CN102133078A - Ground processing system and method for guiding ground processing device thereof - Google Patents
Ground processing system and method for guiding ground processing device thereof Download PDFInfo
- Publication number
- CN102133078A CN102133078A CN2010101000566A CN201010100056A CN102133078A CN 102133078 A CN102133078 A CN 102133078A CN 2010101000566 A CN2010101000566 A CN 2010101000566A CN 201010100056 A CN201010100056 A CN 201010100056A CN 102133078 A CN102133078 A CN 102133078A
- Authority
- CN
- China
- Prior art keywords
- treating device
- floor
- target emanation
- emission
- control module
- 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.)
- Pending
Links
Images
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to a ground processing system and a guide method. The ground processing system comprises a signal transmitting device and a ground processing device, wherein the signal transmitting device comprises a control unit and a signal transmitting unit used for transmitting target radiation in multiple directions; and the ground processing device comprises a control unit and a signal receiving unit used for receiving the target radiation; when the ground processing device is positioned in a working state, the ground processing device can respond to the target radiation received by the signal receiving unit to perform processing operation in preset time in a subarea which is defined by the target radiation under the control of the control unit; and after the processing operation in the preset time is finished, the ground processing device responds to the target radiation received by the signal receiving unit to perform processing operation in the preset time in the next subarea which is defined by the target radiation under the control of the control unit. Therefore, ground processing in a small area comprising at least two subareas is realized.
Description
Technical field
The present invention relates to the bootstrap technique of the floor-treating device in a kind of Ground Processing System and the described Ground Processing System.
Background technology
Along with the progress and the development of science and technology in epoch, floor-treating devices such as dust catcher have become the known product of people, and they no longer rest on the manually-operated stage, and the robot of various intelligence arises at the historic moment.This robotlike has easy to clean, time saving and energy saving characteristics, makes people break away from loaded down with trivial details housework.
In prior art and product, for example the walking manner of floor-treating device such as robot cleaner generally is to move at random.When the people's that starts the machine power supply, after the beginning cleaning works, route of its walking and the household ornaments situation that direction depends on institute's working environment.Because robot is undertaken by dust sensor the recognition function of dust, the amount of dust by the recognition machine people sucks the size judgement institute purging zone of amount of dust belongs to passive identification dust again.Therefore, have a kind of situation: certain regional amount of dust is very big, because floor-treating device is not initiatively discerned the dust function, the cleaning works in this piece zone just might be omitted so, and the cleaning efficiency of this sweeper mode at random is not very high.
In addition, Chinese invention patent No.03103501.9 discloses a kind of method and system that robot is positioned and restricts, and described system comprises robot restriction conveyer, is used to define a ring-like restriction zone.This robot restriction conveyer uses first transmitter and two comprehensive transmitters of second transmitter, but the modulated beam of light of the first transmitter broadcast standard, and second transmitter can send the ray of spending with the first transmitter phase difference output 180, but power is less.When detecting less than infrared ray, this robot can turn to.When robot when this transmitter is farther, can lose this light beam at last, and return wherein.When its more near the time, the ray that sends from second transmitter can be blocked the ray from this first transmitter, produces unmodulated infrared ray, the detector in the robot can't be detected, and this robot can return in this ring-like zone.In this patent of invention, first transmitter and second transmitter all are comprehensive transmitters, work in the ring-like zone that robot can only constitute at the ray of first transmitter and the emission of second transmitter.
Summary of the invention
The problem to be solved in the present invention is, the bootstrap technique of a kind of Ground Processing System and floor-treating device thereof is provided at the deficiencies in the prior art, by the guiding of sender unit, make floor-treating device in pending zone, realize zonule planning processing, to improve treatment effeciency.
On the one hand, the invention provides a kind of Ground Processing System, described Ground Processing System comprises: sender unit and floor-treating device, described sender unit has control module and is used to launch the signal transmitter unit of target emanation, the direction of described target emanation is a plurality of, and described floor-treating device has control module and is used to receive the signal receiving unit of the target emanation of described signal transmitter unit emission.When described floor-treating device is in running order, described floor-treating device can operated in response to the processing that the target emanation that receives by described signal receiving unit was carried out in a sub regions that is limited by this target emanation in the scheduled time under the control of its control module, after the processing operation of finishing in the scheduled time, described floor-treating device is under the control of its control module, operate in response to the processing that the target emanation that receives by described signal receiving unit was carried out in the next subregion that is limited by this target emanation in the scheduled time, thereby be implemented in floor treatment in the zonule that comprises at least two described subregions.
In addition, described sender unit is can be to the cradle of described floor-treating device charging, described cradle comprises pedestal, is arranged on cantilever, rotating mechanism and the control module of described pedestal upper end, described rotating mechanism makes described cantilever rotate with frequency at a predetermined angle under the control of described control module, is provided with the described signal transmitter unit of the described target emanation of emission at the front end of described cantilever.When described floor-treating device is in running order, described floor-treating device is under the control of its control module, operate in response to the processing that the target emanation that receives by described signal receiving unit was carried out in a sub regions that is limited by this target emanation in the scheduled time, and after the processing operation of finishing in the scheduled time, described rotating mechanism rotates described cantilever at a predetermined angle, and described floor-treating device is under the control of its control module, in the next subregion that this target emanation limits, carry out processing operation in the scheduled time in response to the target emanation that receives by described signal receiving unit, thereby be implemented in the floor treatment in the zonule that comprises at least two described subregions in this way.
In addition, described signal transmitter unit comprises a plurality of emission subelements of the signal of launching same-code, and a plurality of described emission subelements are the border and are provided with.
Comprise at described signal transmitter unit under the situation of a plurality of emission subelements of the signal of launching same-code, the control module of described sender unit comprises timer, when described floor-treating device is finished processing in the scheduled time and is operated in the subregion that the target emanation of the described emission subelement emission by limits, the control module of described sender unit is closed this emission subelement, and open the next described emission subelement that to open, make described floor-treating device in the subregion that the target emanation that the described emission subelement by the next one is launched limits, carry out the processing operation of the scheduled time.
Described signal transmitter unit comprises a plurality of emission subelements of the signal of launching different coding, and a plurality of described emission subelements are the border and are provided with.
Comprise at described signal transmitter unit under the situation of a plurality of emission subelements of the signal of launching different coding, be provided with timer in the control module of described sender unit, when described floor-treating device is finished processing in the scheduled time and is operated in the subregion that the target emanation of the described emission subelement emission by limits, the control module of described sender unit is closed this emission subelement, and open the next described emission subelement that to open, make described floor-treating device in the subregion that the target emanation that the described emission subelement by the next one is launched limits, carry out the processing operation of the scheduled time.
Comprise at described signal transmitter unit under the situation of a plurality of emission subelements of the signal of launching different coding, have another kind of mode: the control module of described sender unit is opened a plurality of described emission subelements simultaneously, be provided with timer in the control module of described floor-treating device, the control module of described floor-treating device is decoded to the signal of a described emission subelement, and the processing of carrying out in the scheduled time in the subregion that the target emanation by this emission subelement emission limits is operated, and when processing when operation of finishing in the scheduled time, the control module of described floor-treating device is decoded to the signal of the described emission subelement of the next one, and carries out the processing operation in the scheduled time in the subregion that the target emanation by this emission subelement emission limits.
In addition, described floor-treating device is handled in the process of operation in the given time, if the signal receiving unit of described floor-treating device does not receive target emanation, then the described floor-treating device of control module order of described floor-treating device moves and seeks described target emanation, can receive described target emanation up to described signal receiving unit and proceed to handle operation again.
On the other hand, the invention provides a kind of bootstrap technique of floor-treating device of Ground Processing System, described Ground Processing System comprises: sender unit and floor-treating device, described sender unit has control module and is used to launch the signal transmitter unit of target emanation, the direction of described target emanation is a plurality of, and described floor-treating device has control module and is used to receive the signal receiving unit of the target emanation of described signal transmitter unit emission.Described bootstrap technique comprises the steps:
Step 1: when described Ground Processing System was in running order, the signal transmitter unit of described sender unit was launched target emanation;
Step 2: described signal receiving unit receives described target emanation, and described floor-treating device is operated in response to the processing that the target emanation that receives by described signal receiving unit was carried out in a sub regions that is limited by this target emanation in the scheduled time under the control of its control module;
Step 3: after the processing operation of finishing in the scheduled time, described floor-treating device is operated in response to the processing that the target emanation that receives by described signal receiving unit was carried out in the next subregion that is limited by this target emanation in the scheduled time under the control of its control module;
Step 4: described floor-treating device is handled operation according to the mode of step 2 and step 3 in comprising the zonule of at least two described subregions, up to all-of.
Therefore, floor-treating device can be dealt with the work in the subregion that is limited by target emanation by the guiding of signal processing apparatus.In addition, the variation that can also follow target emanation is worked in each sub regions.Thereby, can either prevent the omission handled, can carry out the processing of appointed area as required again, that is, can realize that the planning of the zonule that comprises two sub regions at least in the pending zone is handled, thereby can when saving resource, improve treatment effeciency.
Description of drawings
Fig. 1 is the structural representation of the cradle in the Ground Processing System of first embodiment of the invention.
Fig. 2 is the structural representation of the floor-treating device in the Ground Processing System of first embodiment of the invention.
Fig. 3 is the sectional view of the rotating mechanism of cradle.
Fig. 4 is the structural representation of the rotor plate among Fig. 3.
Fig. 5 shows the profile of first exemplary configurations of omnidirectional's receiver.
Fig. 6 shows the stereogram of first exemplary configurations of omnidirectional's receiver.
Fig. 7 shows the three-dimensional exploded view of first exemplary configurations of omnidirectional's receiver.
Fig. 8 shows the stereogram of second exemplary configurations of omnidirectional's receiver.
Fig. 9 shows the three-dimensional exploded view of second exemplary configurations of omnidirectional's receiver.
Figure 10 shows the stereogram of the 3rd exemplary configurations of omnidirectional's receiver.
Figure 11 shows the three-dimensional exploded view of the 3rd exemplary configurations of omnidirectional's receiver.
Figure 12 shows the flow chart of the bootstrap technique of the floor-treating device in the Ground Processing System of first embodiment of the invention.
Figure 13 is the figure in the exemplary operation path of floor-treating device in the target emanation of signal transmitter unit emission.
Figure 14 is the figure in another the exemplary operation path of floor-treating device in the target emanation of signal transmitter unit emission.
Figure 15 shows the figure of floor-treating device working condition in the target emanation of signal transmitter unit emission.
Figure 16 shows the stereogram of the signal transmitter unit structure in the Ground Processing System of second embodiment of the invention.
Figure 17 shows the exploded perspective view of the signal transmitter unit structure in the Ground Processing System of second embodiment of the invention.
The specific embodiment
With reference to the accompanying drawings the preferred embodiments of the present invention are described.
First embodiment
Fig. 1 is the structural representation of the cradle in the Ground Processing System of first embodiment of the invention.Fig. 2 is the structural representation of the floor-treating device in the Ground Processing System of first embodiment of the invention.As depicted in figs. 1 and 2, Ground Processing System of the present invention comprises the floor-treating device 10 and the cradle 20 that is used for to floor-treating device 10 chargings that is used to carry out floor treatment.Described floor treatment can comprise processing such as dust suction that ground is carried out and waxing.In the present invention, cradle 20 also is used for the processing operation channeling conduct to floor-treating device 10.
Cradle
The rotating mechanism of cradle
Specifically, described rotating mechanism comprises rotor plate 212 that can be rotatably set in cantilever 210 inside and the chute 215 that is arranged on the cradle pedestal 216.The inside of cantilever 210 is installed with a motor 211, and the motor shaft of motor 211 and rotor plate 212 are affixed, and promptly motor 211 can drive rotor plate 212 rotations.Specifically with reference to Fig. 4, rotor plate 212 is a plectane, and its circle centre position is provided with rotor plate motor axis hole 217, is provided with a rotor plate salient point 214 in its place's of keeping to the side off-centre, and rotor plate salient point 214 is arranged in the chute 215 and can slides in chute 215.
What the rotating mechanism of this preferred embodiment adopted is typical toggle.When motor 211 rotated, motor shaft drove rotor plate 212 rotations, promptly drives rotor plate salient point 214 and also rotates simultaneously.And because rotor plate salient point 214 is arranged in the chute 215 simultaneously, therefore defines and drive the motion of rotor plate salient point 214 perpendicular to chute 215 directions.Because chute 215 is fixed itself, therefore can drive rotor plate salient point 214 and in chute 215, reciprocatingly slide, and then drive cantilever 210 rotations.The rotating mechanism of cradle 20 of the present invention is connected with control module, and under control module control, cantilever 210 is rotated according to predetermined angular and frequency, similarly, the signal transmitter unit 208 infrared target radiation of launching is also with identical predetermined angular and frequency rotation.
The rotatable total angle of the rotating mechanism of cradle is decided on the putting position of cradle.In general, 90 °, 180 ° and 360 ° of three kinds of situations can be arranged.Specify as follows: when cradle was placed on the position, corner in room, so, the anglec of rotation of cradle only needed 90 °, can realize whole room is carried out omnibearing radiation; When cradle was placed on a side wall limit in room, so, the anglec of rotation of cradle needed 180 °, can realize whole room is carried out omnibearing radiation; When cradle was placed on the centre position (can not lean on the corner, can not lean on the wall limit) in room, so, the anglec of rotation of cradle needed 360 °, can realize whole room is carried out omnibearing radiation.
The each time anglec of rotation of cradle rotating mechanism in whole rotatable scope controlled by control module.For example: if desired purging zone is divided into when cleaning 6 times, under cradle rotating mechanism corresponding 90 °, 180 ° and 360 ° of three kinds of situations, its each time the anglec of rotation should be 15 °, 30 ° and 60 °.The speed of cradle rotating mechanism is equally also controlled by control module, processing time in control module is controlled at each subregion in advance is when being 5 minutes, when having arrived this time, the rotating mechanism of cradle begins rotation, arrive next pending subregion, wherein, described subregion is the zone that infrared beam limited of being launched by signal transmitter unit 208.Above-mentioned situation only illustrates, and rotating mechanism can be rotated with the suitable anglec of rotation and frequency under the control of control module, makes each sub regions be connected to each other or overlap, and prevents the omission of process range.
This preferred embodiment rotating mechanism only is exemplary, and the present invention does not get rid of the rotating mechanism of other similar functions.
Floor-treating device
As shown in Figure 2, floor-treating device 10 comprises housing 102, and these housing 102 inside are provided with the supply unit (not shown) and the control module (not shown) that can repeat to power.Floor-treating device 10 also comprises the traveling mechanism (not shown) that is positioned at floor-treating device 10 belows.When being in mode of operation under the control of ground treating apparatus 10 at control module, by the work order of control module, floor-treating device 10 is handled operation moving under the drive of traveling mechanism on pending ground.
As shown in Figure 2, floor-treating device 10 also comprises the signal receiving unit 104 that is arranged on floor-treating device 10 tops.This signal receiving unit 104 is receiving systems, mainly comprise infrared receiving tube, it can receive the signal that the signal transmitter unit 208 of cradle 20 is launched in 360 ° of scopes, promptly signal receiving unit 104 can be Fig. 5～omnidirectional's receiver 105 shown in Figure 11.
Signal receiving unit
Below the example as omnidirectional's receiver 105 of signal receiving unit is described.
Fig. 5 shows the profile of first exemplary configurations of omnidirectional's receiver 105.Fig. 6 shows the stereogram of first exemplary configurations of omnidirectional's receiver 105.Fig. 7 shows the three-dimensional exploded view of first exemplary configurations of omnidirectional's receiver 105.As Fig. 5～shown in Figure 7, omnidirectional's receiver 105 comprises lens 106, infrared receiver component 107 and receives base 108.In the present embodiment, infrared receiver component 107 is infrared receiving diodes.In receiving base 108, be provided with the groove 109 that is used to hold infrared receiver component 107.Lens 106 are arranged on the top that receives base 108, with the upper end of infrared receiver component 107 and around be closed ground envelope and enclose, realized the function of omnidirectional's reception infrared signal thus.
Fig. 8 shows the stereogram of second exemplary configurations of omnidirectional's receiver 105.Fig. 9 shows the three-dimensional exploded view of second exemplary configurations of omnidirectional's receiver 105.As Fig. 8 and shown in Figure 9, omnidirectional's receiver 105 comprises prism lid 110, prism 111, infrared receiver component 107 and receives base 113.In the present embodiment, infrared receiver component 107 is infrared receiving diodes.In receiving base 113, be provided with the groove 109 that is used to hold infrared receiver component 107.Prism 111 is arranged on and receives base 113 tops.When infrared receiver component 107 was placed in the groove 109, infrared receiving diode 107 was positioned at the center position of prism 111.Infrared receiver component 107 is realized the signal that 360 ° of signal transmitter units 208 that all can receive cradle 20 are launched by prism 111.
Figure 10 shows the stereogram of the 3rd exemplary configurations of omnidirectional's receiver 105.Figure 11 shows the three-dimensional exploded view of the 3rd exemplary configurations of omnidirectional's receiver 105.As shown in Figure 10 and Figure 11, omnidirectional's receiver 105 comprises a plurality of infrared receiver components 115 and receives base 116.In the present embodiment, infrared receiver component 115 is infrared receiving diodes.In receiving base 116, be the border and be provided with a plurality of grooves 117 that are used to hold infrared receiver component 115.Therefore, a plurality of infrared receiver components 115 are the border and are arranged in a plurality of grooves 117, and the angle of radiation of adjacent two infrared receiver components 115 can be connected to each other or partially overlap.Like this, infrared receiver component 115 can be arranged the signal that the signal transmitter unit 208 of 360 ° of receptions of realization cradles 20 is launched by this.
Bootstrap technique to the floor-treating device in the Ground Processing System of first embodiment of the invention describes with reference to the accompanying drawings.
Figure 12 shows the flow chart of the bootstrap technique of the floor-treating device 10 in the Ground Processing System of first embodiment of the invention.
In the present invention, under the duty, the signal transmitter unit 208 of cradle 20 is launched infrared target radiation (step S100).104 pairs of target emanations of signal receiving unit on the floor-treating device 10 are responded to, and the control module of floor-treating device 10 judges whether signal receiving unit 104 receives this target emanation (step S101).According to judged result, if signal receiving unit 104 can receive this target emanation, be that floor-treating device 10 is in this target emanation, then the control module of floor-treating device 10 sends designated command floor-treating device 10 begin processing operation (step S102) in the scheduled time in a sub regions, the zone that the target emanation of in the following description, signal transmitter unit 208 being launched limits is as a sub regions of floor-treating device 10 work.According to judged result, if signal receiving unit 104 does not receive this target emanation, then signal receiving unit 104 will represent that induction sends to the control module of floor-treating device 10 less than the signal of this target emanation, control module sends designated command floor-treating device 10 and moves and seek this target emanation (step S103), begins the processing operation in the scheduled time after signal receiving unit 104 is sensed target emanation again.
In step S102, floor-treating device 10 begins the processing operation in the scheduled time in subregion.In the floor-treating device 10 processing operating process in the given time, when ground treating apparatus 10 rolls the scope of target emanation away from, signal receiving unit 104 induction fall short radiation on the floor-treating device 10, and will represent that induction sends to the control module (step S106) of floor-treating device 10 less than the signal of this target emanation.In step S107, the control module of floor-treating device 10 sends instruction, and order floor-treating device 10 moves seeks target emanation, and the receiving element 104 on floor-treating device 10 is sensed this target emanation and proceeded the normal handling operation again.Like this, floor-treating device 10 continues the processing operation (step S108) in the scheduled time.
In the process of working on, if floor-treating device 10 rolls the scope of target emanation once more away from, the then operation of repeating step S106～S108.Like this, in this way, in a sub regions, i.e. work in the zone that target emanation limits is up to the processing operation of finishing in the scheduled time (step S109) under the control of control module for floor-treating device 10.
On the other hand, in the floor-treating device 10 processing operating process in the given time, if signal receiving unit 104 can receive target emanation (step S105) always, then floor-treating device 10 is working in the subregion that this target emanation limits under the control of control module, up to the work of finishing in the scheduled time (step S109).
When ground treating apparatus 10 was handled operation in a sub regions, its operating path can be set as required.Figure 13 is the figure in the exemplary operation path of floor-treating device 10 in the target emanation of signal transmitter unit emission.Figure 14 is the figure in another the exemplary operation path of floor-treating device in the target emanation of signal transmitter unit emission.As shown in figure 13, the operating path of floor-treating device 10 in a sub regions is screw type.As shown in figure 14, the operating path of floor-treating device 10 in a sub regions is pectination type.Certainly the operating path of floor-treating device 10 in a sub regions also can be random mode.
Therefore, from the operating path of floor-treating device 10 as can be seen, in the floor-treating device 10 processing operating process in the given time, floor-treating device 10 as the scope of not rolling target emanation as described in the step S105 away from and signal receiving unit 104 can to receive the chance of target emanation smaller always, situation that in most cases can generation step S106.That is to say, according to the signal that can receive target emanation that signal receiving unit 104 sends, floor-treating device 10 under the control of control module in the subregion that target emanation limits according to the operating path work of setting.
After floor-treating device 10 is finished the work of this subregion in the given time, the cantilever 210 of cradle 20 utilizes rotating mechanism certain as described above angle under the control of the control module of cradle 20 to be rotated, equally, same angle (step S104) is also rotated in signal transmitter unit 208 target emanation of launching.
Ground Processing System repeating step S101～S104 makes floor-treating device 10 continue to handle operation in selected target emanation, up to finishing whole work.This shows that the floor-treating device 10 among the present invention can be handled continuously to pending zone under the guiding of the signal transmitter unit 208 on the rotatable cantilever 210, do not exist processing less than the zone.For complex environment comparatively, this processing mode has very big advantage especially.
Certainly, if do not need whole pending zones are handled continuously, can utilize the control module of cradle 20, the rotation of cantilever 210 is controlled, thereby control the interval between each target emanations of rotatable signal transmitter unit 208 emissions, to realize processing to selection area.Figure 15 shows the figure of floor-treating device 10 working condition in the target emanation of signal transmitter unit emission.As shown in figure 15, floor-treating device 10 can be worked in two subregions not adjacent to each other.Therefore, Ground Processing System of the present invention can carry out continuous, overlapping or processing at interval to each sub regions, thereby realizes the planning processing to the zonule that comprises at least two sub regions, thereby can improve treatment effeciency when saving resource.
Second embodiment
In the explanation of first embodiment, floor-treating device 10 is realized the planning of each sub regions is handled by rotatable cantilever 210.The another kind of implementation that present embodiment provides above-mentioned planning to handle is elaborated with reference to the accompanying drawings.
In the present embodiment, on sender units such as for example cradle, be provided with and be used for the another kind of signal transmitter unit of signal receiving unit 104 emitting infrared radiations for the treatment of apparatus 10 earthward, be i.e. the signal transmitter unit 308 of present embodiment.Figure 16 shows the stereogram of the structure of the signal transmitter unit 308 in the Ground Processing System of second embodiment of the invention.Figure 17 shows the exploded perspective view of the structure of the signal transmitter unit 308 in the Ground Processing System of second embodiment of the invention.As Figure 16 and shown in Figure 17, signal transmitter unit 308 comprises emission base 310, is the border and is provided with a plurality of grooves 311 that are used to hold a plurality of emission subelements 309 in this emission base 310.Therefore, a plurality of emission subelements 309 are the border and are arranged in a plurality of grooves 311, and the transmitting boundary of adjacent transmission subelement 309 can connect or overlap each other.In the present embodiment, emission subelement 309 is infrared transmitting tubes, and its characteristic is illustrated in the part about cradle of first embodiment, do not repeat them here.The structure of the structure of signal transmitter unit 308 and Figure 10 and omnidirectional's receiver 105 shown in Figure 11 is similar, difference is that omnidirectional's receiver 105 comprises the infrared receiver component 115 as infrared receiving diode, and signal transmitter unit 308 comprises the emission subelement 309 as infrared transmitting tube.The signal that each emission subelement 309 is launched can be the signal of different coding, also can be the signal of same-code.
The same-code signal
The following describes the signal launched of emission subelement 309 is the situation of same-code signal.In this case, be emission subelement 309 that the border is provided be single, open successively.
Control module in the sender unit is provided with timer (not shown).When ground treating apparatus 10 is handled operation by the guiding of sender unit, control module in the floor-treating device 10 is sought the first emission subelement 309a by decoding, and works in the subregion that first target emanation of launching subelement 309a emission limits.Simultaneously, the timer in the control module of sender unit picked up counting to the scheduled time of the work of floor-treating device 10 in described subregion.In addition, be similar to first embodiment, in the floor-treating device 10 processing operating process in the given time, when ground treating apparatus 10 rolls the scope of target emanation of the first emission subelement 309a emission away from, receiving element 104 on the floor-treating device 10 is responded to less than this target emanation, and will represent that induction sends to the control module (step S106 shown in Figure 12) of floor-treating device 10 less than the signal of this target emanation; In step S107 shown in Figure 12, the control module of floor-treating device 10 sends instruction, order floor-treating device 10 moves seeks target emanation, and the receiving element 104 on floor-treating device 10 is sensed this target emanation and proceeded the normal handling operation again.Like this, floor-treating device 10 continues the processing operation (step S108) in the scheduled time.
In the process of working on,, then repeat the operation of step S106 shown in Figure 12～S108 if floor-treating device 10 rolls the scope of target emanation once more away from.Like this, in this way, in a sub regions, i.e. work in the zone that the target emanation of the first emission subelement 309a emission limits is up to the processing operation of finishing in the scheduled time (step S109 shown in Figure 12) under the control of control module for floor-treating device 10.
When ground treating apparatus 10 is finished the working time of the scheduled time during section in the subregion that the target emanation of the first emission subelement 309a emission limits, the control module of sender unit is closed the first emission subelement 309a, and open another emission subelement 309 that to open, for example the second emission subelement 309b.Control module in the floor-treating device 10 is launched subelement 309b by decoding searching second, and operates to carry out the processing of the scheduled time with the similar mode of the first emission subelement 309a in the subregion of the target emanation qualification of the second emission subelement 309b emission.By that analogy, in the same way, floor-treating device 10 can be at the 3rd emission subelement, the 4th emission subelement ... handle operation in the subregion that limits.
Therefore, the control of the control module by sender units such as for example cradles and the control module of floor-treating device 10, floor-treating device 10 can be handled in adjacent subregion continuously, also can handle according to being chosen in the non-conterminous subregion, thereby realize the zonule planning that comprises at least two sub regions is handled, thereby can when saving resource, improve treatment effeciency.
The different coding signal
The following describes the signal launched of emission subelement 309 is the situation of the signal of different coding.In this case, being different signal that each emission subelement 309 that the border is provided with passes through to be launched encodes and is distinguished.Each emission subelement 309 can be single, open successively, perhaps can open simultaneously.
When single, open each emission during subelement 309 successively, to the control mode of the processing of floor-treating device 10 with single, to open the mode of emission subelement 309 of emission same-code signal successively identical, in the explanation of this omission to this mode.
Open each emission subelement 309 when simultaneously, when promptly each 309 whiles of emission subelement are in running order, in the control module of floor-treating device 10, be provided with timer (not shown).When ground treating apparatus 10 is handled operation by the guiding of sender unit, control module in the floor-treating device 10 is decoded to the signal of the first emission subelement 309a, makes at floor-treating device 10 to work in the subregion of the target emanation qualification of the first emission subelement 309a emission.Simultaneously, the timer of floor-treating device 10 picks up counting.When meeting some requirements, when for example arriving the scheduled time, the control module of floor-treating device 10 is decoded to for example signal of the second emission subelement 309b, makes at floor-treating device 10 to work in the subregion of the target emanation qualification of the first emission subelement 309b emission.In the same way, floor-treating device 10 can be at the 3rd emission subelement, the 4th emission subelement ... work in the subregion that limits.Therefore, floor-treating device 10 is only worked in response to the infrared emission radiation under the signal of present encoding.
In addition, floor-treating device 10 mode of working in each subregion is similar to the situation of same-code.Therefore, the control of the control module by floor-treating device 10, floor-treating device 10 can be handled in adjacent subregion continuously, also can handle according to being chosen in the non-conterminous subregion, thereby realize planning processing, thereby can when saving resource, improve treatment effeciency the zonule that comprises at least two sub regions.
In above-mentioned first embodiment and second embodiment, be that example is illustrated with infrared emission/receiving system, but also can use ultrasound emission/receiving system.In addition, for the above-mentioned scheduled time, this scheduled time can preestablish, also can be by artificially setting such as modes such as button and touch-screens.In addition,, can preestablish, also can artificially set such as modes such as button and touch-screens for the emissive porwer of sender unit.
In above-mentioned first embodiment and second embodiment, sender unit is arranged on the cradle.But this sender unit can be independent guide, and this sender unit can be the sender unit of the first embodiment of the invention or second embodiment, also can be to combine the guide that forms with other annexes.The function ratio of guide is more single and simple in structure separately, does not explain at this.
Combine the guide that forms with other annexes for sender unit, for example this guide can combine with virtual wall and form two-in-one device.Virtual wall is the annex of often being prepared in present floor-treating device 10 accessories of a product, and the better function of this annex is than one virtual wall, is used to stop do not want to allow the zone of going before the floor-treating device 10.When sender unit is used in combination with this virtual wall, makes floor-treating device 10 in satisfying the needed zone of user, handle operation, and in required zonule to be processed, realize the planning processing.When just effectively having satisfied a needs Local treatment, this realizes the purpose that planning is handled.
Claims (10)
1. Ground Processing System, described Ground Processing System comprises: sender unit and floor-treating device (10) is characterized in that:
Described sender unit has control module and is used to launch the signal transmitter unit (208,308) of target emanation, and the direction of described target emanation is a plurality of,
Described floor-treating device (10) has control module and is used to receive the signal receiving unit (104) of the target emanation of described signal transmitter unit (208,308) emission,
When described floor-treating device (10) is in running order, described floor-treating device (10) can operated in response to the processing that the target emanation that receives by described signal receiving unit (104) was carried out in a sub regions that is limited by this target emanation in the scheduled time under the control of its control module
After the processing operation of finishing in the scheduled time, described floor-treating device (10) is under the control of its control module, operate in response to the processing that the target emanation that receives by described signal receiving unit (104) was carried out in the next subregion that is limited by this target emanation in the scheduled time, thereby be implemented in floor treatment in the zonule that comprises at least two described subregions.
2. Ground Processing System as claimed in claim 1, it is characterized in that, described sender unit is can be to the cradle (20) of described floor-treating device (10) charging, described cradle (20) comprises pedestal (216), be arranged on the cantilever (210) of described pedestal (216) upper end, rotating mechanism and control module, described rotating mechanism makes described cantilever (210) rotate with frequency at a predetermined angle under the control of described control module, be provided with the described signal transmitter unit (208) of the described target emanation of emission at the front end of described cantilever (210)
When described floor-treating device (10) is in running order, described floor-treating device (10) is under the control of its control module, operate in response to the processing that the target emanation that receives by described signal receiving unit (104) was carried out in a sub regions that is limited by this target emanation in the scheduled time, and
After the processing operation of finishing in the scheduled time, described rotating mechanism rotates described cantilever (210) at a predetermined angle, and described floor-treating device (10) is under the control of its control module, in the next subregion that this target emanation limits, carry out processing operation in the scheduled time in response to the target emanation that receives by described signal receiving unit (104), thereby be implemented in the floor treatment in the zonule that comprises at least two described subregions.
3. Ground Processing System as claimed in claim 1 is characterized in that, described signal transmitter unit (308) comprises a plurality of emission subelements of the signal of launching same-code, and a plurality of described emission subelements are the border and are provided with.
4. Ground Processing System as claimed in claim 3, it is characterized in that, the control module of described sender unit comprises timer, when described floor-treating device (10) is finished processing in the scheduled time and is operated in the subregion that the target emanation of the described emission subelement emission by limits, the control module of described sender unit is closed this emission subelement, and open the next described emission subelement that to open, make described floor-treating device (10) in the subregion that the target emanation that the described emission subelement by the next one is launched limits, carry out the processing operation of the scheduled time.
5. Ground Processing System as claimed in claim 1 is characterized in that, described signal transmitter unit (308) comprises a plurality of emission subelements of the signal of launching different coding, and a plurality of described emission subelements are the border and are provided with.
6. Ground Processing System as claimed in claim 5, it is characterized in that, be provided with timer in the control module of described sender unit, when described floor-treating device (10) is finished processing in the scheduled time and is operated in the subregion that the target emanation of the described emission subelement emission by limits, the control module of described sender unit is closed this emission subelement, and open the next described emission subelement that to open, make described floor-treating device (10) in the subregion that the target emanation that the described emission subelement by the next one is launched limits, carry out the processing operation of the scheduled time.
7. Ground Processing System as claimed in claim 5, it is characterized in that, the control module of described sender unit is opened a plurality of described emission subelements simultaneously, be provided with timer in the control module of described floor-treating device (10), the control module of described floor-treating device (10) is decoded to the signal of a described emission subelement, and the processing of carrying out in the scheduled time in the subregion that the target emanation by the emission of this emission subelement limits operates, and
When processing when operation of finishing in the scheduled time, the control module of described floor-treating device (10) is decoded to the signal of the described emission subelement of the next one, and carries out the processing operation in the scheduled time in the subregion that the target emanation by this emission subelement emission limits.
8. as each described Ground Processing System in the claim 1～7, it is characterized in that, described floor-treating device (10) is handled in the process of operation in the given time, if the signal receiving unit (104) of described floor-treating device (10) does not receive target emanation, the described floor-treating device of control module order (10) of then described floor-treating device (10) moves seeks described target emanation, can receive described target emanation up to described signal receiving unit (104) and proceed to handle operation again.
9. the bootstrap technique of the floor-treating device of a Ground Processing System, described Ground Processing System comprises: sender unit and floor-treating device (10), described sender unit has control module and is used to launch the signal transmitter unit (208 of target emanation, 308), the direction of described target emanation is a plurality of, described floor-treating device (10) has control module and is used to receive the signal receiving unit (104) of the target emanation of described signal transmitter unit (208,308) emission
Described bootstrap technique comprises the steps:
Step 1: when described Ground Processing System was in running order, the signal transmitter unit (208,308) of described sender unit was launched target emanation;
Step 2: described signal receiving unit (104) receives described target emanation, and described floor-treating device (10) is operated in response to the processing that the target emanation that receives by described signal receiving unit (104) was carried out in a sub regions that is limited by this target emanation in the scheduled time under the control of its control module;
Step 3: after the processing operation of finishing in the scheduled time, described floor-treating device (10) is operated in response to the processing that the target emanation that receives by described signal receiving unit (104) was carried out in the next subregion that is limited by this target emanation in the scheduled time under the control of its control module;
Step 4: described floor-treating device (10) is handled operation according to the mode of step 2 and step 3 in comprising the zonule of at least two described subregions, up to all-of.
10. bootstrap technique as claimed in claim 9, it is characterized in that, described floor-treating device (10) is handled in the process of operation in the given time, if the signal receiving unit (104) of described floor-treating device (10) does not receive described target emanation, the described floor-treating device of control module order (10) of then described floor-treating device (10) moves seeks described target emanation, can receive described target emanation up to described signal receiving unit (104) and proceed to handle operation again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101000566A CN102133078A (en) | 2010-01-22 | 2010-01-22 | Ground processing system and method for guiding ground processing device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101000566A CN102133078A (en) | 2010-01-22 | 2010-01-22 | Ground processing system and method for guiding ground processing device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102133078A true CN102133078A (en) | 2011-07-27 |
Family
ID=44293113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101000566A Pending CN102133078A (en) | 2010-01-22 | 2010-01-22 | Ground processing system and method for guiding ground processing device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102133078A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014032357A1 (en) * | 2012-08-31 | 2014-03-06 | 科沃斯机器人科技(苏州)有限公司 | Intelligent method for controlling robot to move to range of signals |
| CN104914857A (en) * | 2014-03-10 | 2015-09-16 | 宝时得机械(中国)有限公司 | Intelligent boundary column |
| CN109032121A (en) * | 2017-06-09 | 2018-12-18 | 先进机器人有限公司 | Motive objects tracing system |
| CN110311432A (en) * | 2019-05-31 | 2019-10-08 | 深圳瑞科时尚电子有限公司 | One kind is from charging of mobile devices seat and from mobile apparatus assembly |
| WO2021179595A1 (en) * | 2020-03-10 | 2021-09-16 | 美智纵横科技有限责任公司 | Virtual wall apparatus and floor-cleaning robot system |
| CN115211760A (en) * | 2021-04-16 | 2022-10-21 | 速感科技（北京）有限公司 | Cleaning robot, cleaning method thereof, and computer-readable storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5926909A (en) * | 1996-08-28 | 1999-07-27 | Mcgee; Daniel | Remote control vacuum cleaner and charging system |
| CN1434359A (en) * | 2002-01-24 | 2003-08-06 | 伊罗巴特公司 | Method and system for positioning and restricting robot |
| CN1530781A (en) * | 2003-03-14 | 2004-09-22 | Lg������ʽ���� | Automatic charging system and method for cleaning robot |
| US20080065266A1 (en) * | 2006-09-11 | 2008-03-13 | Lg Electronics Inc. | Mobile robot and operating method thereof |
| JP2008139992A (en) * | 2006-11-30 | 2008-06-19 | Funai Electric Co Ltd | Self-propelled device and self-propelled device guiding system |
| CN101502406A (en) * | 2009-02-20 | 2009-08-12 | 泰怡凯电器(苏州)有限公司 | Floor processing system as well as rapid butt-joint method for floor treating device and charging stand |
| WO2009148242A2 (en) * | 2008-06-02 | 2009-12-10 | 웅진코웨이주식회사 | Robot cleaner system and method for controlling a robot cleaner |
-
2010
- 2010-01-22 CN CN2010101000566A patent/CN102133078A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5926909A (en) * | 1996-08-28 | 1999-07-27 | Mcgee; Daniel | Remote control vacuum cleaner and charging system |
| CN1434359A (en) * | 2002-01-24 | 2003-08-06 | 伊罗巴特公司 | Method and system for positioning and restricting robot |
| CN1530781A (en) * | 2003-03-14 | 2004-09-22 | Lg������ʽ���� | Automatic charging system and method for cleaning robot |
| US20080065266A1 (en) * | 2006-09-11 | 2008-03-13 | Lg Electronics Inc. | Mobile robot and operating method thereof |
| JP2008139992A (en) * | 2006-11-30 | 2008-06-19 | Funai Electric Co Ltd | Self-propelled device and self-propelled device guiding system |
| WO2009148242A2 (en) * | 2008-06-02 | 2009-12-10 | 웅진코웨이주식회사 | Robot cleaner system and method for controlling a robot cleaner |
| CN101502406A (en) * | 2009-02-20 | 2009-08-12 | 泰怡凯电器(苏州)有限公司 | Floor processing system as well as rapid butt-joint method for floor treating device and charging stand |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014032357A1 (en) * | 2012-08-31 | 2014-03-06 | 科沃斯机器人科技(苏州)有限公司 | Intelligent method for controlling robot to move to range of signals |
| CN103676945A (en) * | 2012-08-31 | 2014-03-26 | 科沃斯机器人科技(苏州)有限公司 | Method for intelligently controlling robot to move into signal range |
| CN104914857A (en) * | 2014-03-10 | 2015-09-16 | 宝时得机械(中国)有限公司 | Intelligent boundary column |
| CN109032121A (en) * | 2017-06-09 | 2018-12-18 | 先进机器人有限公司 | Motive objects tracing system |
| CN110311432A (en) * | 2019-05-31 | 2019-10-08 | 深圳瑞科时尚电子有限公司 | One kind is from charging of mobile devices seat and from mobile apparatus assembly |
| CN110311432B (en) * | 2019-05-31 | 2024-05-24 | 深圳瑞科时尚电子有限公司 | Self-moving equipment charging seat and self-moving equipment assembly |
| WO2021179595A1 (en) * | 2020-03-10 | 2021-09-16 | 美智纵横科技有限责任公司 | Virtual wall apparatus and floor-cleaning robot system |
| CN115211760A (en) * | 2021-04-16 | 2022-10-21 | 速感科技（北京）有限公司 | Cleaning robot, cleaning method thereof, and computer-readable storage medium |
| CN115211760B (en) * | 2021-04-16 | 2024-01-05 | 速感科技（北京）有限公司 | Cleaning robot, cleaning method thereof and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201757860U (en) | Ground processing system | |
| CN102133078A (en) | Ground processing system and method for guiding ground processing device thereof | |
| EP3846981B1 (en) | A robot cleaner and a controlling method for the same | |
| US9340116B2 (en) | Self-propelled electronic device | |
| CN105874394B (en) | Mobile body device | |
| US11064858B2 (en) | Robot cleaner and control method thereof | |
| US9658616B2 (en) | Cleaning robot and method for controlling the same | |
| US11409308B2 (en) | Robot cleaner and a controlling method for the same | |
| US9089249B2 (en) | Direction device and operation system utilizing the same | |
| KR100468107B1 (en) | Robot cleaner system having external charging apparatus and method for docking with the same apparatus | |
| CN104977929B (en) | Guiding type cleaning device and guiding type cleaning set | |
| CN104541517A (en) | Device for creation of layout information, method for creation of layout information, system for operation of domestic electrical appliances, and self-propelled electronic device | |
| TWI635303B (en) | Guided cleaning device and guided cleaning group | |
| KR20090125711A (en) | Robot cleaner system and method of controlling a robot cleaner | |
| JP2019000630A (en) | System including at least two floor treatment appliances | |
| KR102022104B1 (en) | Automatic cleaner | |
| Prassler et al. | Domestic robotics | |
| US10413145B1 (en) | Robotic vacuum with rotating cleaning apparatus | |
| Eren et al. | Design and implementation of a cost effective vacuum cleaner robot | |
| JP6681260B2 (en) | Self-propelled equipment for relay and communication relay system for self-propelled equipment | |
| CN101502406B (en) | Floor processing system as well as rapid butt-joint method for floor treating device and charging stand | |
| KR20160053997A (en) | Self-propelled device | |
| JP2016054917A (en) | Self-propelled vacuum cleaner | |
| EP4026468A1 (en) | Robot cleaner and control method therefor | |
| KR102360875B1 (en) | A plurality of robot cleaner and A controlling method for the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20110727 |