CN107885210A - Guiding type cleaning device and guiding type cleaning set - Google Patents
Guiding type cleaning device and guiding type cleaning set Download PDFInfo
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- CN107885210A CN107885210A CN201711121202.1A CN201711121202A CN107885210A CN 107885210 A CN107885210 A CN 107885210A CN 201711121202 A CN201711121202 A CN 201711121202A CN 107885210 A CN107885210 A CN 107885210A
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- type cleaning
- guiding type
- cleaning device
- cradle
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- 238000004140 cleaning Methods 0.000 title claims abstract description 91
- 230000005540 biological transmission Effects 0.000 claims description 103
- 230000005611 electricity Effects 0.000 claims description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 11
- 239000000428 dust Substances 0.000 description 7
- 210000004209 hair Anatomy 0.000 description 7
- 230000000149 penetrating effect Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 208000002193 Pain Diseases 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000036407 pain Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
Abstract
The invention relates to a guide type cleaning device and a guide type cleaning group, wherein the guide type cleaning group comprises a signal transmitter and a guide type cleaning device, the signal transmitter can transmit at least one first transmitting signal, the guide type cleaning device comprises a machine body, a plurality of first signal receivers, at least one moving assembly, at least one driving assembly and a control unit, each first signal receiver receives the first transmitting signal in a signal receiving range to generate a first receiving signal, each moving assembly is connected to the corresponding driving assembly, the control unit is connected with the first signal receiver and the driving assembly to receive and respectively generate corresponding first control signals according to the first receiving signal to drive the corresponding driving assembly, and therefore the moving assembly drives the machine body to move towards the direction of the first transmitting signal.
Description
It is on 01 28th, 2015 the applying date that the application, which is, Application No. CN201510044363.X application for a patent for invention
Divisional application, former parent application full content is attached in the application by quoting at this.
Technical field
The present invention relates to a kind of cleaning device, and mobile or recurrence cradle is guided by transmission signal especially with regard to one kind
Guiding type cleaning device.
Background technology
Disclosed in TaiWan, China patent with the cleaning device (date of application swept the floor with dust-absorbing function：2009-08-
25, application number：098128483), for the cleaning device swept the floor with dust-absorbing function, its set in body brush module with
Dust extractor, main brush and time brush by power packages driving are pivoted with brush module, some of main brush is by brush
The opening of module bottom is stretched out to be contacted with ground, and the position at the top of the neighbouring brush of brush module has an outlet, and
Brush module is to be hubbed at body, brush module is put free pivot according to deadweight.
Automatic cleaning apparatus (the date of application with movable charger is disclosed in TaiWan, China patent：2013-
08-29, application number：102216216), the patent is the automatic cleaning apparatus with movable charger, including automatic cleaner
And movable charger；Automatic cleaner is provided with the first radio receiving transmitting module and electricity storage module, the first radio receiving transmitting module to
Send out position signalling, electricity storage module is storing and supply automatic cleaner electric power；Movable charger is provided with body, movement
Mechanism, the second radio receiving transmitting module and power supply module, the second radio receiving transmitting module are electrically connected with travel mechanism, the second wireless receiving and dispatching
Module receiving position signal and drive travel mechanism drive body automatically towards automatic cleaner move, and with power supply module supply electricity
Electricity storage module can be given；Therefore, movable charger can be automatically moved into automatic cleaner to be charged to automatic cleaner.
Absorption type cleaning device (the date of application is disclosed in TaiWan, China patent：2013-08-02, application number：
102214605), the patent is a kind of absorption type cleaning device, includes control circuit and is arranged on housing, and control circuit bag
Containing internal electric source module to provide internal electric source, drive module can drive front-wheel and trailing wheel respectively, and absorbing unit can externally be inhaled
Dust is taken, and absorbing unit is adsorbable that in plane, dust bag is arranged on housing, and correspond to absorbing unit, to collect ash
Dirt.This patent is adsorbed in plane using absorbing unit, absorbing unit external draw dust, then corresponded to dust bag and inhaled simultaneously
Coupon member need not limpingly raise wrist to hold to collect dust compared to general traditional electric dust collector, user
Row cleaning, thus substitutes traditional manpower to clean.
A kind of autonomous robot docking calculation (Method of Docking an are disclosed in PCT Patent
Autonomous Robot, date of application：2004-01-21, application number：PCT/US2004/001504), the patent for it is a kind of from
Main robot automatic returning is to the method for the recharging base, the weight launched for autonomous robot by detecting and receiving recharging base
Repeatedly (overlap) signal, the position according to the overlapping signal, which is advanced, is returned to the recharging base.
From the foregoing it will be appreciated that traditional automatic cleaning apparatus (autonomous robot) can be to carrying out sweeping work in a certain space
Make, moreover it is possible to further allow mobile charger to be automatically moved into automatic cleaner to be charged to automatic cleaner, or from main frame
Device people automatic returning is to the recharging base.But work as this cleaning device during automatic cleaning, if user is observed in space
Certain need when being cleaned, automatic cleaning apparatus is only capable of according to predetermined move mode traveling, and now user can not be controlled
Automatic cleaning apparatus processed is gone on the position that needs clean, and therefore, automatic cleaning apparatus is still having inconvenience and puzzlement using upper, is
A kind of urgent problem to be solved.
The content of the invention
As can be seen here, above-mentioned prior art still has many missings, a real non-kindhearted design, and is urgently improved.
Inventor is urgently to think to be improved innovation, and pass through more in view of every shortcoming derived from above-mentioned existing way
After year takes great pains to attain one's goal and concentrated on studies, successfully the invention of this part is completed in research and development finally.
The invention provides a kind of guiding type cleaning device, including body, the first signal receiver, drive component, movement
Component and power supply unit.Wherein the first signal receiver is located at the surface of the body, and first signal receiver is in its signal
The first transmission signal outside being received in range of receiving, and one first reception signal is produced, first transmission signal is numeral
Encoded signal.The drive component is located in body, and each moving assembly is located at the bottom surface of the body, and each movement
Component is at least connected to one of them described drive component, and the drive component drives its institute according to first reception signal
The moving assembly of connection, the moving assembly is set to drive the body to be moved towards the direction of first transmission signal.
Finally, the power supply chain order offer signal receiver in body and the electric power needed for the drive component.
Wherein, the intensity of the intensity of each first reception signal and its first transmission signal received into than
Example is closed.
Wherein, the first signal receiver, first drive component described in the drive component connection at least one of which
The moving assembly for driving it to be connected according to received first reception signal, each first reception signal
Intensity it is directly proportional to the intensity for first transmission signal that it is received, and with the driving of first drive component speed
Spend directly proportional.
Wherein, control unit is further comprised in the body, control unit is electrically connected with first signal and received
Between device and the drive component, and described control unit receives first reception signal, and receives and believe according to described first
Number at least one first control signal is produced, each first control signal is sent to each drive component, the driving group
First control signal of the part according to received by it and export corresponding actuating speed, make described in the drive component drives
Moving assembly, and by the movement and steering of the moving assembly drive body.
Wherein, first reception signal can be solved correct volume with the intensity of its signal, or first reception signal
Number of codes, different first control signals is produced, and then the drive component is believed with different first control
Number output different driving speed.
The invention provides a guiding type cleaning group, it is made up of above-mentioned signal projector and guiding type cleaning device.
Wherein, signal projector can be hand-held beepbox, including visible light source unit and the first transmitter unit, described
Light source cell is located at the hand-held beepbox front end, and sends a visible light beam outwardly, and first transmitter unit is also
The hand-held beepbox front end is located at, first transmitter unit sends first transmission signal, and first hair
The direction of transfer for penetrating signal is consistent with the direction of the light beam.
Wherein, the guiding type cleaning device may also include the charging link unit being connected with said supply unit, to
Electric power outside receiving, and the electric power is filled with said supply unit, and said supply unit then stores up the electric power being filled with
Deposit.
Wherein, the signal projector can be separately cradle, and the cradle may include pedestal, pillar, multiple first hairs
Penetrate unit and transmission of electricity connection unit.The pillar is located on the pedestal, and multiple first transmitter units are located on the pillar,
And first transmitter unit each transmits one first transmission signal, and first hair towards the predetermined angular away from the pillar
The transmission scope for penetrating signal is not occured simultaneously.And connection unit of transmitting electricity is located on the pillar, the transmission of electricity connection unit is led described
Draw formula cleaning device and be moved to the opening position of the cradle and connect with the charging link unit, and will be received by it is outer
Portion's electric power is sent to the charging link unit.
Wherein, cradle also includes the second transmitter unit, and the second transmitter unit is located on the pillar, and second hair
The transmission scope for penetrating signal is shorter than the transmission scope of first transmission signal.Top surface of the guiding type cleaning device in the body
Secondary signal receiver is additionally provided with, the selection of the second transmission signal is received by the first signal receiver or secondary signal receiver,
To produce one second reception signal, foregoing secondary signal receiver is located at the top surface of the body, that is, drives described mobile group
Part pivot stud, until the charging chain order member is towards the cradle.
Wherein described guiding type cleaning device may also include the 3rd signal receiver, and the 3rd signal receiver is located at the machine
The surface of body receives institute back to the position of first signal receiver, the drive component in the 3rd signal receiver
The second transmission signal is stated, and produces corresponding one the 3rd reception signal, and the movement is driven according to the 3rd reception signal
Component is driven onto the cradle movement.
Wherein, control unit is further provided with the body, control unit is electrically connected with first signal and received
Between device, secondary signal receiver and the 3rd signal receiver and the drive component, and described control unit receives described the
One~tri- reception signal, and at least one the first~tri- control signal is produced according to the first~tri- reception signal, each described the
One~tri- control signal is sent to drive component described at least one of which, institute of the drive component according to received by it
State the first~tri- control signal and export corresponding actuating speed, the drive component is driven the moving assembly, and by institute
State movement and steering that moving assembly drives the body.
Wherein, first reception signal can be solved correct volume with the intensity of its signal, or first reception signal
Number of codes, and different first control signals is produced, and then cause the drive component with different described the first~tri-
The different driving speed of control signal output.
Wherein, the bottom of the body and edge of adjacent 3rd signal receiver is provided with the first link unit, and it is described
Cradle is provided with the second link unit, the shape of second link unit and the first link unit phase in the pedestal
Match somebody with somebody, both size shapes can match connection, and the guiding type cleaning device is moved to the opening position of the cradle, described
Second link unit is just connected together with first link unit.
Wherein, first link unit can be groove, and two connection unit can be a projection, and both also can be opposite.
Wherein, first signal transmitter unit and secondary signal transmitter unit can be Infrared optical emitter, described
First transmission signal and the second transmission signal are then infrared ray.
Wherein, first transmission signal and the second transmission signal are separately added into predetermined coding, and first transmitting
Signal and the coding of the second transmission signal are different.
The invention provides a kind of method that guiding type cleaning device returns cradle, applies in guiding type cleaning group, bag
Include such as the following steps：
A. first signal receiver of the guiding type cleaning device receives first transmitting of the cradle
First transmission signal of unit, and corresponding first reception signal is produced by first signal receiver.
B. according to first reception signal control driving, it connects the drive component of the guiding type cleaning device
The moving assembly connect, or produced by the described control unit of the guiding type cleaning device according to first reception signal
First control signal, first control signal of the drive component according to received by it and export corresponding driving speed
Degree, the drive component is driven the moving assembly, and the movement and steering of the body, court are driven by the moving assembly
Moved to the direction of the cradle.
What C. the guiding type cleaning device selected receives institute by the first signal receiver or the secondary signal receiver
Second transmission signal of second transmitter unit of cradle is stated, and produces corresponding second reception signal, institute
The drive component for stating guiding type cleaning device controls the drive component to drive it to connect according to second reception signal
The moving assembly connect, or produced by the described control unit of the guiding type cleaning device according to second reception signal
Second control signal, second control signal of the drive component according to received by it and export corresponding driving speed
Degree, the drive component is driven the moving assembly, and the movement and steering of the body are driven by the moving assembly, make
The guiding type cleaning device the charging chain order member towards the cradle.
D. the 3rd signal receiver of the guiding type cleaning device receives second transmission signal, and produces corresponding
One the 3rd reception signal, the drive component of the guiding type cleaning device is according to the 3rd reception signal control
Drive component drives the moving assembly that it is connected, or by the guiding type cleaning device described control unit according to institute
State the 3rd reception signal produce the 3rd control signal, threeth control signal of the drive component according to received by it,
The drive component is driven the moving assembly, and the body is driven towards the side of the cradle by the moving assembly
To movement.
E. the first link unit of the body is combined with the second link unit of the cradle.
Technical characteristic provided by the present invention, when being compared to each other with prior art, it is also equipped with following advantages：
1. guiding type cleaning device receives the first transmission signal using first signal receiver, and cleans guiding type
Device moves towards the first transmission signal.
2. guiding type cleaning device receives difference because the first transmission signal of the first signal receiver distance is far and near
First transmission signal of intensity, or decode out from different far and near first transmission signals the number difference of required coding so that
First reception signal difference, in this way, drive component is according to different first reception signals or the first control letter
Number different speed of output, uses and drives the moving assembly to produce different speed so that body is able to mobile and turned to.
3. guiding type cleaning device is engaged by the first transmitter unit with the first signal receiver, and cleans guiding type
Device is moved towards the first transmission signal, and the second transmitter unit is engaged with the second~tri- signal receiver, makes guiding type
Cleaning device turns to and is connected to charger.
4. guiding type cleaning device is also non-intersect because of the first transmitter unit transmission signal, and the first transmitter unit and the second hair
Unit senses reception signal range size difference is penetrated, also described the is stably performed to be correct when the body is returned cradle
One~tri- reception signal or the first~tri- control signal.
Brief description of the drawings
Fig. 1 is the schematic diagram of guiding type cleaning device provided in an embodiment of the present invention；
Fig. 2 is the circuit box schematic diagram of guiding type cleaning group provided in an embodiment of the present invention；
Fig. 3 is another schematic diagram of guiding type cleaning device provided in an embodiment of the present invention；
Fig. 4 is the circuit box signal of guiding type cleaning device provided in an embodiment of the present invention and hand-held remote control device
Figure；
Fig. 5 is the circuit box schematic diagram of guiding type cleaning device provided in an embodiment of the present invention and cradle；
Fig. 6 is the stereogram of cradle provided in an embodiment of the present invention；
Fig. 7 be guiding type cleaning device provided in an embodiment of the present invention the first~bis- transmitter unit transmitting boundary and
The range of receiving schematic diagram of secondary signal receiver；
Fig. 8 is the steering schematic diagram of guiding type cleaning device provided in an embodiment of the present invention；
Fig. 9 is the elevational schematic view of body provided in an embodiment of the present invention；
Figure 10 is the running schematic diagram that guiding type cleaning device provided in an embodiment of the present invention moves towards light beam；
Figure 11 is another running schematic diagram that guiding type cleaning device provided in an embodiment of the present invention moves towards light beam；
Figure 12 is another running schematic diagram that guiding type cleaning device provided in an embodiment of the present invention moves towards light beam；
Figure 13 is the schematic diagram that guiding type cleaning device provided in an embodiment of the present invention moves towards cradle；
Figure 14 is the schematic diagram that guiding type cleaning device provided in an embodiment of the present invention is connected to cradle.
EmbodimentIn order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to attached
Figure and embodiment, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only solving
The present invention is released, but is not intended to limit the present invention.Hereinafter, with reference to accompanying drawing, the present invention is further described：
Fig. 1 and Fig. 2 is referred to, guiding type cleaning device includes body 100, multiple first signal receivers 101, driving group
Part 102, moving assembly 103 and power supply unit 104.Wherein, the guiding type cleaning device can also be 200 groups with a signal projector
As guiding type cleaning group, and the first transmission signal that guiding type cleaning device is sent by the signal projector 200 guides
Direct of travel, signal projector 200 include the first transmitter unit 201.One surface of the body connects provided with first signal
Device is received, the surface described herein refers to the top surface in the body, side (as shown in Figure 3) or bottom surface (as shown in Figure 1), its
In in the top surface or basal surface position further refer to the top surface or bottom surface in the position close to the side, make first letter
Number receiver receives the first transmission signal that the signal projector 200 is sent in its signal range of receiving, and produces one
First reception signal.
In the present invention, each moving assembly 103 is located at the bottom surface (as shown in Figures 1 and 3) of the body 100, the driving
Component 102 is located at the inside of the body 100, and moving assembly 103 a part of at least within is connected to one of drive component
102, and the moving assembly 103 that the moving assembly 103 of another part is connected to drive component 102 is driven, and another portion again
The moving assembly 103 of part is then not connected with drive component 102, is only used as follower, to support the body 100.It is or each
The moving assembly 103 connects a drive component 102 respectively.The drive component 102 receives according to described first to be believed
Number, and then the moving assembly 103 for driving it to be connected, the moving assembly is driven the body towards the described first letter
Number receiver receives the direction movement of first transmission signal, and said supply unit 104 is arranged at the interior of the body 100
Portion, there is provided the electric power needed for the signal receiver and the drive component.
In the present invention, the intensity of each first reception signal, received with first signal receiver described in
The distance of first transmission signal is inversely proportional, when the signal intensity that first transmission signal is launched is fixed, then when described
For first transmission signal closer to first signal receiver, first signal receiver is to produce stronger each described first
Reception signal.Either, in order to avoid first transmission signal is disturbed by outer signals, in the present invention, described
One transmission signal is encoded signal, and works as the signal intensity that first transmission signal is launched and fix, and described first
Signal receiver decodes out more correct coding contents from first transmission signal, that is, represents the first transmitting letter
Number closer to the first signal receiver, first signal receiver is set to produce stronger each first reception signal, anti-,
When the signal intensity that first transmission signal is launched is fixed, and first signal receiver is i.e. from the described first hair
Penetrate in signal and decode out fewer correct coding content, that is, represent first transmission signal further away from the first signal receiver,
First signal receiver is set to produce weaker each first reception signal.In this way, the drive component 102 is according to each
The power of first reception signal, and export different speed.
Further comprising control unit 105 in the body 100, control unit 105 is located in the body 100, and
Control unit 105 is electrically connected between first signal receiver 101 and the drive component 102, and the control is single
Member 105 receives first reception signal, and produces at least one first control signal according to the intensity of first reception signal,
Each first control signal is sent to each drive component 102, and the drive component 102 is according to received by it
First control signal and export corresponding actuating speed, the drive component 102 is driven the moving assembly 103, and
The movement and steering of the body 100 are driven by the moving assembly 103.
Referring to Fig. 4, the signal projector 200 can be a hand-held remote control device 220, it includes the first transmitter unit
221 send first transmission signal with light source cell 222, first transmitter unit 221, and first transmission signal
Direction of transfer is consistent with the direction of the light beam, in this way, when user operates the hand-held remote control device 220, the light
Beam is projected on the position on ground, will can be used as the launching position that represents first transmission signal, and the guiding type cleans
Device is acted on as the aforementioned by first signal receiver 101, the drive component 102 and the moving assembly 103, is made
The body 100 will show to follow the aspect of the light beam movement.
As shown in Fig. 1,5 and 6, in another embodiment, guiding type cleaning device is in the bottom of the body 100 back to
The edge of one signal receiver is provided with the first link unit 107, and the signal projector 200 can be separately a cradle 210, fill
Electric seat 210 includes pedestal 211, pillar 212, the first transmitter unit 213, the second transmitter unit 214, secondary signal receiver 215
And transmission of electricity link unit 216, also there is the second link unit 217 outside the cradle 210, it is arranged at the pedestal
Between 211 and the pillar 212, and second link unit 217 connects the first link unit 107, make the cradle with
The body 100 links together.
As shown in fig. 7, multiple first transmitter units 213 are provided with the pillar 212, and first transmitter unit
213 each transmit one first transmission signal, and the transmission of first transmission signal towards the predetermined angular away from the pillar 212
Scope is not occured simultaneously.
In addition, it is provided with charging link unit back to the position of the first signal receiver 101 in the side of the body 100
109, the charging link unit 109 is connected with said supply unit 104, the charging link unit 109 for conductive junction point or
The power receiver end of wireless charging, and transmission of electricity link unit 216 described in connection unit 216 of transmitting electricity also is conductive junction point or wireless charging
The electric power output side of electricity, and connection unit 216 of transmitting electricity is located on the pillar 212, the transmission of electricity connection unit 215 is led described
Draw the opening position that formula cleaning device is moved to the cradle 210, just connect with the charging link unit 109, and by its institute
The external power received is sent to the charging link unit 109, and by charging, link unit 109 transmits electric power to power supply
Unit 104 carries out electric power transmission and storage, and said supply unit 104 transmits electric power to described control unit 105 and drive component
102。
In addition, then referring to Fig. 7, cradle 210 can also include one second transmitter unit 108, the second transmitter unit
108 are located on the pillar 212, and the transmission scope of second transmission signal is than the transmission scope of first transmission signal
It is short.
Fig. 3 and 8 is referred to, secondary signal receiver 106, guiding type sanitizer cartridge are additionally provided with the top surface of the body 200
That puts selection receives the second transmission signal by the first signal receiver 101 or secondary signal receiver 106.The guiding type is clear
The described control unit 105 of clean device produces the second control signal, the drive component 102 according to second reception signal
Corresponding actuating speed is exported according to second control signal received by it, the drive component is driven the movement
Component, and the movement and steering of the body 100 are driven by the moving assembly 103, or selected by the drive component 102
Second transmission signal is received by the either secondary signal receiver of the first signal receiver 101, i.e., described in drive
The pivot stud of moving assembly 103, until the charging chain order member is towards the cradle.
Secondly, Fig. 3 and 8 is referred to, guiding type cleaning device also includes one the 3rd signal receiver 108, is located at the machine
The described control unit 105 of guiding type cleaning device described in position of the side of body 100 away from first signal receiver 101
According to the 3rd reception signal produce the 3rd control signal, the drive component 102 according to received by it the described 3rd
Control signal, the drive component 102 is driven the moving assembly 103, and the body is driven by the moving assembly 103
100 move towards the direction of the cradle 210.Or received by the drive component 102 in the 3rd signal receiver 108
To the second transmission signal of outside, and corresponding one the 3rd reception signal is produced, and institute is driven according to the 3rd reception signal
State moving assembly 103 and be driven onto the cradle 210 and move.
Referring to Fig. 9, in this embodiment, the body 100 includes four the first signal receivers 101, described first
Signal receiver 101 can be infrared receiver or radio frequency signal receiver of directive property etc., and first signal receives
The side that device 101 is evenly distributed in the bottom surface of body 100 is provided with close to the position of its lateral margin, the top side location of body 100
Secondary signal receiver 106, the secondary signal receiver 106 can be the infrared receiver or less radio-frequency letter of omni-directional
Number receiver etc..The side of the body 100 receives in back to the secondary signal receiver lower position the 3rd signal of setting
Device 108, the 3rd signal receiver 101 can be infrared receiver or radio frequency signal receiver of directive property etc..
Figure 10 and Figure 11 are referred to, for ease of illustration first signal receiver 101 is when receiving the first transmission signal
State, first signal receiver 101 is represented according to set location with S1, S2, S3 and S4 respectively below, and from the light
The position A1 of beam projection receives described first and penetrates signal, and first transmission signal can be infrared signal or wirelessly penetrate
Frequency signal, and first transmission signal is encoded signal, and first transmission signal is sent to control unit and divided
Analysis judges to produce at least one first control signal, and then the first control signal is sent into drive component 102 and drives moving assembly
103 advance towards the position A1 that the light beam projects.That is, as shown in Figure 10, the first signal receiver S1 and S2 is in institute
The position for stating light beam projection receives first transmission signal, and first transmission signal is located at first signal receiver
In S1 and S2 range of receiving, and first transmission signal is sent to described control unit 105, described control unit 105 is divided
Analysis judges to compare the strong of the first signal receiver S1 and first transmission signal of the first signal receiver S2
Degree, and corresponding first control signal will be produced and control the drive component 102 to drive moving assembly to be thrown towards the light beam
The position A1 penetrated position movement.Further illustrate, as shown in figure 11, the position A2 of the light beam projection is positioned at the described first letter
In number receiver S3 and S4 range of receiving, therefore the body 100 advances towards the position A2 directions that the light beam projects.In this hair
During bright actual implementation, the quantity of first signal receiver 101 is not limited with four, also can be three (as shown in Figure 3)
Or more than three.
Figure 12 is referred to, illustrates another processing aspect when first signal receiver 101 receives the first transmission signal,
First signal receiver 101 is represented according to set location with S1, S2, S3 and S4 respectively below, and by moving assembly 103
Represented respectively according to position with WH1, WH2 and WH3.First signal of present treatment aspect whether there is reception according to the first signal receiver
Judged based on to the first transmission signal, and by the first signal receiver 103 according to the scope that signal receives mark off Z1,
Z12, Z2, Z23, Z3, Z34, Z4 region.Each receiving area and the pass of the first signal receiver are as shown in table 1：
Table 1
And upon receipt of the signals, control unit 105 can set moving assembly 103 according to the combined state of signal reception
Actuating speed.Foregoing actuating speed is according to just marking off speed 0 (lowest speed), speed 1, speed 2 and the (highest of speed 3
Speed).First signal receiver 101 is labeled as logical one when receiving the first transmission signal；The first transmitting letter is not received
Number when be then labeled as logical zero.The permutation and combination of its reception signal of the first signal receiver 101 is as shown in table 2：
| S1 | S2 | S3 | S4 | WH1 | WH2 | WH3 | |
| Z1 | 1 | 0 | 0 | 0 | Speed 0 | Speed 2 | Speed 3 |
| Z12 | 1 | 1 | 0 | 0 | Speed 0 | Speed 1 | Speed 3 |
| Z2 | 0 | 1 | 0 | 0 | Speed 1 | Speed 2 | Speed 3 |
| Z23 | 0 | 1 | 1 | 0 | Speed 1 | Speed 1 | Speed 1 |
| Z3 | 0 | 0 | 1 | 0 | Speed 3 | Speed 2 | Speed 1 |
| Z34 | 0 | 0 | 1 | 1 | Speed 3 | Speed 1 | Speed 0 |
| Z4 | 0 | 0 | 0 | 1 | Speed 3 | Speed 2 | Speed 0 |
Table 2
When control unit 105 receives signal, S1~S4 signal can be judged by positive logic or negative logic, with
Know the region that current first transmission signal is located；Such as：When being judged with positive logic, control unit 105, which can judge to have, patrols
First signal receiver 101 of " 1 " is collected, to learn corresponding region；Anti-, if judged with negative logic, control is single
Member 105 can then judge first signal receiver 101 with logical zero, to learn corresponding region.
For example, it is when the first signal that control unit 105 receives from each first signal receiver 101 closes：
{ S1, S2, S3, S4 }={ 1,1,0,0 }, and what is selected is judged by positive logic either negative logic mode, can be learnt
First transmission signal is seated region " Z12 ", and control unit 105 and then setting moving assembly 103 close with actuating speed and be：
{ WH1, WH2, WH3 }={ speed 0, speed 1, speed 3 }, guiding type cleaning device is allowed to have by moving assembly 103 different
Under actuating speed, advance towards Z12 directions.
Fig. 7,8 are referred to again, first, the second transmitter unit 214 of the cradle 210 transmits the second transmission signal, when
First signal receiver 101 or the secondary signal receiver 106 receive second transmission signal, and described second is launched
Signal is sent to described control unit 105, and described control unit 105 produces second control signal so that the driving
Component 102 drives the moving assembly 103 to turn to the 3rd signal receiver 108 and faced according to second control signal
The cradle 210.Second transmission signal is received by the 3rd signal receiver 108 again, and described second is launched
Signal is sent to described control unit 105, and described control unit 105 produces the 3rd control signal so that the driving
Component 102 drives the moving assembly 103 to be moved towards the cradle 210 according to the 3rd control signal.
Figure 13 and 14 is referred to, then, the body 100 advances towards the direction of the cradle 210, and when advancing
The second transmission signal that 3rd signal receiver 108 constantly receives, make described control unit 105 constantly according to institute
The second transmission signal received produces the 3rd control signal, and makes the drive component 102 according to the described 3rd control
Signal converts angle and the direction of the moving assembly 103 so that the direction that the body retains towards the cradle 210 is moved
It is dynamic, as shown in figure 12.Finally, the body 100 is connected with the cradle 210 according to the first link unit with the second link unit
Connect, and be consistent by both size shapes to be fixedly connected, carry out electric power transmission, as shown in Figure 13.
Above-listed detailed description is to be specifically described for a possible embodiments of the invention, and only the embodiment is not used
With the scope of the claims of the limitation present invention, all equivalence enforcements or change without departing from carried out by skill spirit of the present invention also, are intended to be limited solely by
In the scope of the claims of this case.
In summary, this case is not only in really category innovation, and possessing upper less than the conventional method commonly used on technological thought
State multinomial effect.
【Symbol description】
The pillar of 100 body 212
The transmitter unit of 101 first signal receiver 213 first
The transmitter unit of 102 drive component 214 second
The secondary signal receiver of 103 moving assembly 215
104 power supply units 216 transmission of electricity link unit
The link unit of 105 control unit 217 second
The hand-held remote control device of 106 secondary signal receiver 220
The transmitter unit of 107 first connection unit 221 first
The light source cell of 108 the 3rd signal receiver 222
109 charging link unit the first signal receivers of S1~S4
200 signal projector A1, A2 detect thing
201 first transmitter unit WH1~WH3 moving assemblies
210 cradle Z1, Z2, Z3, Z4, Z12, Z23, Z34
211 base regions
Claims (7)
1. a kind of guiding type cleaning group, including：
One signal projector, send at least one first transmission signal；
One guiding type cleaning device, including：
One body；
Multiple first signal receivers, the surface of the body is located at, first signal receiver is in its signal range of receiving
Interior the first transmission signal for receiving the signal projector and being sent, and produce one first reception signal；
At least one moving assembly, it is located at the bottom surface of the body；
At least one drive component, it is located in the body, moving assembly described at least one of which is connected to one of institute
Drive component is stated, the moving assembly that the drive component drives it to be connected according to first reception signal, makes institute
Stating moving assembly drives the body to be moved towards the direction of first transmission signal；
One power supply unit, it is located in the body, and the signal receiver and the electric power needed for the drive component is provided；
Wherein described guiding type cleaning device also includes a charging link unit, the charging link unit and said supply unit
Connection, and the electric power outside the charging link unit reception, and the electric power is filled with said supply unit, the power supply is single
It is first then by the electric power being filled with store；
Wherein described signal projector is a cradle, and the cradle includes：
One pedestal；
One pillar, it is located on the pedestal；
Multiple first transmitter units, are located on the pillar, and first transmitter unit is each towards pre- away from the pillar
Determine angle and transmit one first transmission signal, and the transmission scope of first transmission signal is not occured simultaneously；And
One transmission of electricity connection unit, is located on the pillar, and the transmission of electricity connection unit is moved in the guiding type cleaning device
The opening position of the cradle, connect with the charging link unit, and the external power received by it is sent to described
Charge link unit.
2. guiding type cleaning group as claimed in claim 1, wherein and the cradle also includes：
One second transmitter unit, is located on the pillar, and the transmission scope of second transmission signal is than the described first transmitting
The transmission scope of signal is short, second transmission signal selection by first signal receiver or a secondary signal receiver
Receive, to produce one second reception signal, wherein the secondary signal receiver is located at the top surface of the body；
Wherein, the drive component drives the moving assembly pivot stud according to second reception signal, is filled until described
Electrical links unit is towards the cradle.
3. guiding type cleaning group as claimed in claim 1, wherein the guiding type cleaning device also connects including one the 3rd signal
Device is received, is located at the surface of the body back to the position of the signal receiver of grade first, the drive component is the described 3rd
Signal receiver receives second transmission signal, and produces corresponding one the 3rd reception signal, and is connect according to the described 3rd
Number drive moving assembly of collecting mail is driven onto the cradle movement.
4. guiding type cleaning group as claimed in claim 1, wherein the bottom of the body is back to first signal receiver
Edge be provided with one first link unit, and the cradle is provided with one second in the position that the pedestal connects with the pillar
Link unit, the shape of second link unit match with first link unit, and the guiding type cleaning device moves
The second link unit described in the opening position of the cradle is moved just to be connected together with first link unit.
5. a kind of method that guiding type cleaning device returns cradle, cleaned applied to guiding type as claimed in claim 12
Group, the step of guiding type cleaning device returns cradle, comprise at least：
Guiding type cleaning device selection as described in receiving first signal receiver or the secondary signal receiver
First transmission signal of first transmitter unit of cradle produces corresponding first reception signal；
The guiding type cleaning device is according to first reception signal controls the drive component to drive it to be connected
Moving assembly, moved towards the direction of the cradle；
Guiding type cleaning device selection as described in receiving first signal receiver or the secondary signal receiver
Second transmission signal of second transmitter unit of cradle, and corresponding second reception signal is produced, it is described
Guiding type cleaning device controls the moving assembly that the drive component drives it to be connected according to second reception signal,
The guiding type cleaning device is rotated until the charging chain order member moves towards the direction of the cradle；
3rd signal receiver of the guiding type cleaning device receives second transmission signal, and produces corresponding 1 the
Three reception signals, the guiding type cleaning device control the drive component to drive it to be connected according to the 3rd reception signal
The moving assembly, drive the guiding type cleaning device until the charging chain order member is towards the direction of the cradle
It is mobile；And
First link unit of the body is combined with the second link unit of the cradle.
6. the method that guiding type cleaning device as claimed in claim 5 returns cradle, wherein first signal transmitting is single
Member and secondary signal transmitter unit are RF transmitter, and first transmission signal and the second transmission signal are infrared ray
Light, wherein first transmission signal and the second transmission signal are separately added into predetermined coding, and first transmission signal and
The coding of second transmission signal is different.
7. the method that guiding type cleaning device as claimed in claim 5 returns cradle, wherein an at least drive component
An at least movement group is set according to whether first signal receiver receives the state of first transmission signal
The actuating speed of part.
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW103112958 | 2014-04-09 | ||
| TW103112958 | 2014-04-09 | ||
| CN2014101405043 | 2014-04-09 | ||
| CN201410140504 | 2014-04-09 | ||
| TW103138985A TWI635303B (en) | 2014-04-09 | 2014-11-11 | Guided cleaning device and guided cleaning group |
| TW103138985 | 2014-11-11 | ||
| CN201510044363.XA CN104977929B (en) | 2014-04-09 | 2015-01-28 | Guiding type cleaning device and guiding type cleaning set |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510044363.XA Division CN104977929B (en) | 2014-04-09 | 2015-01-28 | Guiding type cleaning device and guiding type cleaning set |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107885210A true CN107885210A (en) | 2018-04-06 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510044363.XA Active CN104977929B (en) | 2014-04-09 | 2015-01-28 | Guiding type cleaning device and guiding type cleaning set |
| CN201711121202.1A Pending CN107885210A (en) | 2014-04-09 | 2015-01-28 | Guiding type cleaning device and guiding type cleaning set |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510044363.XA Active CN104977929B (en) | 2014-04-09 | 2015-01-28 | Guiding type cleaning device and guiding type cleaning set |
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| CN (2) | CN104977929B (en) |
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| CN106950967A (en) * | 2017-04-28 | 2017-07-14 | 湖南格兰博智能科技有限责任公司 | Improvement type sweeps the method and Improvement type that device returns cradle with it and sweeps group |
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| CN111449572A (en) * | 2020-03-26 | 2020-07-28 | 北京石头世纪科技股份有限公司 | Cleaning robot control method and device, storage medium and cleaning robot |
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Also Published As
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| CN104977929A (en) | 2015-10-14 |
| CN104977929B (en) | 2019-04-12 |
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