CN102221249A - Air treater and barrier detection method thereof - Google Patents

Air treater and barrier detection method thereof Download PDF

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Publication number
CN102221249A
CN102221249A CN201010153220XA CN201010153220A CN102221249A CN 102221249 A CN102221249 A CN 102221249A CN 201010153220X A CN201010153220X A CN 201010153220XA CN 201010153220 A CN201010153220 A CN 201010153220A CN 102221249 A CN102221249 A CN 102221249A
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air processor
mobile
air
control module
spool
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CN201010153220XA
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CN102221249B (en
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沈象波
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Ecovacs Robotics Suzhou Co Ltd
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Abstract

The invention discloses an air treater and a barrier detection method thereof. The air treater structurally comprises an air treatment device, a moving device which is internally provided with a control unit, and detection units; a lifting unit is connected between the air treatment device and the moving device and is controlled by the control unit to go up and down freely so as to change the height of the air treatment device connected with the lifting unit; and the detection units are arranged on the air treatment device and the moving device and used for detecting barriers possibly appearing in an area between the air treatment device and the moving device and sending a detected barrier signal to the control unit. The air treater is capable of detecting the barriers appearing in the area between the air treatment device and the moving device when a purifying unit is lifted to move, thereby ensuring the normal use of the treater and the operation safety of the processor under the state without guarding.

Description

Air processor and obstacle detection method thereof
Technical field
The present invention relates to a kind of air processor and control method thereof, especially a kind of air processor and obstacle detection method thereof.
Background technology
Air processor is a kind of novel household electrical equipment, and it has functions such as automatic detection smog, elimination dust, elimination peculiar smell and pernicious gas, sterilization, humidification, dehumidifying.With the air purifier is example, and air purifier is made up of systems such as circuit for producing high voltage, anion generator, ventilation blower (gentle breeze fan), air cleaners usually.By the ventilation blower in the air purifier room air is circulated, the air that pollutes is removed all contaminations or absorption after filtering by the air cleaner in the machine, process is contained in the anion generator (circuit for producing high voltage during work in the anion generator produces negative direct current high voltage) of air outlet then, with the continuous ionization of air, produce a large amount of anions, sent by ventilation blower (gentle breeze fan), form the anion air-flow, the purpose that reach cleaning, purifies air.Wherein, filter, anion generator, ventilation blower that is used to carry out air cleaning etc. is referred to as clean unit.
The purification style of air purifier mainly contains following type: the one, filter absorbent-type, promptly adopt physics formula purification style, utilize the porous filter material, as nonwoven, filter paper, fiber, active carbon, foam etc. (the strongest filter material of adsorption capacity is a HEPA high-density air filter material at present), suspended particulate in the absorbed air, pernicious gas, thus purify air; The 2nd, the electrostatic precipitation type, promptly electrostatic purification style makes in the air pollutant charged by corona discharge, uses dust collect plant to collect charged particle, reaches the purpose that purifies air; The 3rd, the chemical formula purification style, as: photocatalytic method or formaldehyde scavenger or medicament etc., it is exactly compound having again: utilize above-mentioned filtration, static and/or chemical cleaning method mode simultaneously, purify air.In principle, several modes that purify air all have certain detergent power to room air more than.
Progress along with science and technology, air purifier is as a kind of intelligent artifact, also experienced the different stages, phase I: the air processor that fixing, clean unit can not lift, this air purifier is by physics formula purification style (as: active carbon or HEPA screen pack), electrostatic purification style (as: anion) or chemical formula purification style (as: photocatalytic method or formaldehyde scavenger or medicament etc.), in the fixed position, level altitude purifies air.
Second stage: air purifier is fixing, the liftable air purifier of clean unit.This air purifier is installed in the fixed position, but the air cleaning member in the clarifier can move up and down according to circumstances at differing heights, thereby reaches the effect of a certain regional air of effective circulation.It is ZL03106666.6 that the concrete technical scheme of relevant this air processor is asked for an interview the patent No., and name is called the patent documentation of " air processor ".In this patent documentation, disclosed following content: clarifier is provided with lifting unit, this unit comprises the tooth bar that longitudinally is arranged on the casing inner surface, thereby vertically forms on the outer surface of housing so that hold the guide groove that tooth bar leads to the elevating movement of housing; With tooth bar engagement and the pinion that supports rotationally by housing; And be arranged on the housing place and make pinion clockwise or the motor that is rotated counterclockwise.During the motor rotation, make air cleaning member pass through tooth bar and move in vertical direction.
In addition, also has a kind of air purifier that moves certainly in the prior art.The driver part of this air purifier by being provided with is implemented in around the presumptive area and purifies air when mobile.It is ZL200410043117.4 that concrete technical scheme is asked for an interview the patent No., and name is called the patent documentation of " air purifying robot and system thereof "; ZL200510051309.4, name is called the patent documentation of " air processor and control method thereof ".This robot can realize moving up and down but its air cleaning member can't be implemented in differing heights from moving.
In above various air purifiers, the clean-up effect of the air purifier that fixing, clean unit can not lift is far from clean unit can lifting or the good purification of air purifier movably.But, each defectiveness of the air purifier of second stage, as first kind, owing to can not move, can only carry out air cleaning in the space with regard to differing heights in the original place, and, owing to do not detect the sensor of elevating mechanism relevant height position, when elevating mechanism carries out lifting, when the child touches the cavity that is equipped with elevating mechanism in the casing with hand, and there is potential human injury's danger.And second kind, though can move, can only carry out air cleaning in a height level's space in different places.
Summary of the invention
Defective based on prior art, the technical problem to be solved in the present invention is, a kind of air processor and obstacle detection method thereof are provided, when clean unit rises, can move, and can detect to guarantee air processor and other people safety barrier.
For solving the problems of the technologies described above, the invention provides a kind of air processor, comprise air processor and mobile device, in mobile device, be provided with control module, be connected with lifting unit between described air processor and the mobile device, described lifting unit is controlled by control module and carries out free lifting, thereby changes the height that is connected air processor with it; Also comprise the detecting unit of being located on air processor and the mobile device, be used for detecting when lifting unit rise moving process, the barrier that zone between described air processor and mobile device may occur, and detected obstacle signal sent to described control module.
The present invention also provides the obstacle detection method of a kind of aforementioned air processor when walking, may further comprise the steps:
The control module of described air processor is in the moving process that lifting unit has risen, detect and whether receive the obstacle signal that detecting unit is sent, if receive, then control the mobile device action, to dodge the barrier of the zone appearance between described air processor and mobile device.
In sum, the present invention is risen when mobile at clean unit, can detect the barrier that the zone between air processor and the mobile device occurs, guaranteed its normal use and unattended state under job safety.
Below in conjunction with the drawings and specific embodiments technical scheme of the present invention is described in detail.
Description of drawings
Fig. 1 is the structure chart of the air processor in the embodiment of the invention one;
Fig. 2 is the structure chart of air processor when lifting unit rises in embodiment illustrated in fig. 1;
Fig. 3 is the structure chart of the air processor in the embodiment of the invention two;
Fig. 4 is the structure chart of air processor when lifting unit rises in embodiment illustrated in fig. 3;
Fig. 5 A-5B is the structure chart of conductive fabric coiler device in the air processor in the embodiment of the invention.
Fig. 6 A-6B is the structural representation of the protective cover embodiment one of air processor among the present invention;
Fig. 7 A-7D is the structural representation of the protective cover embodiment two of air processor among the present invention.
The specific embodiment
Fig. 1 is the structure chart of the air processor in the embodiment of the invention one, and Fig. 2 is the structure chart of air processor when lifting unit rises in embodiment illustrated in fig. 1.As shown in Figure 1 and Figure 2, described air processor comprises air processor 1 and mobile device 2, this air processor 1 is as the funtion part of air processor, be used to purify air or the humidification/dehumidifying of air, described mobile device 2 comprises housing 21, driving wheel 22 and driver part etc., realizes air processor moving certainly on ground by described mobile unit 2.In the housing 21 of mobile device 2, also be provided with control module (figure does not show), be connected with lifting unit 3 between described air processor 1 and the mobile device 2, on described mobile device, be provided with the accommodation space 23 that sets to the concave, be used to accommodate described air processor 1 and lifting unit 3.Described lifting unit 3 is controlled by control module and carries out free lifting, thereby changes the height that is connected air processor with it.Described air processor also comprises the detecting unit of being located on air processor and the mobile device, be used to detect the barrier that the zone between described air processor and mobile device may occur when lifting unit rises, in case detected barrier, detected obstacle signal is sent to described control module, can control mobile unit by control module and in time change the direction of advancing, in order to avoid produce disadvantageous consequence with the barrier collision.
As shown in Figure 3, Figure 4, structure chart for the air processor in the embodiment of the invention two, described air processor comprises two parts up and down, and top is divided into main body and is positioned at the air processor 1 ' of main body, and last main body plays the effect of supporting and holding various parts.The bottom is divided into mobile device 2 ', and it comprises housing 21 ', driving wheel 22 ' and driver part etc.And, in housing 21 ', also be provided with control module and power supply, as rechargeable battery etc., described going up between main body and the mobile device 2 ' connected by lifting unit 3 '.In addition, air processor also comprises the detecting unit of being located on air processor 1 ' and the mobile device 2 ', is used for detecting the barrier that the zone between the described air processor 1 ' and mobile device 2 ' may occur when lifting unit 3 '.
In the above embodiments of the present invention, described detecting unit can adopt multiple structure and principle, shown in Fig. 2,4, detecting unit is for being located at described mobile device 2,2 ' upper surface and described air processor 1, the sensing element 4 of 1 ' lower surface (not shown), each group sensing element 4 forms a signalling channel.Better, sensing element 4 can as wireless electron signal transmission element, infrared ray transmission/receiving element, light transmission/receiving element or Laser emission/receiving element, can certainly be above-mentioned combination arbitrarily for multiple.For the zone that makes detection wider, and information is more accurate, be provided with a plurality of sensing elements 4 in the corresponding position of mobile device and air processor, in addition, the alignment placement of paired sensing element 4 is the equal angles setting, better, certain angle that each radiated element involves, as 20 °, for making surveyed area is continuous, can adopt optical element that the signal that each radiated element sends is dispersed processing, so that the zone that signal covered that every group of two groups of transmitting element adjacent one another are send continuously.In like manner, before receiving element, also increase optical element,, like this,,, just can be detected, the situation of omission can not occur as long as there is barrier to enter this surveyed area just make surveyed area continuous to enlarge the zone of receiving element received signal.Described continuous detection zone is around a week or part around the described lifting unit.
Because when air processor is the lifting unit rise, Yi Bian handle air, as purifying or humidification, move on one side, in moving process, if barrier is arranged, normally the front end of air processor touches barrier earlier, therefore, can make the front end that surveyed area only is located at air processor, for example, as shown in Figure 2, paired sensing element 4 is that symmetry axis is symmetrically distributed with the diameter in the preceding semi-circumference of direction of advance, can detect the barrier that may run into to greatest extent with this when advancing.
In the air processor traveling process, when if signal receiving element receives the signal that the signal radiated element launched, signal receiving element is given control module with the signal feedback of induction, after control module is received signal, clear between air processor and the mobile device is described, it is constant that air processor will be kept former direct of travel, moves on; If a certain position of air processor in traveling process, a certain signal receiving element does not receive the signal that the signal radiated element is launched, the air processor control module interposition that can judge air processor and mobile device is equipped with barrier thus, the mode of dodging of the former direct of travels of change such as the mobile unit of air processor is taked to retreat under the driving of control module, turning moves, and receives the signal that the signal radiated element is launched once more until signal receiving element.Specifically, if the described signal receiving element that is in air processor front end left side does not detect the signal that corresponding signal radiated element is launched, then can judgement in the signal area of air processor left end, barrier be arranged, described control module control described mobile device turn right to; If the described signal receiving element that is in air processor front end right side does not detect the signal that corresponding signal radiated element is launched, then can judge in the signal area on air processor front end right side has barrier, described control module control described mobile device turn left to; If the described signal receiving element that is in the air processor front end does not detect the signal that corresponding signal radiated element is launched, then control module is judged has barrier in the signal area of air processor front end, described control module is controlled described mobile device and drawn back.Here, the angle that turns to of the described mobile device of aforementioned control can preestablish or be set at random by described control module.
In addition, the another kind of mode of detecting unit is to be arranged with two groups of parallel conductive fabric coiler devices with gap in the periphery of the lifting unit of air processor, shown in Fig. 5 A, 5B, and the schematic diagram when launching for each group conductive fabric coiler device.Comprise conductive fabric 51, fixed axis 52 and spool 53, described fixed axis 52 is fixed in air processor, described spool 53 is fixed on the described mobile device, one end of described conductive fabric 51 is fixed on the described fixed axis 52, the other end is wound on the described spool 53, spool 53 is provided with the wind spring (not shown), when conductive fabric 51 was wound on the described spool 53 fully, wind spring was in initial state, does not promptly stress, when conductive fabric 51 along with lifting unit 3,3 ' rise is during by described air processor pull-up, and wind spring is stressed, and conductive fabric 51 is drawn manyly more, stressed big more, elastic deformation is big more; When described air processor along with lifting unit 3,3 ' when descending, conductive fabric 51 is subjected to the elastically-deformable restoring force of wind spring, conductive fabric 51 is shunk be wound up on the spool 53.Conductive fabric surface conductance in opposite directions in two groups of conductive fabric coiler devices, opposing is surperficial non-conductive.When having barrier to collide, air processor places lifting unit 3 in traveling process, during 3 ' peripheral conductive fabric, because conductive fabric has flexibility and elasticity, stressed position caves inward, the inner surface of Wai Wei conductive fabric 53 touches the inner surface that is positioned at internal layer conductive fabric 53 thus, at this moment, and the circuit communication that is connected with two groups of conductive fabrics, produce a signal of telecommunication, and this signal of telecommunication is fed back to control module.
Fixed axis 52 also can be fixed on the mobile device, and spool 53 is fixed in air processor, and the operation principle of relevant this sensing unit is identical as mentioned, does not repeat them here.
In the present embodiment, the described sensor unit that utilizes conductive fabric to constitute has only one, and is arranged on the front end of air processor, in addition, also can be provided with a plurality of, along the periphery setting of lifting unit 3, can preferentially be arranged on front end, also can evenly be provided with.Certainly, when one of employing utilized the sensor unit of conductive fabric formation, described conductive fabric also can be around in a week of described lifting unit 3.
Air processor utilizes conductive fabric to detect the method for barrier among the above embodiment, be specially: the control module of described air processor is in the moving process that lifting unit has risen, detect and whether receive the obstacle signal that above-mentioned detecting unit is sent, if receive, then control the mobile device action, to dodge the barrier of the zone appearance between described air processor and mobile device.If the detected obstacle signal of described control module comes from the sensing element in described air processor front end left side, described control module control described mobile device turn right to; If the detected obstacle signal of described control module comes from the sensing element on described air processor front end right side, described control module control described mobile device turn left to; If the detected obstacle signal of described control module comes from the sensing element in the middle of the described air processor front end, described control module is controlled described mobile device and is drawn back, and perhaps, changes an angle to the left or to the right earlier, readvances.Wherein, described turn left to or turn right to angle preestablish or set at random by described control module.
Because this device is a self-moving device, belong to need not human intervention device, its security is even more important, moreover lifting unit is in exposed state for a long time, be easy to owing to dust fall causes pivot insensitive, therefore the lifting unit periphery is provided with protective cover 6 in the embodiment two of air processor.The two ends up and down of protective cover 6 are connected respectively at air processor and mobile device, and ways of connecting can be multiple, can also can be modes such as detachable such as bayonet type, card slot type or screw for the disposable connection of viscose connection.Adopting detachable benefit is easy replacement, is convenient to cleaning.
For the protective cover among the present invention multiple mode can be arranged.The protective cover embodiment one that is respectively air processor among the present invention as Fig. 6 A, 6B be in open, the structural representation of contraction state.In the present embodiment, protective cover is a multistage barrel structure, and the tube one-level one-level that a plurality of sizes are reduced one by one interlocks and is formed by connecting, and when elevating mechanism was reduced to lowest order, all tubes all were accommodated in the tube of size maximum.Better, be the height minimum after making tube shrink, the connection spacing of each is consistent.The cross sectional shape of tube can have multiple, as rectangle, ellipse, triangle etc.
Be respectively the structural representation of the protective cover embodiment two of air processor among the present invention as Fig. 7 A-7D.Fig. 7 A is the stereogram of opening of protective cover embodiment two, and Fig. 7 B is the side view of opening of protective cover embodiment two, and Fig. 7 C is the stereogram after the contraction of protective cover embodiment two, and Fig. 7 D is the side view after the contraction of protective cover embodiment two.Protective cover is a contractile tube.
The structure of protective cover also is a takeup type structure among the present invention, and its structure is identical with the mechanism of conductive fabric sensor, shown in Fig. 5 A, 5B.
Described protective cover comprises cover body and spool, and cover body and conductive fabric are similar, and an end of described cover body is fixed on the air processor of described upward main body, and the other end is fixed on the described spool, and described spool is fixed on the described mobile device.Be provided with the wind spring (not shown) on described spool, when cover body was wound on the described spool fully, wind spring was in initial state, promptly do not stress, when cover body during by described air cleaning member pull-up, wind spring is stressed, cover body is drawn manyly more, and stressed big more, elastic deformation is big more; When described air processor descended, cover body was subjected to the elastically-deformable restoring force of wind spring, cover body was shunk be wound up into spool.
Certainly, also an end of cover body can be fixed on the described mobile device, the other end is fixed on the described spool, and this spool is fixed on the air processor of described upward main body, is provided with wind spring on described spool.The operation principle of relevant this protective cover is identical as mentioned, does not repeat them here.
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 the foregoing description, those of ordinary skill in the art is to be understood that, still can make amendment and be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of the technical program, it all should be encompassed in the middle of the claim scope of the present invention.

Claims (10)

1. air processor, comprise air processor and mobile device, in mobile device, be provided with control module, be connected with lifting unit between described air processor and the mobile device, described lifting unit is controlled by control module and carries out free lifting, thereby changes the height of connected air processor; It is characterized in that, also comprise the detecting unit of being located on air processor and the mobile device, be used for detecting and work as lifting unit at the rise moving process, the barrier that zone between described air processor and mobile device may occur, and detected obstacle signal sent to described control module.
2. air processor as claimed in claim 1, it is characterized in that, described detecting unit comprises the sensing element of the lower surface of upper surface that one or more groups is located at described mobile device respectively and described air processor, and each group sensing element forms a signalling channel.
3. air processor as claimed in claim 2 is characterized in that, described sensing element is the front end of the described air processor direction of advance of representative at the particular location of described mobile device upper surface and described air processor lower surface;
Described sensing element is three groups, is separately positioned on three zones, left, center, right of the front end of the described air processor direction of advance of representative;
Described organize in two groups of sensing elements adjacent one another are more, surveyed area is continuous each other, and described continuous detection zone is around a week or part around the described lifting unit.
4. as claim 2 or 3 described air processors, it is characterized in that described sensing element comprises a kind of or any combination in wireless electron signal transmission element, infrared ray transmission/receiving element, light transmission/receiving element and the Laser emission/receiving element.
5. air processor as claimed in claim 1, it is characterized in that, described detecting unit comprises two groups of conductive fabric coiler devices with gap, wherein, each group conductive fabric coiler device comprises conductive fabric, fixed axis and spool, described fixed axis is fixed on described air processor/mobile device, described spool is fixed on described mobile device/air processor, one end of described conductive fabric is fixed on the described fixed axis, the other end is wound on the described spool, spool is provided with wind spring, and conductive fabric is along with the lifting of lifting unit is pulled out or shunk from spool; Two conductive fabrics surface conductance in opposite directions, opposing is surperficial non-conductive.
6. air processor as claimed in claim 1 is characterized in that, is provided with the accommodation space that sets to the concave on described mobile device, is used to accommodate described lifting unit;
Outer cover at described lifting unit is provided with protective cover, and described protective cover can stretch along with the elevating movement of lifting unit.
7. air processor as claimed in claim 6 is characterized in that, described protective cover is interlocked step by step by many groups tube and forms; Perhaps described protective cover is a folding tube; Perhaps described protective cover comprises cover body and spool, and an end of described cover body is fixed on described main body/described air cleaning member, and the other end is fixed on the described spool, and described spool is fixed on described air cleaning member/described main body, and spool is provided with wind spring.
8. air processor as claimed in claim 1 is characterized in that, described air processor is air cleaning unit or air wetting/dehydrating unit.
9. one kind as the obstacle detection method of air processor as described in the arbitrary claim of claim 1-8 when the walking, it is characterized in that, may further comprise the steps:
The control module of described air processor is in the moving process that lifting unit has risen, detect and whether receive the obstacle signal that the described detecting unit of the arbitrary claim of claim 1-8 is sent, if receive, then control mobile device and retreat or turn to, the barrier that occurs with the zone of dodging between described air processor and mobile device.
10. obstacle detection method as claimed in claim 9, it is characterized in that, the step of described control mobile device action specifically comprises: if the detected obstacle signal of described control module comes from the sensing element in described air processor front end left side, described control module control described mobile device turn right to; If the detected obstacle signal of described control module comes from the sensing element on described air processor front end right side, described control module control described mobile device turn left to; If the detected obstacle signal of described control module comes from the sensing element in the middle of the described air processor front end, described control module is controlled described mobile device and is drawn back;
Described turn left to or turn right to angle preestablish or set at random by described control module.
CN201010153220XA 2010-04-14 2010-04-14 Air treater and barrier detection method thereof Active CN102221249B (en)

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