CN101444407A - Automatic cleaning device and method thereof - Google Patents
Automatic cleaning device and method thereof Download PDFInfo
- Publication number
- CN101444407A CN101444407A CN200810163856.5A CN200810163856A CN101444407A CN 101444407 A CN101444407 A CN 101444407A CN 200810163856 A CN200810163856 A CN 200810163856A CN 101444407 A CN101444407 A CN 101444407A
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- China
- Prior art keywords
- time
- cleaning
- main body
- collision
- time interval
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 108
- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000000523 sample Substances 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 239000002699 waste material Substances 0.000 abstract description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000011010 flushing procedure Methods 0.000 description 2
- 238000000205 computational method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention relates to an automatic cleaning device which comprises a main body, an outer shell arranged at the periphery of the main body and a central processing unit. The main body comprises a time acquisition unit and at least one collision switch arranged in the outer shell. The outer shell can be movably connected with the main body and is connected with the collision switch, and the outer shell is used for moving relative to the main body when in collision with an object and for pushing the collision switch. The central processing unit is electrically connected with the main body and is used for controlling the time acquisition unit to read the current collision time or the movement distance and to control the main body to turn when the collision switch is pushed. The central processing unit is also used for controlling the time acquisition unit to calculate the time interval between the adjacent two times of the push of the collision switch, and the cleaning time of the main body is set according to the time interval, so as to control the main body to implement the cleaning work. The invention further relates to a cleaning method to reduce the waste of power resources and improve the cleaning efficiency.
Description
Technical field
The present invention relates to a kind of automatic cleaning apparatus, relate in particular to a kind of automatic cleaning apparatus and the method that can control cleaning according to the area size that is cleaned.
Background technology
Automatic cleaning apparatus is a kind of unattended, only carries out cleaning operation by controller control, and dirts such as the dust on object (as: floor) surface or chip are cleaned with removing.
In cleaning course, automatic cleaning apparatus normally cleans according to the cleaning time that sets in advance, and when the time that is provided with finished, this cleaning operation also finished thereupon.Yet, can't be moved on by object blocks in cleaning if work as automatic cleaning apparatus, can only repeat to clean identical zone in the original place and finish until setting-up time, do not clean the zone of required cleaning fully.In addition, too short when default cleaning time, when being not enough to finish the zone (whole room) that is cleaned, incomplete situation can appear cleaning equally.On the contrary, when default cleaning time is long, the phenomenon that same area is repeated to clean can occur again, cause waste of power resources, be unfavorable for environmental protection.
Summary of the invention
Therefore, be necessary to invent a kind of automatic cleaning apparatus and method, be used for size control cleaning time,, improve the automatic cleaning apparatus utilization rate to address the above problem according to the zone that is cleaned.
The present invention relates to a kind of automatic cleaning apparatus and method.
A kind of automatic cleaning apparatus, it comprises main body, is arranged at the shell and the CPU of main body periphery.This main body comprises time acquisition unit and at least one impact switch that is arranged in the shell.The mobilizable main body that is connected in of this shell, and link to each other with impact switch, be moved with respect to main body when being used to run into object, and push impact switch.This CPU and main body are electrically connected, and are used for when impact switch is pressed, and the control time acquiring unit reads current collision time or move distance, and the control main body is turned; This CPU also is used for the control time acquiring unit and calculates the adjacent time interval of pushing impact switch twice, cleaning time of main body is set according to the described time interval, carries out cleaning with the control main body.
Compared with prior art, the main body of this automatic cleaning apparatus comprises time acquisition unit and at least one impact switch, it can control the time interval that the central processing unit controls time acquisition unit obtains every adjacent twice collision in the cleaning by impact switch, calculate and judge the cleaning time of the size of the realistic cleaning area of continuous acquisition by CPU again, and in this cleaning time, carry out cleaning.Thereby avoid the long or not enough phenomenon of cleaning time, reduce waste of power resources simultaneously, improve cleaning efficiency
Description of drawings
The vertical view of the automatic cleaning apparatus that Fig. 1 is provided for the technical program embodiment.
Fig. 2 is carried out the flow chart of the automated cleaning method of cleaning works for what the technical program embodiment provided according to collision time.
The flow chart that Fig. 3 is provided for the technical program embodiment according to move distance execution cleaning works automated cleaning method.
The specific embodiment
See also Fig. 1, the automatic cleaning apparatus 10 that the technical program embodiment provided, it comprises main body 11, shell 12 and CPU 13.This CPU 13 is electrically connected with main body 11.
This main body 11 is carried out cleaning under the control of CPU 13.The structure of this main body 11 and shape can relate to according to actual cleaning requirement.Main body 11 comprises at least one impact switch 111, time acquisition unit 112 and at least one wheel body that is positioned at the bottom (figure does not show).In the present embodiment, the quantity of this at least one impact switch 111 is two, and it is arranged at the relative both sides in the shell 12, and with link to each other with the relative both sides of shell 12 inwalls respectively, be used for the collision that sensing is positioned at shell 12 zoness of different, increase the sensitivity of sensing collision.This time acquisition unit 112 is used for determining the time interval of adjacent twice collision of main body 11 generations.This time acquisition unit 112 comprises clock unit 112a and time processing unit 112b.This time processing unit 112b is used to read the current collision time of clock unit 112a, and calculates the adjacent time interval of pushing impact switch 111 twice according to current collision time and last collision time.This clock unit 112a can be clock.Certainly, this time processing unit 112b can be same processing unit with CPU 13 also, to reduce the volume of automatic flushing device 10.
Be appreciated that this time acquisition unit 112 also can realize by other structure and device.For example, time acquisition unit 112 comprises apart from probe unit (figure does not show) and apart from processing unit (figure does not show).This can calculate the distance that main body 11 is moved by the number of turns of obtaining the wheel body rotation apart from probe unit.This is used to read current move distance apart from probe unit apart from processing unit, and calculates the adjacent time interval of pushing impact switch 111 twice according to current move distance and last move distance.Particularly, can with current with last time move distance difference obtain the current collision and the time interval of colliding last time divided by the default movement velocity of automatic cleaning apparatus 10 again.
This wheel body (as: roller) is used under the control of CPU 15 rolling or turning to, and makes the automatic cleaning apparatus 10 can be along straight line, broken line or curvilinear motion.Certainly, this main body 11 can comprise that also dirt collection body (figure does not show) waits required element in other cleanings, is not limited to main body cited among this embodiment 11.
This shell 12 surrounds the outside of main body 11, makes main body 11 be positioned at shell 12, with protection main body 11.These shell 12 mobilizable main bodys 11 that are connected in are moved with respect to main body 11 when being used to run into object, to push the impact switch 111 that links to each other with shell 12.In the present embodiment, shell 12 links to each other with main body 11 by flexible member (as: spring), and shell 12 can be moved with respect to main body 11.This displacement is controlled between 1 to 5mm, can't push impact switch 111 to prevent that shell 12 displacements are too small, prevents that also shell 12 displacements are excessive, influences automatic flushing device 10 operate as normal.
This CPU 13 is arranged in the shell 12, is used for when impact switch 111 is pressed, and control time acquiring unit 112 reads current collision time or move distance, and control main body 11 is turned; Also be used for control time acquiring unit 112 and calculate the adjacent time interval of pushing impact switch 111 twice, the cleaning time of main body 11 was set according to this time interval.Certainly, this CPU 13 can comprise a plurality of processing units that have Time Calculation function, decision-making function and turning function etc. respectively, realization is controlled respectively other elements in time acquisition unit 112, main body 11, impact switch 111 and the automatic cleaning apparatus 10, with expedite clean-up speed.In the present embodiment, adopt a CPU 13 to finish control to automatic cleaning apparatus 10 each elements.
See also Fig. 2, reading collision time with time acquisition unit 112 is example, describes CPU 13 is carried out cleaning according to collision time control main body 11 step in detail.
Step S210 judges whether automatic cleaning apparatus 10 bumps in preset time T min.If automatic cleaning apparatus 10 bumps in Tmin, then enter step S220, otherwise finish cleaning according to preset time T min, then cleaning finishes.
This Tmin is a cleaning time default before automatic cleaning apparatus 10 cleanings, and its big I is decided according to the area in required cleaning zone and the movement velocity of automatic cleaning apparatus 10 settings.So that the work of automatic cleaning apparatus 10 uniform motion execution cleaning rectangular room to be set is example, this Tmin is the time of this room catercorner length sum divided by default movement velocity gained, to guarantee that this automatic cleaning apparatus 10 is still in running order when taking place to collide for the second time.Be appreciated that if automatic cleaning apparatus 10 is set to non-uniform movement this moment equally can be according to default speed parameter, for example: initial velocity, velocity variations speed etc., and obtain required Tmin in conjunction with the size in room.
Step S220 reads current collision time, and control main body 11 is turned.
Central control unit 13 receives the signal that impact switch 111 is pressed, the time processing unit 112b of control time acquiring unit 112 reads the time of clock unit 112a, that is: this current collision time of current collision time, and storage is in time processing unit 112b.
Step S230 is according to the time interval current and that collision time was calculated current collision and collided last time last time.
The current collision time that this time processing unit 112b will be stored in it deducts collision time last time, can obtain this time interval.
Particularly, current collision is the n time collision, and then collision last time is the n-1 time collision, and its collision time is respectively t
nWith t
(n-1)The time, the n time time interval Δ T then
n=t
n-t
(n-1)Wherein, n is the integer more than or equal to 1.For ease of calculating, in the present embodiment, when supposing to take place the 1st collision, this time interval is 0.
Step S240, CPU 13 is judged this time interval Δ T
nWhether greater than a preceding time interval Δ T
(n-1), if this time interval Δ T
nGreater than preceding one time the time interval/Δ T
(n-1), then enter step S250, otherwise the cleaning time is constant, and forwards step S260 to.
Step S250, CPU 13 is according to Δ T blanking time
nCalculate the cleaning time T.
The computing formula of this cleaning time can be T=Δ T
n+ Tmin.Certainly, the computing formula of this cleaning time also can be and adopts other computational methods, as: before aforementioned calculation method formula, add weights.
Step S260, CPU 13 judges whether to bump in the cleaning time, if bump in this cleaning time, then forwards S220 to, and controls this main body 11 and turn, if do not bump in this cleaning time, then cleaning finishes.
When CPU 13 is turned in control main body 11, rotational angle can be controlled between 100 to 120 degree, and adjacent twice direction of rotation.Can obtain higher cleaning efficiency thus.
See also Fig. 3, read move distance as example with time acquisition unit 112, describe CPU 13 in detail and carry out the step of cleaning according to move distance control main body 11, cleaning step among its job step and first embodiment is identical substantially, and its difference is: this time acquisition unit 112 is to come computing time at interval according to reading move distance.
Step S320, central control unit 13 receives the signal that impact switch 111 is pressed, control time acquiring unit 112 read move distance apart from processing unit apart from probe unit, that is: this current move distance of current move distance, and storage is in the distance processing unit.
Step S330 is according to the time interval current and that move distance calculated current collision and collided last time last time.
This deducts the poor of move distance last time apart from the current move distance that processing unit will be stored in it, and the movement velocity that is provided with divided by automatic cleaning apparatus before the cleaning can obtain this time interval again.
Particularly, current collision is the n time collision, and then collision last time is n-1 collision, and its move distance is respectively 1
nWith 1
(n-1)The time, the n time time interval Δ T then
n=(1
n-1
(n-1))/v.Wherein, n is the integer more than or equal to 1, and v is the preceding movement velocity that is provided with of cleaning.
It should be noted that at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not break away from the spirit and scope of technical solution of the present invention.
Claims (11)
1. automatic cleaning apparatus, it comprises main body, be arranged at the shell and the CPU of main body periphery, described CPU and main body are electrically connected, be used to control main body and carry out cleaning, it is characterized in that: described main body comprises time acquisition unit and at least one impact switch that is arranged in the shell, the mobilizable main body that is connected in of described shell, and link to each other with impact switch, be moved with respect to main body when being used to run into object, and push impact switch, described CPU is used for when impact switch is pressed, and the control time acquiring unit reads current collision time or move distance, and the control main body is turned; Described CPU also is used for the control time acquiring unit and calculates the adjacent time interval of pushing impact switch twice, and the cleaning time of main body was set according to the described time interval.
2. automatic cleaning apparatus as claimed in claim 1 is characterized in that described shell is connected in main body by flexible member, make shell with respect to the displacement of main body between 1 to 5mm.
3. automatic cleaning apparatus as claimed in claim 1 is characterized in that, the quantity of described at least one impact switch is two, and it is arranged at the relative both sides in the shell.
4. automatic cleaning apparatus as claimed in claim 1 is characterized in that, when described CPU is used to control the main body turning, rotates 100 to 120 degree, and adjacent twice direction of rotation.
5. automatic cleaning apparatus as claimed in claim 1, it is characterized in that, described time acquisition unit comprises clock unit and time processing unit, described time processing unit is used to read the current collision time of described clock unit, and calculates the adjacent time interval of pushing impact switch twice according to current collision time and last collision time.
6. automatic cleaning apparatus as claimed in claim 1, it is characterized in that, described time acquisition unit comprises apart from probe unit and apart from processing unit, describedly be used to read described current move distance, and calculate the adjacent time interval of pushing impact switch twice according to current move distance and last move distance apart from probe unit apart from processing unit.
7. automated cleaning method, be used to control a cleaning device job, it may further comprise the steps: judge whether cleaning device bumps in a Preset Time, if in described Preset Time, bump, then read current collision time or move distance, and control described cleaning device and turn, if do not bump in the described Preset Time, then cleaning finishes;
Calculate the time interval of current collision and last time collision;
Whether judge the described time interval greater than a preceding time interval, if described interval greater than a preceding time interval, then calculate the cleaning time according to the described time interval, if the described time interval is less than or equal to a preceding time interval, the time of then cleaning is constant;
Judge whether to collide in the cleaning time, if bump, then read current collision time in the described cleaning time, and control described cleaning device and turn, if do not bump in the described cleaning time, then cleaning finishes.
8. automated cleaning method as claimed in claim 7 is characterized in that, in the described cleaning device turning step of control, controls described cleaning device and rotates 100 to 120 degree, and adjacent twice direction of rotation.
9. automated cleaning method as claimed in claim 7 is characterized in that, the step in the time interval of the current collision of described calculating and last time collision comprise according to current collision time and last time collision time calculate the described time interval.
10. automated cleaning method as claimed in claim 7 is characterized in that, the step in the time interval of the current collision of described calculating and last time collision comprise according to current with last time move distance calculate the described time interval.
11. automated cleaning method as claimed in claim 7 is characterized in that, thereby the step of described calculating cleaning time adopts the described time interval is obtained the described cleaning time with the summation of default cleaning time again divided by empirical.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810163856.5A CN101444407B (en) | 2008-12-25 | 2008-12-25 | Automatic cleaning device and method thereof |
| DE202009013343U DE202009013343U1 (en) | 2008-12-25 | 2009-10-13 | Automatic cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810163856.5A CN101444407B (en) | 2008-12-25 | 2008-12-25 | Automatic cleaning device and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101444407A true CN101444407A (en) | 2009-06-03 |
| CN101444407B CN101444407B (en) | 2011-08-17 |
Family
ID=40740504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810163856.5A Expired - Fee Related CN101444407B (en) | 2008-12-25 | 2008-12-25 | Automatic cleaning device and method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101444407B (en) |
| DE (1) | DE202009013343U1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103006153A (en) * | 2012-12-14 | 2013-04-03 | 向桂南 | Intelligent floor wiping machine |
| CN103315683A (en) * | 2012-03-23 | 2013-09-25 | 鸿奇机器人股份有限公司 | Cleaning robot and method of controlling the same |
| CN104757911A (en) * | 2014-11-26 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Smart floor sweeping robot and sweeping method thereof |
| CN110495821A (en) * | 2019-09-05 | 2019-11-26 | 北京石头世纪科技股份有限公司 | Cleaning robot and control method thereof |
| CN110764503A (en) * | 2019-10-23 | 2020-02-07 | 广东美的白色家电技术创新中心有限公司 | Sweeping robot and sweeping method and control device thereof |
| CN111166237A (en) * | 2018-11-09 | 2020-05-19 | 北京奇虎科技有限公司 | Sweeping robot and multidirectional collision detection device and method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2000078198A1 (en) * | 1999-06-19 | 2000-12-28 | Gi Hwan Han | Self-driven automatic cleaner |
-
2008
- 2008-12-25 CN CN200810163856.5A patent/CN101444407B/en not_active Expired - Fee Related
-
2009
- 2009-10-13 DE DE202009013343U patent/DE202009013343U1/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103315683A (en) * | 2012-03-23 | 2013-09-25 | 鸿奇机器人股份有限公司 | Cleaning robot and method of controlling the same |
| CN103006153A (en) * | 2012-12-14 | 2013-04-03 | 向桂南 | Intelligent floor wiping machine |
| CN104757911A (en) * | 2014-11-26 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Smart floor sweeping robot and sweeping method thereof |
| CN104757911B (en) * | 2014-11-26 | 2018-02-06 | 深圳市银星智能科技股份有限公司 | The cleaning method and Intelligent robot for sweeping floor of Intelligent robot for sweeping floor |
| CN111166237A (en) * | 2018-11-09 | 2020-05-19 | 北京奇虎科技有限公司 | Sweeping robot and multidirectional collision detection device and method thereof |
| CN110495821A (en) * | 2019-09-05 | 2019-11-26 | 北京石头世纪科技股份有限公司 | Cleaning robot and control method thereof |
| CN110495821B (en) * | 2019-09-05 | 2023-11-28 | 北京石头世纪科技股份有限公司 | Cleaning robot and control method thereof |
| CN110764503A (en) * | 2019-10-23 | 2020-02-07 | 广东美的白色家电技术创新中心有限公司 | Sweeping robot and sweeping method and control device thereof |
| CN110764503B (en) * | 2019-10-23 | 2022-11-22 | 广东美的白色家电技术创新中心有限公司 | Sweeping robot and sweeping method and control device thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| DE202009013343U1 (en) | 2009-12-24 |
| CN101444407B (en) | 2011-08-17 |
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Granted publication date: 20110817 Termination date: 20121225 |