 10 stops, by 20 pairs of said floor-treating device 10 chargings of said cradle.
In (4) above-mentioned step; If said floor-treating device 10 contacts with this cradle 20; Not and the charging electrode 201 of said cradle 20 and floor-treating device 10 receiving electrode 104 is not docked successfully; Then described floor-treating device is drawn back and is stopped behind the segment distance, gets into described (3) step again.
Further, whether the charging electrode 201 of cradle 20 docks success with floor-treating device 10 to receiving electrode 104, is to judge through the curtage on the receiving electrode 104 that detects floor-treating device 10.
According to the different working needs; The designer can be equiped with the element of difference in functionality or the combination of multiple function in the inside of floor-treating device mechanism unit; Such as: ground cleaning function, floor wax function, the ground function etc. that mops floor; Arbitrary combination with suchlike individual feature or a plurality of functions inserts in the floor-treating device.
The present invention also has multiple implementation.For example, second transmitter unit also is located on first emitting module, is made win transmitter unit 208 and second transmitter unit 209 simultaneously with respect to 216 rotations of cradle pedestal through rotating mechanism; Second emitting module perhaps is set on cradle 20; Second transmitter unit is positioned on second emitting module; Make win emitting module and second emitting module realize rotation synchronously through same rotating mechanism, that is: make first transmitter unit 208 and second transmitter unit 209 realize rotating with respect to cradle pedestal 203 simultaneously with respect to cradle pedestal 216; Second emitting module perhaps is set on cradle 20; Second transmitter unit 209 is positioned on second emitting module; Second emitting module is realized realizing with respect to the 216 synchronous or asynchronous rotations of cradle pedestal through rotating mechanism separately respectively with this first transmitter unit 208 and second transmitter unit 209 with respect to 216 rotations of cradle pedestal through the another one rotating mechanism.And the rotation of the first above-mentioned transmitter unit 208 and second transmitter unit 209 all is in order to realize docking of floor-treating device 10 and cradle 20 quickly.All employings are equal to replacement or equivalent transformation and all technical schemes of forming all drop within the scope of requirement protection of the present invention.
Claims (10)
1. Ground Processing System comprises:
Automatically the floor-treating device that moves, this floor-treating device is provided with mode of operation and charge mode, but has supply unit, control module and the signal receiving device of recharge on the described floor-treating device; Described control module comprises the monitoring side that links to each other with said supply unit, and the electric weight that monitors described supply unit when this monitoring side is during more than or equal to preset value, and said control module is controlled described floor-treating device and is in mode of operation; The electric weight that monitors described supply unit when this monitoring side is during less than preset value, and said control module is controlled described floor-treating device and is in charge mode;
Cradle, this cradle are used for the supply unit charging to said floor-treating device, and said cradle is provided with sender unit, and this sender unit is used for transmitting to the signal receiving device of said floor-treating device; Said sender unit comprises the first signal transmitter unit and secondary signal transmitter unit;
It is characterized in that: said cradle comprises pedestal and at least one rotating mechanism, has at least first transmitter unit to link to each other with said rotating mechanism in the said sender unit, so that said first transmitter unit is realized with respect to said pedestal rotation.
2. Ground Processing System according to claim 1 is characterized in that: said first transmitter unit is the transmitter unit of the wide shape of emission, remote directionality infrared beam; Said second transmitter unit is the narrow shape of emission, the transmitter unit of directionality infrared beam closely.
3. Ground Processing System according to claim 2 is characterized in that: said cradle also comprises first emitting module, and said first transmitter unit is arranged on said first emitting module, and said second transmitter unit is arranged on the pedestal of cradle.
4. Ground Processing System according to claim 3 is characterized in that: said pedestal is provided with a rotating shaft, and said first emitting module is set on the said rotating shaft.
5. Ground Processing System according to claim 3; It is characterized in that: said rotating mechanism is made up of with the chute that is arranged on the said pedestal the rotor plate that can be rotatably set in first emitting module; Off-centre is provided with a rotor plate salient point on the said rotor plate, and this rotor plate salient point is arranged in the chute and can in chute, slides.
6. Ground Processing System according to claim 5 is characterized in that: the said first emitting module inside also is provided with a motor, and the motor shaft of this motor and described rotor plate are affixed.
7. Ground Processing System according to claim 6; It is characterized in that: the signal receiving device of said floor-treating device comprises omnidirectional's receiver and directional receiver; Said omnidirectional receiver is installed in the top ends of described floor-treating device, is used for 360 ° of directions and receives the signal that described first transmitter unit sends; Described directional receiver is used for directionality ground and receives the signal that described second transmitter unit sends.
8. the rapid abutting joint method of floor-treating device and cradle, it is characterized in that: it comprises the steps:
(1) first transmitter unit that drives at least in the sender unit of said cradle of the rotating mechanism of said cradle rotates with respect to the cradle pedestal;
(2) when the target emanation of first transmitter unit of said cradle or the emission of second transmitter unit is received by the signal receiving device of said floor-treating device, the control module of said floor-treating device sends signal and stops the rotation by the sender unit of cradle;
(3) said floor-treating device guides through the signal that signal receiving device receives the sender unit emission of cradle; Its direction towards cradle is advanced, and the attitude through the adjustment floor-treating device makes the head of this floor-treating device aim at cradle again;
(4) floor-treating device advances towards cradle, and detects the charging electrode of cradle and floor-treating device whether receiving electrode is docked, dock successfully after, said floor-treating device stops, and by said cradle said floor-treating device is charged.
9. the rapid abutting joint method of floor-treating device according to claim 8 and cradle; It is characterized in that: in (4) above-mentioned step; If said floor-treating device contacts with this cradle; And the charging electrode of said cradle and floor-treating device receiving electrode is not docked success, then described floor-treating device is drawn back and is stopped behind the segment distance, gets into described (3) step again.
10. the rapid abutting joint method of floor-treating device according to claim 8 and cradle is characterized in that: whether the charging electrode that the voltage on the receiving electrode or electric current are judged this cradle through detecting this floor-treating device docks success with this floor-treating device to receiving electrode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100251032A CN101502406B (en) | 2009-02-20 | 2009-02-20 | Floor processing system as well as rapid butt-joint method for floor treating device and charging stand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100251032A CN101502406B (en) | 2009-02-20 | 2009-02-20 | Floor processing system as well as rapid butt-joint method for floor treating device and charging stand |
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| Publication Number | Publication Date |
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| CN101502406A CN101502406A (en) | 2009-08-12 |
| CN101502406B true CN101502406B (en) | 2012-05-30 |
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| CN102133078A (en) * | 2010-01-22 | 2011-07-27 | 泰怡凯电器(苏州)有限公司 | Ground processing system and method for guiding ground processing device thereof |
| TWI385493B (en) * | 2010-03-04 | 2013-02-11 | Univ Hungkuang | Automatic charging of hamsters |
| JP5543041B1 (en) * | 2014-01-31 | 2014-07-09 | 株式会社コスモライフ | Water server unit |
| CN105958578B (en) * | 2016-05-26 | 2019-01-04 | 台州市霸业智能科技有限公司 | The cradle and automatic charging system and method for a kind of robot |
| CN107256023B (en) * | 2017-07-28 | 2023-09-12 | 小狗电器互联网科技（北京）股份有限公司 | Charging method of sweeping robot |
| CN110893085B (en) * | 2018-09-11 | 2021-12-31 | 原相科技股份有限公司 | Cleaning robot and charging path determining method thereof |
| CN113703449A (en) * | 2021-08-20 | 2021-11-26 | 深圳市海拓天城科技有限公司 | Sweeper circuit with control system |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address before: 215128 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: TEK ELECTRICAL (SUZHOU) Co.,Ltd. |