CN102961088A - Autonomous cleaning apparatus and method of controlling the same - Google Patents
Autonomous cleaning apparatus and method of controlling the same Download PDFInfo
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- CN102961088A CN102961088A CN2012103197031A CN201210319703A CN102961088A CN 102961088 A CN102961088 A CN 102961088A CN 2012103197031 A CN2012103197031 A CN 2012103197031A CN 201210319703 A CN201210319703 A CN 201210319703A CN 102961088 A CN102961088 A CN 102961088A
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- brush
- impurity
- brush unit
- cleaning
- unit
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0405—Driving means for the brushes or agitators
- A47L9/0411—Driving means for the brushes or agitators driven by electric motor
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- 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
- A47L2201/02—Docking stations; Docking operations
- A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
An autonomous cleaning apparatus including a body, a brush unit which is rotatably installed onto the body to collect dust from a bottom of the body, and a brush cleaning member including a first brush cleaning protrusion and a second brush cleaning protrusion that protrude toward the brush unit to make contact with the brush unit to remove foreign substances wound around the brush unit.
Description
Technical field
Embodiment of the present disclosure relates to and a kind ofly cleaned zone is being carried out the independent cleaning equipment (autonomous cleaning apparatus) of clean up task and controlling the method for this independent cleaning equipment.
Background technology
Usually, independent cleaning equipment is at the dust that gathers from the floor surface cleaning by oneself's operation on cleaned zone in the situation that does not need the user to control and the equipment of other dusts.Independent cleaning equipment cleans cleaned appointed area by the control driving arrangement, and effectively removes dust by the control cleaning equipment.
Because independent cleaning equipment is not to keep constantly work by the user, be self efficacy (self-efficient) so independent cleaning equipment is formed at when carrying out clean up task.For example, driving arrangement and cleaning equipment can be configured to feed back the clean-up performance that keeps stable according to the signal of telecommunication, are equipped with simultaneously frame for movement (mechanical composition) to keep stable clean-up performance.
Summary of the invention
Therefore, one side of the present disclosure is to provide a kind of independent cleaning equipment and control method thereof, and action and the structure of the brush cleaning element of this independent cleaning equipment improve, to keep the clean-up performance of independent cleaning equipment.
Will be in ensuing description part set forth the disclosure other aspect, some will be clearly by describing, and perhaps can learn through enforcement of the present disclosure.
According to one side of the present disclosure, independent cleaning equipment comprises main body, brush unit and brush cleaning element.Brush unit is rotatably installed on the main body, with the beneath collection dust from main body.The brush cleaning element comprises the first brush cleaning projection and the second brush cleaning projection, and the first brush cleaning projection and the second brush cleaning projection are outstanding towards brush unit, and contact with brush unit, thereby removal is wrapped in the impurity on the brush unit.
The first brush cleaning projection and the second brush cleaning projection tilt along opposite directions, so that the first brush cleaning projection is removed the impurity that is wrapped on the brush unit when brush unit rotates along first direction, and the second brush cleaning projection is removed the impurity that is wrapped on the brush unit when brush unit rotates along second direction.
So that rotating along second direction, independent cleaning equipment suction dust and brush unit in the independent cleaning equipment discharging dust, remove the impurity that is wrapped on the brush unit by the brush cleaning element along the first direction rotation at brush unit.
When brush unit alternately rotates along first direction and second direction, remove the impurity that is wrapped on the brush unit by the brush cleaning element.
The first brush cleaning projection is formed with a plurality of brush cleaning projections that longitudinally arrange along brush unit, the second brush cleaning projection is formed with a plurality of brush cleaning projections that longitudinally arrange along brush unit, and the first brush cleaning projection and the second brush cleaning projection project in the radius of turn of brush unit.
The first brush cleaning projection and the second brush cleaning projection form on the end of brush cleaning element each other.
Described independent cleaning equipment also comprises control module, described control module is configured to determine whether to remove the impurity that is wrapped on the brush unit and carries out control, so that remove the impurity that is wrapped in brush unit on by the brush cleaning element at brush unit when first direction and second direction are alternately rotated.
The energy that control module detects based on the optical pickocff on the wall surface of the opening by being arranged on main body detects the amount that is wrapped in the impurity on the brush unit and determines whether to remove described impurity based on the amount of the impurity that detects.
Control module detects the amount that is wrapped in the impurity on the brush unit and determines whether to remove described impurity based on the amount of the impurity that detects based on the load on the motor that makes brush unit operation.
Control module determines whether to remove impurity based on user's input.
According to another aspect of the present disclosure, independent cleaning systems comprise main body, independent cleaning equipment and Impurity removal instrument.Independent cleaning equipment comprises brush unit, and brush unit is rotatably installed on the main body, to be collected in the beneath dust of main body.The Impurity removal instrument comprises the brush cleaning element, and the brush cleaning element is outstanding and contact with brush unit towards brush unit, is wrapped in impurity on the brush unit with removal, and the Impurity removal instrument removably is attached to main body, and the bottom with brush unit is adjacent to setting simultaneously.
The Impurity removal instrument comprises in conjunction with protrusion unit, and this is attached to main body in conjunction with the engagement groove unit of protrusion unit by main body.
The brush cleaning element is provided with the first brush that tilts along opposite directions and cleans projection and the second brush cleaning projection.
Brush unit alternately rotates along single direction rotation or along first direction and second direction, removes the impurity that is wrapped on the brush unit to use the brush cleaning element.
Independent cleaning equipment also comprises control module, and this control module is configured to identify the Impurity removal instrument, and whether to be attached to main body simultaneously adjacent with the bottom of brush unit.
Whether control module is attached to main body based on identifying the Impurity removal instrument by the output of the inching switch in the engagement groove unit that is arranged in main body.
Whether control module is attached to main body based on identifying the Impurity removal instrument by the output of the optical pickocff in the engagement groove unit that is arranged in main body.
Whether control module is attached to main body based on identifying the Impurity removal instrument by the output of the magnetic sensor in the engagement groove unit that is arranged in main body.
In the situation when the Impurity removal instrument is attached to main body, control module is carried out control, so that remove the impurity that is wrapped in brush unit on by the brush cleaning element at brush unit when first direction and second direction are alternately rotated.
In the situation when the input that exists the user to carry out, control module is carried out control, so that remove the impurity that is wrapped in brush unit on by the brush cleaning element at brush unit when first direction and second direction are alternately rotated.
According to another aspect of the present disclosure, the method for controlling independent cleaning equipment is as follows.Determine whether to remove the impurity that is wrapped on the brush unit, brush unit is configured to the beneath collection dust from main body.In case determine to remove impurity, when brush unit alternately rotates along first direction and second direction, remove the impurity that is wrapped on the brush unit by using the brush cleaning element, wherein, the brush cleaning element comprises the first brush cleaning projection and the second brush cleaning projection, the first brush cleaning projection is outstanding to contact with brush unit towards brush unit with the second brush cleaning projection, and the first brush cleaning projection and the second brush cleaning projection tilt along opposite directions simultaneously.
When determining whether to remove the impurity that is wrapped on the brush unit, the energy that detects based on the optical pickocff on the wall surface of the opening by being arranged on main body detects the amount that is wrapped in the impurity on the brush unit and determines whether to remove described impurity based on the amount of the impurity that detects.
When determining whether to remove the impurity that is wrapped on the brush unit, detect the amount that is wrapped in the impurity on the brush unit and determine whether to remove described impurity based on the amount of the impurity that detects based on the load on the motor that makes brush unit operation.
When determining whether to remove the impurity that is wrapped on the brush unit, determine whether to remove impurity based on user's input.
According to another aspect of the present disclosure, the Impurity removal instrument that is used for independent cleaning equipment comprises Impurity removal member and storage element.The Impurity removal member is attached to the opening of independent cleaning equipment, to remove the impurity that is wrapped on the brush unit by interacting with brush unit.Opening is formed on the position corresponding with brush unit.Storage element is configured to store the impurity of removing from brush unit.
Be attached at the Impurity removal member in the situation of opening of independent cleaning equipment, the Impurity removal member is arranged in the radius of turn of brush unit.
According to embodiment of the present disclosure, the impurity that is wrapped on the brush unit of independent cleaning equipment is removed effectively, thereby keeps the stable clean-up performance of independent cleaning equipment.
Description of drawings
By the description of embodiment being carried out below in conjunction with accompanying drawing, these and/or other aspect of the present disclosure will become obviously and be more readily understood, wherein:
Fig. 1 is the view that schematically shows according to the cleaning systems of embodiment of the present disclosure;
Fig. 2 is the sectional view that schematically shows according to the independent cleaning equipment of embodiment of the present disclosure;
Fig. 3 is the view that schematically shows according to the bottom of the independent cleaning equipment of embodiment of the present disclosure;
Fig. 4 schematically shows according to the brush unit of embodiment of the present disclosure and the view of brush cleaning element;
Fig. 5 and Fig. 6 are the views that schematically shows according to the brush cleaning element of embodiment of the present disclosure;
Fig. 7 to Fig. 9 is the view that schematically shows according to the cleaning movement of the first direction of rotation of the brush unit of embodiment of the present disclosure;
Figure 10 to Figure 12 is the view that schematically shows according to the cleaning movement of the second direction of rotation of the brush unit of embodiment of the present disclosure;
Figure 13 is the view that schematically shows according to the Impurity removal instrument of embodiment of the present disclosure;
Figure 14 is the flow chart that schematically shows according to the method for the independent cleaning equipment of control of embodiment of the present disclosure.
The specific embodiment
To be described in detail embodiment of the present disclosure now, its example is shown in the drawings, and wherein, identical label is indicated identical element all the time.
Fig. 1 is the view that schematically shows according to the cleaning systems of embodiment of the present disclosure.
With reference to Fig. 1, cleaning systems 10 comprise independent cleaning equipment 20 and all-in-service station 60.Independent cleaning equipment 20 is a kind of equipment of carrying out various clean up tasks in independent operating, is for to the battery charging of independent cleaning equipment 20 or be used for emptying the equipment of the dust arrester of independent cleaning equipment 20 as a kind of all-in-service station 60 of service equipment.
All-in-service station 60 comprises housing 61 and platform 62.
Platform 62 supports independent cleaning equipment 20 when independent cleaning equipment 20 docks with all-in-service station 60.Platform 62 arranges obliquely, thereby independent cleaning equipment 20 is climbed up easily platform 62 and climbed down from platform 62.
The second opening 62a passes platform 62 and forms.The second opening 62a of platform 62 is disposed in the position that the second opening 62a of platform 62 is communicated with the first opening 21a of independent cleaning equipment 20.Therefore, the dust of discharging of the first opening 21a by independent cleaning equipment 20 is introduced among the second opening 62a of platform 62.Being introduced in dust among the second opening 62a of platform 62 is stored in the second dust arrester (not shown) in the all-in-service station 60.The second dust arrester can be releasably attached to all-in-service station.
Platform 62 can comprise the brush cleaning element, and when independent cleaning equipment 20 docked with all-in-service station 60, the brush cleaning element was outstanding towards brush unit 41, and contacts to remove the impurity that twines around brush unit 41 with brush unit 41.The brush cleaning element can be installed among the second opening 62a or with the second opening 62a and be adjacent to install.
Fig. 2 is the sectional view that schematically shows according to the independent cleaning equipment of embodiment of the present disclosure.Fig. 3 is the view that schematically shows according to the bottom of the independent cleaning equipment of embodiment of the present disclosure.
Referring to figs. 1 through Fig. 3, independent cleaning equipment 20 comprises main body 21, driving arrangement 30, cleaning equipment 40, various sensor 50 and control module 24.
Control left driving wheel 31a and right driving wheel 31b so that independent cleaning equipment moves forward and backward, perhaps change direction.For example, controlling equally left driving wheel 31a and right driving wheel 31b moves forwards or backwards independent cleaning equipment 20.Differently control left driving wheel 31a and right driving wheel 31b, so that independent cleaning equipment 20 changes direction.
In left driving wheel 31a, right driving wheel 31b and the castor 32 each all is implemented as the single component that is releasably attached to main body 21.
The dust that brush unit 41 will gather under main body 21 is collected in the first dust arrester 43.Brush unit 41 comprises: roller 41a can be rotatably set in the first opening 21a place; Brush 41b, be installed in the outside of roller 41a.When roller 41a rotated, the brush 41b that comprises elastomeric material can stir the dust in the beneath collection of main body 21.By such motion, accumulate in the beneath dust of main body 21 by the first opening 21a, then be stored in the first dust arrester 43.
In order to keep the clean-up performance of stable form, pilot brush unit 41 is so that it is according to constant rotary speed movement.Yet according to the situation with cleaned surface, the rotating speed of brush unit 41 can change.For example, compare with the smooth surface situation when cleaned, when uneven surface (for example, carpet) when cleaned, the rotating speed of brush unit 41 can be lowered.At this moment, can supply larger electric current so that the rotating speed of brush unit 41 remains unchanged.
The first dust arrester 43 can be installed on the rear portion of main body 21.The entrance 43 ' of the first dust arrester 43 is connected with the first opening 21a, and dust is introduced in the first dust arrester 43 by entrance 43 '.
The first dust arrester 43 is divided into large dust arrester 43a and little dust arrester 43b.Brush unit 41 is collected large-sized dust among the large dust arrester 43a through the first entrance 43a '.Fan unit 22 sucks undersized floating impurity (for example, hair) through the second entrance 43b ', and it is stored among the little dust arrester 43b.Specifically, brush cleaning element 42 is arranged on the part near the second entrance 43b ', and 42 filterings of brush cleaning element are wrapped in the impurity on the brush unit 41, and utilize the suction of fan unit 22 that impurity is collected among the little dust arrester 43b through the second entrance 43b '.
Fig. 4 schematically shows according to the brush unit of embodiment of the present disclosure and the view of brush cleaning element.
With reference to Fig. 4, brush cleaning element 42 comprises the first brush cleaning projection 42a and the second brush cleaning projection 42b outstanding along opposite directions and that tilt.
When brush unit 41 rotated towards first direction (P), the first brush cleaning projection 42a contacted with brush 41b, effectively to remove the impurity that is wrapped on the brush 41b.When brush unit 41 rotated towards second direction (Q), the second brush cleaning projection 42b contacted with brush 41b, effectively to remove the impurity that is wrapped on the brush 41b.Here, the example of impurity can be that independent cleaning equipment 20 is wrapped in the hair on the brush unit 41 when moving in order to clean.
In addition, in the situation when brush unit 41 alternately rotates along first direction and second direction, the first brush cleaning projection 42a and the second brush cleaning projection 42b contacts and remove with brush 41b in turn and be wrapped in the impurity of brushing on the 41b.
The brush cleaning element 42 that comprises the first brush cleaning projection 42a and the second brush cleaning projection 42b can form a plurality of along brush unit 41 in the vertical.Brush cleaning element 42 also can form according at least one row in the vertical along brush unit 41.
Fig. 5 and Fig. 6 are the views that schematically shows according to the brush cleaning element of embodiment of the present disclosure.
With reference to Fig. 5, the first brush cleaning projection 42a and the second brush cleaning projection 42b are projected in the radius of turn of brush unit 41, easily to remove dust by contacting with the brush 41b of brush unit 41.
Shown on Fig. 5, the first brush cleaning projection 42a and the second brush cleaning projection 42b can form on the edge of brush cleaning element 42 each other.In this case, brush cleaning element 42 is arranged on the part near the second entrance 43b ', and is outstanding towards brush unit 41 simultaneously.The dust of removing from brush unit 41 is stored in the little dust arrester 43b by the suction of fan unit 22.
With reference to Fig. 6, the first brush cleaning projection 42a and the second brush cleaning projection 42b are formed on the same foundation zone along the direction of rotation of brush unit 41, and the two is separated from each other simultaneously.At this moment, the first brush cleaning projection 42a can be provided with in the part near the second entrance 43b ', and the second brush cleaning projection 42b can disposed thereonly arrange on the same foundation zone of the first brush cleaning projection 42a.Alternatively, the second brush cleaning projection 42b can be arranged on the part near the second entrance 43b ', and the first brush cleaning projection 42a can disposed thereonly be provided with on the same foundation zone of the second brush cleaning projection 42b.
In the situation when forming the first brush cleaning projection 42a and the second brush cleaning projection 42b the two is separated from each other simultaneously, the first brush cleaning projection 42a can give prominence to, the first direction of rotation towards brush unit 41 tilts simultaneously, and, the second brush cleaning projection 42b can give prominence to, and the second direction of rotation towards brush unit 41 tilts simultaneously.Simultaneously, the projected direction of each brush cleaning projection 42a and 42b is not limited to this.Therefore, the bearing of trend of brush cleaning projection 42a and 42b can be brushed the direction setting that the impurity phase on the 41b is easily removed for each direction of rotation of brush unit 41 along being wrapped in.
Fig. 7 to Fig. 9 is the view that schematically shows according to the cleaning movement of the first direction of rotation of the brush unit of embodiment of the present disclosure.
With reference to Fig. 7 to Fig. 9, the first brush cleaning projection 42a and the second brush cleaning projection 42b are projected in the radius of turn of brush unit 41.In the situation when independent cleaning equipment 20 sucks dust, brush unit 41 is brushed simultaneously 41b and is stirred the dust that accumulates on the floor along first direction (P) rotation.As the result of such motion and the dust that gathers that is collected be stored in the first dust arrester 43 by the first entrance 43a '.
Yet, disturb the rotation of brush unit 41 when the impurity in the dust that gathers is being wrapped on the brush 41b that is formed by elastomeric material, and reduce the clean-up performance of independent cleaning equipment 20.
At this moment, being wrapped in the upper impurity that rotates with brush 41b simultaneously of brush 41b can be removed by using the first brush cleaning projection 42a.At length say, along with brush unit 41 towards first direction rotation, be moveable to adjacent with the first brush cleaning projection 42a such as the impurity of the hair on the brush 41b that is wrapped in brush unit 41.Along with the brush 41b of brush unit 41 and the first brush cleaning projection 42a contact, the impurity that is wrapped on the brush 41b is removed from brush unit 41, and when independent cleaning equipment 20 moved for cleaning, the impurity of removing from brush unit 41 by the first brush cleaning projection 42a can be stored in the little dust arrester 43b by the second entrance 43b '.
Figure 10 to Figure 12 is the view that schematically shows according to the cleaning movement of the second direction of rotation of the brush unit of embodiment of the present disclosure.
With reference to Figure 10 to Figure 12, along with the brush unit 41 of independent cleaning equipment 20 along second direction (Q) rotation, can remove impurity by using the second brush cleaning projection 42b.That is, along with brush unit 41 rotates along second direction, the impurity that is wrapped on the brush unit 41 is moveable to adjacent with the second brush cleaning projection 42b.Along with brush 41b contacts with the second brush cleaning projection 42b, the impurity that is wrapped on the brush 41b is removed from brush unit 41, and removed impurity can be stored among the little dust arrester 43b by the second entrance 43b '.
Here, independent cleaning equipment 20 can suck dust when moving for cleaning, and can in operation dust emissions be arrived all-in-service station 60.
That is, independent cleaning equipment 20 dock with all-in-service station 60 and with dust arrester 43a and 43b in the dust emissions that the stores situation in the all-in-service station 60 time, the brush unit 41 of independent cleaning equipment 20 rotates along second direction.In addition, at this moment, can remove from brush unit 41 by the impurity that uses the second brush cleaning projection 42b will be wrapped on the brush 41b, and removed impurity can be discharged in the dust arrester of all-in-service station 60.
Simultaneously, different from above-mentioned situation, even when independent cleaning equipment 20 does not dock with all-in-service station 60, also can when brush unit 41 rotates along second direction, remove from brush unit 41 by the impurity that the second brush cleaning projection 42b will be wrapped on the brush 41b.At this moment, independent cleaning equipment 20 can be in fixing state or be in the state that repeatedly seesaws.
With reference to Fig. 7 to Figure 12, contact with brush unit 41 from main body 21 extensions and outstanding brush cleaning element 42.Brush cleaning element 42 longitudinally forms along brush unit 41, and brush cleaning element 42 is removed the impurity that is wrapped on the brush unit 41.The first brush cleaning projection 42a and the second brush cleaning projection 42b give prominence to pick up impurity (for example, hair), and remove the impurity of collecting by the direction of rotation of following brush unit 41 around brush unit 41.That is, when brush unit 41 during along first direction P or second direction Q rotation, contact along with the brush 41b of brush unit 41 cleans projection 42b with the first brush cleaning projection 42a and the second brush, impurity is picked.Afterwards, when the brush 41b of brush unit 41 rotation, impurity moves to top from the bottom of brush cleaning projection 42a and 42b, during such process, from the brush 41b removal impurity of brush unit 41.
Each formed single component of brush unit 41, side brush the 45 and first dust arrester 43, and can be removably mounted on the main body 21.
Figure 13 is the view that schematically shows according to the Impurity removal instrument of embodiment of the present disclosure.
With reference to Figure 13, Impurity removal instrument 46 forms single component, and can be removably mounted on the main body 21.
According to identical mode, brush unit 41 also can be removably disposed on the main body 21.At length say, brush unit 41 comprise roller 41a and be attached to roller 41a two ends in conjunction with protrusion unit 41c.Outwards outstanding from the two ends of roller 41a in conjunction with protrusion unit 41c.Main body 21 comprises engagement groove unit 21c, is attached to engagement groove unit 21c in conjunction with protrusion unit 41c.
Be attached in main body 21 situation when simultaneously adjacent with the bottom of brush unit 41 at Impurity removal instrument 46, brush unit 41 can along first direction P or second direction Q rotation, perhaps alternately rotate to remove the impurity that is wrapped on the brush unit 41 by use brush cleaning element 46c along first direction P and second direction Q.
Here, the brush cleaning element 46c that is arranged on the Impurity removal instrument 46 can be adjacent with the binding site of Impurity removal instrument 46 and main body 21 when giving prominence to towards brush unit 41.Alternatively, brush cleaning element 46c can longitudinally be formed in the middle body of Impurity removal instrument 46 along brush unit 41.In addition, the first brush cleaning projection 46a and the second brush cleaning projection 46b can be formed on the end of brush cleaning element 46c each other, perhaps can be individually formed on base area, and the two is separated from each other simultaneously.
In the situation when the first brush cleaning projection 46a and the second brush cleaning projection are individually formed when 46b is being separated from each other, the first brush cleaning projection 46a tilts diagonally towards the first direction of rotation P of brush unit 41, and the second brush cleaning projection 46b tilts diagonally towards the second direction of rotation Q of brush unit 41.
Referring to figs. 1 through Fig. 3, control module 24 determines whether to remove the impurity that is wrapped on the brush unit 41, if determine to remove impurity, then control module 24 can be carried out the Impurity removal pattern independently.The Impurity removal modal representation brush unit 41 along first direction or second direction is repeatedly rotated or brush unit 41 along first direction and second direction repeatedly alternately in the rotation by using brush cleaning element 42 to remove the action that is wrapped in the impurity on the brush unit 41.For example, according to the Impurity removal pattern, control module 24 can make brush unit 41 alternately rotate towards first direction and second direction, is wrapped in impurity on the brush unit 41 with removal.
Simultaneously, after determining whether to remove impurity, control module 24 can be controlled display 23, showing the information of determining about this, and also shows the implementation status of Impurity removal pattern.
Do not provide in the situation of suction at independent cleaning equipment 20, independent cleaning equipment 20 can be stored in the impurity of removing from brush unit 41 along with the brush unit rotation by brush cleaning projection in the apotheca (not shown) the Impurity removal instrument 46.Brush cleaning projection can be arranged in the radius of turn of brush or can be installed on the Impurity removal instrument 46.
As determining whether deimpurity method, the amount of the energy that control module 24 can detect based on the optical pickocff on the wall of the opening 21a by being installed in main body 21 determines to be wrapped in the amount of the impurity on the brush unit 41, and determines whether to remove impurity based on the amount of the impurity that detects.
Optical pickocff can comprise luminescence sensor 44a and optical receiving sensor 44b.Optical pickocff can be configured such that directly to be transferred to optical receiving sensor 44b from the signal that luminescence sensor 44a sends.
As another example that determines whether deimpurity method, control module 24 is determined to be wrapped in the amount of the impurity on the brush unit 41 and is removed the impurity that is wrapped on the brush unit 41 based on the amount of the impurity that detects based on the load of the motor that makes brush unit 41 operation.
Say that at length in the situation the when amount of the impurity on being wrapped in brush unit 41 increases, the rotary speed of brush unit 41 reduces, and the load of motor increases.If motor load increases, then be supplied to the magnitude of current of motor to increase.Therefore, controller 24 detects the load that imposes on motor based on the magnitude of current that is supplied to motor.Therefore, in the situation the when load on motor increases, control module 24 determines whether to remove the impurity that is wrapped on the brush unit 41.That is, with predetermined value be supplied to the magnitude of current of motor to compare, if the magnitude of current that is supplied to motor less than predetermined value, then controller 24 is determined not remove impurity, if the magnitude of current that is supplied to motor greater than predetermined value, then controller 24 determines to remove impurity.
Simultaneously, control module 24 can determine whether to remove impurity based on user's input.Can carry out by the switch on the main body 21 that is arranged on independent cleaning equipment 20 user's input.In addition, the user can be by inputting with independent cleaning equipment 20 interactional remote control equipments.That is, the user can by being arranged on the switch input Impurity removal pattern on the remote control equipment, carry out the Impurity removal pattern to control independent cleaning equipment 20.In addition, the user can be during the specific time period according to the time interval input command of rule, so that independent cleaning equipment 20 is carried out the Impurity removal patterns.The Impurity removal pattern is carried out in the input that control module 24 can carry out based on the user, and when the Impurity removal Pattern completion on display 23 display indicator.
When carrying out the Impurity removal pattern, brush unit 41 is along first direction P rotation, and the impurity (for example, hair) that is wrapped on the brush 41b of brush unit 41 moves to adjacent with the first brush cleaning projection 42a.When the first brush cleaning projection 42a contacted with the brush 41b of brush unit 41, the impurity that is wrapped on the brush 41b was removed from brush unit 41.
Simultaneously, when brush unit 41 rotated along second direction Q, the impurity (for example, hair) that is wrapped on the brush 41b of brush unit 41 moved to adjacent with the second brush cleaning projection 42b.When the second brush cleaning projection 42b contacted with the brush 41b of brush unit 41, the impurity that is wrapped on the brush 41b was removed from brush unit 41.
Can repeatedly make brush unit 41 along first direction P or second direction Q rotation or make the direction of rotation of brush unit 41 between first direction P and second direction Q, carry out the Impurity removal pattern in the repeatedly change.In addition, be in fixing state at independent cleaning equipment 20, when perhaps independent cleaning equipment 20 is in the state that repeatedly seesaws, can carry out the Impurity removal pattern.
If independent cleaning equipment 20 is determined to remove impurity, then independent cleaning equipment 20 moves on the all-in-service station 60, and enters the Impurity removal pattern when independent cleaning equipment 20 is in stationary state.Independent cleaning equipment 20 can utilize the suction of itself or the suction of all-in-service station 60.When independent cleaning equipment 20 enters the Impurity removal pattern, the fan unit (not shown) operation in the housing 61 of all-in-service station 60, all-in-service station 60 sucks the impurity that filters from independent cleaning equipment 20.
Simultaneously, control module 24 can be identified the Impurity removal instrument 46 of the bottom that is attached to brush unit 41.When Impurity removal instrument 46 was identified as being attached to the bottom of brush unit 41, control module 24 can use microswitch, optical pickocff or magnetic sensor.
Microswitch is to provide and the inching switch that disconnects relative a large amount of electric current by using little power, and can be arranged on the 21c place, engagement groove unit of main body 21.By when Impurity removal instrument 46 be attached to the engagement groove unit 21c of main body 21 in conjunction with protrusion unit the time power that produces, the instantaneous change of sliding contact (travelling contact) is so that electric current flows through.Control module 24 can be incorporated into based on the electric current identification Impurity removal instrument 46 that flows through the bottom of brush unit 41.
In the situation when infrared light transducer[sensor is used as the example of optical pickocff, infrared light transducer[sensor is arranged on the 21c place, engagement groove unit of main body 21, and determines whether received by light receiving unit from the infrared light that the luminescence unit of infrared light transducer[sensor sends.If infrared light is received by light receiving unit, then Impurity removal instrument 46 is identified as not disturbance state and is identified as not being attached to main body 21.If infrared light is not received by light receiving unit, then Impurity removal instrument 46 is identified as being attached to main body 21.
Magnetic sensor can be arranged on the 21c place, engagement groove unit of main body 21, magnet can be arranged on Impurity removal instrument 46 in conjunction with the protrusion unit place.Magnetic sensor can detect the magnetic field that is produced by the magnet in conjunction with the protrusion unit place that is arranged on Impurity removal instrument 46, and whether is attached to main body 21 based on magnetic field intensity identification Impurity removal instrument 46.
In the situation when Impurity removal instrument 46 is attached to main body 21 in adjacent with the bottom of brush unit 41, control module 24 can be carried out the Impurity removal pattern or the input carried out based on the user and carry out the Impurity removal pattern independently.
Be installed in various sensors 50 on the main body 21 for detection of barrier.Sensor can use touch sensor or Proximity Sensor to realize.For example, the buffer 51 that is installed on the front portion (F) of main body 21 can be used for detecting the front side barrier, for example, and wall.In addition, infrared light transducer[sensor (perhaps ultrasonic sensor) can be used for detecting the front side barrier.
In addition, the infrared light transducer[sensor 52 (perhaps ultrasonic sensor) that is installed in the bottom of main body 21 can be used for detecting the situation of floor (for example, step).A plurality of infrared light transducer[sensors 52 can be installed on the bottom of main body 21 according to semicircular arc along the circumference of main body 21.Yet the position of infrared light transducer[sensor is not limited to this.
Except the sensor, various sensors can be installed on the main body 21, to send the information about the state of independent cleaning equipment 20.
Control module 24 receives from the signal of various sensors 50 and controls driving arrangement 30 and cleaning equipment 40, effectively to control independent cleaning equipment 20.
Figure 14 is the flow chart that schematically shows according to the method for the independent cleaning equipment of control of embodiment of the present disclosure.
With reference to Figure 14, the beneath dust that independent cleaning equipment makes brush unit rotation and will accumulate in main body is collected in the dust arrester.Yet the impurity in the dust that gathers can disturb the brush unit rotation when brushing being wrapped in, and can reduce the clean-up performance of independent cleaning equipment.Therefore, before removal is wrapped in impurity on the brush unit, determine whether to remove the impurity (S10) that is wrapped on the brush unit.
Here, determine that deimpurity method is the amount of the energy that detects based on the dust detecting unit 44 by the optical pickocff on the wall that comprises the opening that is installed in main body, perhaps detects the amount that is wrapped in the impurity on the brush unit based on the load on the motor that makes the brush unit operation.Amount based on the impurity that detects determines whether to remove impurity.
In addition, based on user's input, can determine whether removal is wrapped in impurity on the brush unit.Can carry out by the switch on the main body that is arranged on independent cleaning equipment user's input, perhaps can be by carrying out user's input with the interactional remote control equipment of independent cleaning equipment.
If removal is wrapped in impurity on the brush unit 41, then along with brush unit 41 repeatedly rotates along first direction P and second direction Q, comprise that the first brush cleaning projection 42a of projection and the brush cleaning element 42 of the second brush cleaning projection 42b are removed the impurity (S20) that is wrapped on the brush unit obliquely along opposite directions.
Specifically, along with brush unit 41 towards first direction P rotation, the impurity (for example, hair) that is wrapped on the brush 41b of brush unit 41 is moveable to adjacent with the first brush cleaning projection 42a.Along with the brush 41b of brush unit 41 and the first brush cleaning projection 42a contacts, be wrapped in impurity on the brush 41b by from brush unit 41 removals.In addition, along with brush unit 41 along second direction Q rotation, the impurity (for example, hair) that is wrapped on the brush 41b of brush unit 41 is moveable to adjacent with the second brush cleaning projection 42b.Along with the brush 41b of brush unit 41 and the second brush cleaning projection 42b contacts, be wrapped in impurity on the brush 41b by from brush unit 41 removals.
Although illustrated and described embodiment more of the present disclosure, it should be recognized by those skilled in the art that in the situation that does not break away from the principle of the present disclosure that limited its scope by claim and equivalent thereof and spirit, can change these embodiments.
Claims (15)
1. independent cleaning equipment, described independent cleaning equipment comprises:
Main body;
Brush unit is rotatably installed on the main body, with the beneath dust of the autonomous agent of collecting;
The brush cleaning element comprises the first brush cleaning projection and the second brush cleaning projection, and the first brush cleaning projection and the second brush cleaning projection are outstanding towards brush unit, and contact with brush unit, thereby removal is wrapped in the impurity on the brush unit.
2. independent cleaning equipment as claimed in claim 1, wherein, the first brush cleaning projection and the second brush cleaning projection tilt along opposite directions, so that the first brush cleaning projection is removed the impurity that is wrapped on the brush unit when brush unit rotates along first direction, and the second brush cleaning projection is removed the impurity that is wrapped on the brush unit when brush unit rotates along second direction.
3. independent cleaning equipment as claimed in claim 2, wherein, so that rotating along second direction, independent cleaning equipment suction dust and brush unit in the independent cleaning equipment discharging dust, remove the impurity that is wrapped on the brush unit by the brush cleaning element along the first direction rotation at brush unit.
4. independent cleaning equipment as claimed in claim 2 wherein, when brush unit alternately rotates along first direction and second direction, is removed the impurity that is wrapped on the brush unit by the brush cleaning element.
5. independent cleaning equipment as claimed in claim 1, wherein, the first brush cleaning projection is formed with a plurality of brush cleaning projections that longitudinally arrange along brush unit, the second brush cleaning projection is formed with a plurality of brush cleaning projections that longitudinally arrange along brush unit, and the first brush cleans projection and the second brush cleaning projection projects in the radius of turn of brush unit.
6. independent cleaning equipment as claimed in claim 1, wherein, the first brush cleaning projection and the second brush cleaning projection form on the end of brush cleaning element each other.
7. independent cleaning equipment as claimed in claim 1, wherein, the first brush cleaning projection and the second brush cleaning projection are formed on the base area independently along the direction of rotation of brush unit, and the first brush cleaning projection and the second brush cleaning projection are separated from each other simultaneously.
8. independent cleaning equipment as claimed in claim 1, described independent cleaning equipment also comprises control module, described control module is configured to determine whether to remove the impurity that is wrapped on the brush unit and carries out control, so that remove the impurity that is wrapped in brush unit on by the brush cleaning element at brush unit when first direction and second direction are alternately rotated.
9. independent cleaning equipment as claimed in claim 8, wherein, the energy that detects based on the optical pickocff on the wall surface of the opening by being arranged on main body of control module detects the amount that is wrapped in the impurity on the brush unit and determines whether to remove described impurity based on the amount of the impurity that detects.
10. independent cleaning equipment as claimed in claim 8, wherein, control module detects the amount that is wrapped in the impurity on the brush unit and determines whether to remove described impurity based on the amount of the impurity that detects based on the load on the motor that makes the brush unit operation.
11. independent cleaning equipment as claimed in claim 8, wherein, control module determines whether to remove impurity based on user's input.
12. the method for the independent cleaning equipment of control, described method comprises:
Determine whether to remove and be wrapped in the impurity that is configured to from the brush unit of the beneath collection dust of main body;
In case determine to remove impurity, when brush unit alternately rotates along first direction and second direction, remove the impurity that is wrapped on the brush unit by using the brush cleaning element, the brush cleaning element comprises the first brush cleaning projection and the second brush cleaning projection, the first brush cleaning projection and the second brush cleaning projection are outstanding towards brush unit, to contact with brush unit, the first brush cleaning projection and the second brush cleaning projection tilt along opposite directions simultaneously.
13. method as claimed in claim 12, wherein, when determining whether to remove the impurity that is wrapped on the brush unit, the energy that detects based on the optical pickocff on the wall surface of the opening by being arranged on main body detects the amount that is wrapped in the impurity on the brush unit and determines whether to remove described impurity based on the amount of the impurity that detects.
14. method as claimed in claim 12, wherein, when determining whether to remove the impurity that is wrapped on the brush unit, detect the amount that is wrapped in the impurity on the brush unit and determine whether to remove described impurity based on the amount of the impurity that detects based on the load on the motor that makes brush unit operation.
15. independent cleaning equipment as claimed in claim 12 wherein, when determining whether to remove the impurity that is wrapped on the brush unit, determines whether to remove impurity based on user's input.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201161530019P | 2011-09-01 | 2011-09-01 | |
| US61/530,019 | 2011-09-01 | ||
| KR10-2011-0100467 | 2011-10-04 | ||
| KR1020110100467A KR101880089B1 (en) | 2011-09-01 | 2011-10-04 | Autonomous cleaning device and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102961088A true CN102961088A (en) | 2013-03-13 |
| CN102961088B CN102961088B (en) | 2017-09-05 |
Family
ID=46704503
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210319703.1A Active CN102961088B (en) | 2011-09-01 | 2012-08-31 | Independent cleaning equipment and its control method |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20130056026A1 (en) |
| EP (1) | EP2570067A1 (en) |
| JP (1) | JP2013052238A (en) |
| CN (1) | CN102961088B (en) |
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| CN112386163B (en) * | 2019-08-19 | 2022-03-18 | 添可智能科技有限公司 | Cleaning device and cutting assembly control system |
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| CN112934767A (en) * | 2021-01-26 | 2021-06-11 | 上海稳巢信息科技有限公司 | Clean control system of range formula discharge needle |
| WO2023078079A1 (en) * | 2021-11-05 | 2023-05-11 | 追觅创新科技(苏州)有限公司 | Cleaning device control method and cleaning device |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP2570067A1 (en) | 2013-03-20 |
| US20130056026A1 (en) | 2013-03-07 |
| JP2013052238A (en) | 2013-03-21 |
| CN102961088B (en) | 2017-09-05 |
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