CN101387876A - Ground treating device - Google Patents
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- CN101387876A CN101387876A CNA2008101568986A CN200810156898A CN101387876A CN 101387876 A CN101387876 A CN 101387876A CN A2008101568986 A CNA2008101568986 A CN A2008101568986A CN 200810156898 A CN200810156898 A CN 200810156898A CN 101387876 A CN101387876 A CN 101387876A
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Abstract
The invention relates to a ground processing device, which comprises a driving device, a control unit and a dust detecting device. The dust detecting device used to detect quantity of to-be-processed dust is connected with the control unit to transmit information of the detected quantity of the to-be-processed dust to the control unit. The control unit controls the driving device to enable the ground processing device to execute a plurality of working modes, further, the control unit is preset with a plurality of thresholds, a plurality of dust quantity grades can be preset through the thresholds, and each grade of dust quantity corresponds to a different working mode. Comparing the detected dust quantity by the dust detecting device with the preset thresholds, the ground processing device can execute a certain operating mode under a corresponding grade of dust quantity. The invention reveals high intelligence of the device and increases ground processing efficiency.
Description
Technical field
The present invention relates to a kind of floor-treating device, specifically, this floor-treating device is to move automatically, control automatically, and the floor-treating device that has dust detecting device, place, described ground device relate to a kind of such as automatic cleaner, sweeper, the mop floor geographical treating apparatus of family expenses 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 by artificially it being moved around along pending ground such as suction cleaner, the machine or the like that mops floor and to realize the stage of different operating demand.Various intelligent sweeping robots, the intelligence machine of mopping floor arise at the historic moment, and also make a lot of housewives break away from heavy housework with this.
The overwhelming majority's of Chu Xianing floor-treating device all comprises in the market: ground drive member, rechargeable power supply unit and control module.Under the energy supply of the control of control module and supply unit, floor-treating device is done regularly on pending ground or is moved randomly, satisfies the real work needs with this.In the domestic environment, have stain on the ground of small area or the situation of the food granule that is scattered or the like is quotidian thing.Most floor-treating device can't be discerned the dirty degree on ground, then seem unable to do what one wishes for the special zone of handling of needs, often can only adopt and floor-treating device is repeated repeatedly to work or carry out local floor treatment by manpower extraly and solve this problem.Thus, allow floor-treating device repeat the problem that whole regional work solves regional area ground, make the place need not re-treatment handle once more and waste energy; Handle and need handle ground to the part, show the shortcoming that this automatic floor-treating device design exists not enough hommization, rationalization by other burnisher of artificial employing.
The first generation sweeping robot that American I ROBOT company in 2002 produces, its function just as the epimere text description as saying, floor treatment work that can not the extra process zonule.
The second generation sweeping robot that IROBOT company produced in 2003.This product has been considered in design the situation that the zonule needs extra cleaning has been taken place in household, the working environment often.This product has Spot and (means: the zonule cleaning) function, when needs additionally clean the zonule, can be by telepilot remote control product or directly artificially product is taken near the regional center position that need clean, press the Spot key of telepilot or press Spot key on the man-machine interface of product, this product will be that the center formula of outwards spinning is moved with the present position, solve the problem of local cleaning with this.But the method just can not independently be handled remedying of extra cleaning function to sweeping robot, and this Spot function needs human intervention just to be achieved.Therefore, this product is non-fully from the principal mode product.
For this reason, IROBOT company improves again on the design basis of second generation sweeping robot.Also comprised in the evolutionary approach and how effectively handled the zonule that needs extra process.Patent publication No. is US7288912B2, in the document this is had in more detail to describe.Be provided with the dust element in left and right two sides of floor-treating device bottom dust inlet port, the amount of dust that detects when the dust element is to a certain degree the time, and floor-treating device will be changed over to by cleaning works pattern at random and carry out spiral mode of operation among a small circle.This scheme makes that sweeping robot can be by the dust element that is provided with, and perception needs the zone of special processing automatically, and a certain fixed mode cleaning is carried out in this zone, makes sweeping robot realize need not the function of human intervention, realization utonomous working.Yet, need the surface state of local special processing ever-changing, only adopt a kind of fixing spiral sweeper mode, can not very solve the problem of local floor treatment quickly and efficiently.
Summary of the invention
Technical matters to be solved by this invention is at the deficiencies in the prior art, and a kind of floor-treating device is provided.This floor-treating device has a plurality of mode of operations, by dust detecting device is set on this device the ground amount of dust is surveyed, control module preestablishes a plurality of threshold values, preestablish a plurality of amount of dust ranks by a plurality of threshold values, each amount of dust rank correspondence different mode of operations.Control module compares according to amount of dust and the predefined threshold values that dust detecting device detected, thereby control described floor-treating device and under the amount of dust rank of correspondence, carry out some mode of operation work, reach the purpose that fast, effectively to solve processing at the Different Ground situation with this.
Technical matters to be solved by this invention is achieved by the following technical solution:
A kind of floor-treating device that moves automatically, this floor-treating device comprises driver part, control module and dust detecting device.Driver part is used to drive this floor-treating device and moves on pending ground.Dust detecting device is used to survey the amount of dust on pending ground; Dust detecting device and described control module are electrically connected, and the information transmission of the dust value on the pending ground that dust detecting device can will detect is given described control module.This control module is used for the controlling and driving parts, makes this floor-treating device can carry out a plurality of mode of operations.And, a plurality of threshold values have been preestablished in this control module, preestablish a plurality of amount of dust ranks by a plurality of threshold values, each amount of dust rank correspondence corresponding work mode, when the ground treating apparatus in when work, this control module energy basis receives the dust value and predefined threshold values compares, thereby the control floor-treating device is carried out some mode of operation work under the amount of dust rank of correspondence.
The executable a plurality of mode of operations of described floor-treating device comprise: free sweeper mode, spiral mode of operation, pectination mode of operation, class mop mode of operation.
More specifically say, described control module preestablishes first threshold values and second threshold values, when amount of dust that described dust detecting device detected during more than or equal to first threshold values, described floor-treating device is carried out spiral mode of operation or pectination mode of operation; The amount of dust that described dust detecting device detected is during less than first threshold values and more than or equal to second threshold values, and described floor-treating device is carried out class mop mode of operation; The amount of dust that described dust detecting device detected is during less than second threshold values, and described floor-treating device is carried out free at random sweeper mode.
More exactly, when amount of dust that described dust detecting device detected during more than or equal to first threshold values, described floor-treating device is chosen between spiral mode of operation and pectination mode of operation randomly by described control module and is carried out work.
Under a certain pattern in choosing spiral mode of operation, pectination mode of operation, class mop mode of operation, the foundation of setting the working time is: by described dust detecting device continuously the perception amount of dust of handling ground decide time of the required cleaning of work at present pattern.
Be the local ground of quicker, effective solution problem, the historical data of the amount of dust that the described dust detecting device that described control module writes down automatically detects is judged the dirty degree in zone, thereby dynamically adjusts the mode of operation threshold values of described floor-treating device and the time of required work under the work at present pattern.
Specifically, described dust detecting device comprises infrared emission component and infrared receiver component.
Compared with prior art, beneficial effect of the present invention is: the amount of dust of being surveyed pending ground by the dust detecting device that is provided with, compare with the amount of dust that is detected by preestablishing a plurality of other threshold values of judgement amount of dust level, select suitable mode of operation and rationally adjust the working time with this, and by the historical data of self registering amount of dust judge the zone dirty degree, thereby make floor-treating device dynamically adjust mode of operation threshold values and working time, make rational planning for out at the adoptable effective scheme in present perform region, demonstrate fully the characteristics of " dealing by single ", save the energy dissipation of inaction, improve disposable work efficiency, and with this this floor-treating device that embodies need not human intervention high intelligence.
Below in conjunction with the drawings and specific embodiments technical scheme of the present invention is elaborated.
Description of drawings
Accompanying drawing 1 is a floor-treating device stereographic map of the present invention;
Accompanying drawing 2 is the stereographic map that floor-treating device takes out the control of dust tube in the accompanying drawing 1;
Accompanying drawing 3 is the process flow diagram of the automatic transformation working pattern of automatic processing device;
Accompanying drawing 4 is dynamically adjusted the process flow diagram of mode of operation and working time threshold values for automatic processing device
Wherein: 1, floor-treating device; 2, housing; 3, driver part; 4, driving wheel; 5, advance grey passage; 6, dust detecting device; 6a, infrared emission component; 6b, infrared receiver component.
Embodiment
Floor-treating device 1 shown in Fig. 1～2, real is a kind of automatic cleaner, it is a cleaning equipment the most common in the floor-treating device, but comprise the supply unit (not shown) and the control module (not shown) of housing 2, driver part 3 recharges, the inside of housing 2 is provided with supply unit and control module (not shown).
In driver part 3, two driving wheels 4 lay respectively at the both sides of floor-treating device 1 and are positioned at the below of floor-treating device 1, and each driving wheel 4 is equipped with an electrical motor driven (not shown).The electro-motor (not shown) is arranged on the inside of housing 2, is achieved by supply unit (not shown) supplying energy, control module (not shown) controlling and driving.By the work order of control module (not shown), floor-treating device 1 is carrying out work on pending ground under the rotation of two driving wheels 4.
For realizing the function of cleaning automatically, be provided with associated components such as vacuum draw unit (not shown), scrubbing brush (not shown) in the inside of this floor-treating device 1.Under driving wheel 4 work, floor-treating device 1 moves on pending surface, vacuum draw unit correspondingly, scrubbing brush also under the supply of the energy of supply unit (not shown), under the control of control module (not shown), by being positioned at particle and the floating dust that the grey passage 5 of advancing of floor-treating device 1 bottom aspirated and cleaned ground.
For making this floor-treating device 1 can effectively clean ground, this floor-treating device 1 also is provided with dust detecting device 6 for this reason, is used to survey the amount of dust on pending ground.This dust detecting device 6 mainly is made up of infrared emission component 6a, infrared receiver component 6b, by emission, the signal that receives, sends the information of the dust value on the pending ground detected to the control module (not shown).Infrared emission component 6a, infrared receiver component 6b lay respectively at the both sides of into grey passage 5, and when floor-treating device 1 was in running order, infrared emission component 6a, infrared receiver component 6b were also in running order always.
Floor-treating device 1 can be carried out a plurality of mode of operations and carry out work under the control of control module, comprise free at random sweeper mode, spiral mode of operation, fan-shaped mode of operation, pectination mode of operation and class mop shape mode of operation, wherein spiral mode of operation, fan-shaped mode of operation, pectination mode of operation and class mop shape mode of operation belong to local interior among a small circle mode of operation, and free at random sweeper mode belongs to the pattern of carrying out work on a large scale.
Control module can be redefined for slight, two amount of dust grades of severe threshold values by actual needs.When the amount of dust that is detected during, judge that the amount of dust that is detected is the severe rank more than or equal to first threshold values; When the amount of dust that is detected less than first threshold values, and during more than or equal to second threshold values, judge that the amount of dust that is detected is slight rank; The amount of dust and the predefined threshold values that are detected according to this dust-detecting dress compare, thereby choose work in the mode of operation of floor-treating device 1 under this amount of dust rank of correspondence.
Control module also can be redefined for moderate, two amount of dust grades of severe threshold values by actual needs.About the corresponding relation of first threshold values, second threshold values set and the amount of dust that is detected, with setting noted earlier slightly, the severe grade similar, do not repeat them here.
In a plurality of mode of operations, spiral mode of operation is the local middle among a small circle mode of operation that the cleaning works scope is the most thorough, scope is maximum; Next respectively is: pectination cleaning, fan-shaped cleaning, the cleaning of class mop.Concrete which mode of operation of using is the most suitable for current state of ground, is how much deciding by amount of dust that pending ground is detected.
How relevant floor-treating device 1 chooses a certain mode of operation selectively by preestablishing other threshold values of judgement amount of dust level, specifically referring to Fig. 3 and the corresponding flowcharting of Fig. 4.
Figure 3 shows that the process flow diagram of automatic processing device 1 automatic transformation working pattern in the present embodiment.The control module (not shown) preestablishes three threshold values, preestablishes three amount of dust ranks by three threshold values, and rank is decided to be severe, moderate and slight respectively, and each amount of dust rank correspondence different mode of operations.When the amount of dust that is detected during, judge that the amount of dust that is detected is the severe rank more than or equal to first threshold values; When the amount of dust that is detected less than first threshold values, and during more than or equal to second threshold values, judge that the amount of dust that is detected is the moderate rank; The amount of dust of being visited is less than second threshold values, and during more than or equal to the 3rd threshold values, judges that the amount of dust that is detected is slight rank; The amount of dust that is detected is judged the amount of dust off grade that is detected during less than the 3rd threshold values.
Synthesizing map 1 is to shown in Figure 3, and firm when in running order when automatic processing device 1, at first acquiescence selects for use free at random sweeper mode to carry out working on pending ground on a large scale, and dust detecting device 6 meanwhile also is in and is keeping always the state of work.Infrared emission component 6a emission infrared beam is to pending ground, and infrared receiver component 6b is by receiving the emission information of infrared emission component 6a, surveys what of amount of dust on pending ground with this.When infrared receiver component 6b detects the quantity of amount of dust, at first compare the amount of dust that is measured and whether belong to the severe rank, if words then enter spiral or pectination type cleaning, otherwise then whether the amount of dust that is further relatively detected belongs to the moderate rank, if words then enter fan-shaped cleaning, otherwise whether the amount of dust of further relatively being surveyed belongs to slight rank, if words then enter the cleaning of class mop, otherwise then carry out freely carrying out at random cleaning works on a large scale.
When the amount of dust that is detected reaches a certain rank, can select each mode of operation for use for ease of automatic processing device more diversifiedly.At present, when belonging to the severe rank, control module is provided with spiral cleaning and two kinds of patterns of pectination cleaning.The selection of two kinds of patterns is chosen at random by control module.
When the selected a certain part of ground treating apparatus 1 after mode of operation (that is: spiral mode of operation, fan-shaped mode of operation, pectination mode of operation and class mop shape mode of operation) is carried out work among a small circle, again by what of the current floor-dust amount of dust detecting device 6 perception, thus the needed working time under the decision current selected pattern.In general, time of setting of spiral cleaning was about about 120 seconds; The time that the pectination cleaning sets was about about 80 seconds; The time that fan-shaped cleaning sets was about about 50 seconds; The time that the cleaning of class mop sets was about about 5 seconds.
When the selected a certain part of ground treating apparatus 1 mode of operation (that is: spiral mode of operation, fan-shaped mode of operation, pectination mode of operation and class mop shape mode of operation) and after the setting working time among a small circle, ground clearing apparatus 1 is judged the dirty degree in zone by the historical data of the amount of dust that automatic record dust detecting device 6 in the control module detects, thereby dynamically adjusts the mode of operation threshold values of described floor-treating device 1 and the time of required work under the work at present pattern.
Figure 4 shows that the process flow diagram of dynamically adjusting mode of operation and working time threshold values in the present embodiment.Selected a certain part among a small circle mode of operation (that is: spiral mode of operation, fan-shaped mode of operation, pectination mode of operation and class mop shape mode of operation) and set the working time after, when if inherent adjacent domain of △ t time repeatedly detects slight grade dust, reduce moderate grade dust sweeper mode threshold values so, increase the cleaning time, by reducing the threshold that the moderate dust sets, make pairing mode of operation when the ground clearing apparatus can more easily enter into moderate grade dust, lengthen working hours in addition and can improve sweeping efficiency; If in the △ t time, when adjacent domain does not repeatedly detect slight grade ash, then further relatively in the △ t time, whether repeatedly detect moderate grade dust in the adjacent domain; If in the △ t time, repeatedly detect moderate grade dust in the adjacent domain, reduce severe grade dust sweeper mode threshold values so, increase the cleaning time, by reducing the threshold that severe grade dust sets, make pairing mode of operation when the ground clearing apparatus can more easily enter into severe grade dust, lengthen working hours in addition and improve sweeping efficiency with this; If in the △ t time, repeatedly do not detect moderate grade dust in the adjacent domain, so once more whether inherent adjacent domain of △ t time is repeatedly detected slight grade ash and compare.The setting of △ t time is by specifically deciding.In the present embodiment, the mistiming scope of △ t was at 20 ~ 30 seconds.
By dust detecting device 6 automatic detection amount of dust and under the control of control module, make floor-treating device 1 determine actual solution at the real work situation, each different working environment is carried out mode of operation ground freely to be switched, the real purpose that realizes " individual cases individual treated ", thereby save the electric weight that in small area, need not to clean again and consume, improve one time sweeping efficiency.
Floor-treating device also can be automatic sweeper or mops floor machine automatically in present embodiment the cited automatic cleaner.According to different needs of work, the deviser can be equiped with the element of difference in functionality or the combination of multiple function in the inside of floor-treating device, and the arbitrary combination with suchlike individual feature or a plurality of functions inserts in the floor-treating device.
To sum up, for the detailed description of the embodiment of above-mentioned floor-treating device of the present invention, be intended to deepen understanding to equipment of the present invention.What need statement is: the protection domain of patent of the present invention is not limited only to above-mentioned embodiment, and every present technique field personnel can pass through simple change, and the embodiment that does not break away from technical scheme of the present invention is protection scope of the present invention.
Claims (9)
1, a kind of floor-treating device, this floor-treating device can move automatically, and it comprises:
Driver part is used to drive this floor-treating device and moves on pending ground;
Control module is used to control described driver part, makes described floor-treating device can carry out a plurality of mode of operations;
Dust detecting device is used to survey the amount of dust on pending ground; This dust detecting device and described control module are electrically connected, and the information transmission of the dust value on the pending ground that described dust detecting device can will detect is given described control module;
It is characterized in that: preestablished a plurality of threshold values in the described control module, preestablish a plurality of amount of dust ranks by described a plurality of threshold values, each amount of dust rank correspondence corresponding work mode, when the ground treating apparatus in when work, described control module energy basis receives the dust value and predefined threshold values compares, and carries out some mode of operation work thereby control described floor-treating device under the amount of dust rank of correspondence.
2, floor-treating device as claimed in claim 1 is characterized in that: the executable a plurality of mode of operations of described floor-treating device comprise: free sweeper mode, spiral mode of operation, pectination mode of operation, class mop mode of operation.
3, floor-treating device as claimed in claim 2, it is characterized in that: described control module preestablishes first threshold values and second threshold values, when amount of dust that described dust detecting device detected during more than or equal to first threshold values, described floor-treating device is carried out spiral mode of operation or pectination mode of operation.
4, floor-treating device as claimed in claim 3, it is characterized in that: when amount of dust that described dust detecting device detected during more than or equal to first threshold values, described floor-treating device is chosen between spiral mode of operation and pectination mode of operation randomly by described control module and is carried out work.
5, floor-treating device as claimed in claim 3 is characterized in that: when amount of dust that described dust detecting device detected during less than first threshold values and more than or equal to second threshold values, described floor-treating device is carried out class mop mode of operation.
6, floor-treating device as claimed in claim 3 is characterized in that: the amount of dust that described dust detecting device detected is during less than second threshold values, and described floor-treating device is carried out free at random sweeper mode.
7, as the arbitrary described floor-treating device in the claim 2 to 5, it is characterized in that: after described floor-treating device was selected a certain mode of operation for use, the amount of dust of continuously surveying pending ground by described dust detecting device decided the time of the required work of work at present pattern.
8, floor-treating device as claimed in claim 7, it is characterized in that: the historical data of the amount of dust that the described dust detecting device of the automatic record of described control module detects is judged the dirty degree in zone, thereby dynamically adjusts the mode of operation threshold values of described floor-treating device and the time of required work under the work at present pattern.
9, floor-treating device as claimed in claim 1 is characterized in that: described dust detecting device comprises infrared emission component and infrared receiver component.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2008101568986A CN101387876A (en) | 2008-09-28 | 2008-09-28 | Ground treating device |
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| CNA2008101568986A CN101387876A (en) | 2008-09-28 | 2008-09-28 | Ground treating device |
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| CN101387876A true CN101387876A (en) | 2009-03-18 |
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| CN102121900A (en) * | 2010-01-07 | 2011-07-13 | 泰怡凯电器(苏州)有限公司 | Method for judging pollution of dust sensor, wiping system and cleaning robot thereof |
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| CN102518597A (en) * | 2011-12-30 | 2012-06-27 | 中冶长天国际工程有限责任公司 | Method and device for early warning during fan wear detection |
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