CN102961088B - Independent cleaning equipment and its control method - Google Patents
Independent cleaning equipment and its control method Download PDFInfo
- Publication number
- CN102961088B CN102961088B CN201210319703.1A CN201210319703A CN102961088B CN 102961088 B CN102961088 B CN 102961088B CN 201210319703 A CN201210319703 A CN 201210319703A CN 102961088 B CN102961088 B CN 102961088B
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- Prior art keywords
- brush
- impurity
- unit
- cleaning
- brush unit
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Classifications
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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
-
- 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
The present invention discloses a kind of independent cleaning equipment and its control method, and the independent cleaning equipment includes：Main body；Brush unit, is rotatably installed in main body, to collect the dust come under autonomous agent；Brush cleaning element, including the first brush cleaning projection and the second brush cleaning projection, the first brush cleaning projection and the second brush cleaning projection are protruded towards brush unit, to be contacted with brush unit, so as to remove the impurity being wrapped on brush unit.
Description
Technical field
Embodiment of the disclosure is related to a kind of independent cleaning equipment by clean up task is performed on the region cleaned
(autonomous cleaning apparatus) and the method for controlling the independent cleaning equipment.
Background technology
Generally, independent cleaning equipment be do not need user's control in the case of by by the region cleaned self
Run and the dust of accumulation and the equipment of other dusts are cleaned from floor surface.Independent cleaning equipment by control driving equipment come
The designated area that will be cleaned is cleaned, and dust is effectively removed by controlling cleaning equipment.
Because independent cleaning equipment is not that work is continuously kept by user, so independent cleaning equipment is configured to
It is self efficacy (self-efficient) when performing clean up task.For example, driving equipment and cleaning equipment can be set
Into being fed back according to electric signal to keep stable clean-up performance, while being equipped with mechanical structure (mechanical
Composition) to keep stable clean-up performance.
The content of the invention
Therefore, the one side of the disclosure is to provide a kind of independent cleaning equipment and its control method, and this independently cleans and set
The action of standby brush cleaning element and structure are improved, to keep the clean-up performance of independent cleaning equipment.
In terms of by partly illustrating that the disclosure is other in following description, some will be apparent by description
, or can be Jing Guo the disclosure implementation and learn.
According to the one side of the disclosure, independent cleaning equipment includes main body, brush unit and brush cleaning element.Brush unit can revolve
Turn ground to be arranged in main body, with from the beneath collection dust of main body.Brush cleaning element includes the first brush cleaning projection and the second brush
Projection is cleaned, the first brush cleaning projection and the second brush cleaning projection are protruded towards brush unit, to be contacted with brush unit, so as to remove
It is wrapped in the impurity on brush unit.
First brush cleaning projection and the second brush cleaning projection are tilted along opposite directions so that the first brush cleaning is prominent
The impurity for removing and being wrapped on brush unit when brush unit rotates along a first direction is played, and the second brush cleaning projection is in brush unit
The impurity being wrapped on brush unit is removed when being rotated in a second direction.
Rotated along a first direction so that independent cleaning equipment suction dust and brush unit is along second party in brush unit
To while rotation so that independent cleaning equipment discharges dust, the impurity being wrapped on brush unit is removed by brush cleaning element.
While brush unit alternately rotates with second direction along a first direction, removed and wound by brush cleaning element
Impurity on brush unit.
First brush cleaning projection is formed with along multiple brushes that brush unit is longitudinally disposed and cleans projection, and the second brush cleaning is prominent
Rise to be formed with along multiple brushes that brush unit is longitudinally disposed and clean projection, the first brush cleaning projection and the second brush cleaning projection are dashed forward
Go out to the radius of turn of brush unit.
First brush cleaning projection and the second brush cleaning projection are formed integrally with each other on the end of brush cleaning element.
The independent cleaning equipment also includes control unit, and whether described control unit is configured to determine to remove and is wrapped in
Impurity on brush unit simultaneously performs control so that lead to while brush unit alternately rotates with second direction along a first direction
Cross brush cleaning element and remove the impurity being wrapped on brush unit.
Control unit is examined based on the energy of the optical sensor detection on the wall surface of the opening by being arranged on main body
Survey the amount of impurity being wrapped on brush unit and the amount based on the impurity detected determines whether to remove the impurity.
Control unit detects the amount for the impurity being wrapped on brush unit based on the load on the motor for running brush unit
And the amount based on the impurity detected determines whether to remove the impurity.
Input of the control unit based on user determines whether the removal of impurity.
According to another aspect of the present disclosure, independent cleaning systems include main body, independent cleaning equipment and impurity removal tool.
Independent cleaning equipment includes brush unit, and brush unit is rotatably installed in main body, to collect the dust under main body.It is miscellaneous
Matter removal tool includes brush cleaning element, and brush cleaning element is protruded towards brush unit and contacted with brush unit, is wrapped in removing
Impurity on brush unit, and impurity removal tool is detachably coupled to main body, sets while being adjacent to the bottom of brush unit
Put.
Impurity removal tool includes combining protrusion unit, and this is attached to reference to protrusion unit by the engagement groove unit of main body
Main body.
Brush cleaning element is provided with prominent along the inclined first brush cleaning projection of opposite directions and the second brush cleaning
Rise.
Brush unit rotates along single direction or alternately rotated with second direction along a first direction, with clear using brush
Clean component removes the impurity being wrapped on brush unit.
Independent cleaning equipment also includes control unit, and the control unit is configured to whether identification impurity removal tool combines
It is simultaneously adjacent with the bottom of brush unit to main body.
Control unit recognizes that impurity is gone based on the output by the inching switch being arranged in the engagement groove unit of main body
Except whether instrument is attached to main body.
Control unit recognizes impurity based on the output by the optical sensor being arranged in the engagement groove unit of main body
Whether removal tool is attached to main body.
Control unit recognizes impurity based on the output by the magnetic sensor being arranged in the engagement groove unit of main body
Whether removal tool is attached to main body.
In the case of impurity removal tool is attached to main body, control unit performs control so that brush unit along
The impurity being wrapped on brush unit is removed by brush cleaning element while first direction and second direction alternately rotate.
In the case of the input that there is user's progress, control unit performs control so that in brush unit along first
The impurity being wrapped on brush unit is removed by brush cleaning element while direction and second direction alternately rotate.
According to another aspect of the present disclosure, the method for controlling independent cleaning equipment is as follows.Determine whether that removal is wrapped in brush
Impurity on unit, brush unit is configured to the beneath collection dust from main body.Once it is determined that go the removal of impurity, brush unit along
While first direction and second direction alternately rotate, it is wrapped in by using the removal of brush cleaning element miscellaneous on brush unit
Matter, wherein, brush cleaning element includes the first brush cleaning projection and the second brush cleaning projection, and the first brush cleaning projection and the second brush are clear
Clean projection towards brush unit protrusion to be contacted with brush unit, while first brush cleaning projection and second brush cleaning projection along each other
Opposite direction is tilted.
When determining whether to remove the impurity being wrapped on brush unit, the wall surface based on the opening by being arranged on main body
On the energy of optical sensor detection detect the amount for the impurity being wrapped on brush unit and based on the amount of the impurity detected
Determine whether to remove the impurity.
When determining whether to remove the impurity being wrapped on brush unit, based on make brush unit run motor on load come
Detect the amount of impurity being wrapped on brush unit and the amount based on the impurity detected determines whether to remove the impurity.
When determining whether to remove the impurity being wrapped on brush unit, the input based on user determines whether the removal of impurity.
According to another aspect of the present disclosure, the impurity removal tool for independent cleaning equipment include impurity remove component and
Storage element.Impurity removes the opening that component is attached to independent cleaning equipment, to be twined by being interacted with brush unit to remove
It is wound on the impurity on brush unit.Opening is formed in position corresponding with brush unit.Storage element is configured to storage from brush unit
The impurity of removal.
In the case where impurity removal component is attached to the opening of independent cleaning equipment, impurity removes component and is arranged on brush list
In the radius of turn of member.
In accordance with an embodiment of the present disclosure, the impurity being wrapped on the brush unit of independent cleaning equipment is removed efficiently, from
And keep the clean-up performance of the stabilization of independent cleaning equipment.
Brief description of the drawings
By the description carried out below in conjunction with the accompanying drawings to embodiment, these and/or other aspect of the disclosure will become bright
Show and be easier to understand, wherein：
Fig. 1 is the view for schematically showing cleaning systems in accordance with an embodiment of the present disclosure；
Fig. 2 is the sectional view for schematically showing independent cleaning equipment in accordance with an embodiment of the present disclosure；
Fig. 3 is the view for the bottom for schematically showing independent cleaning equipment in accordance with an embodiment of the present disclosure；
Fig. 4 is the view for schematically showing brush unit and brush cleaning element in accordance with an embodiment of the present disclosure；
Fig. 5 and Fig. 6 are the views for schematically showing brush cleaning element in accordance with an embodiment of the present disclosure；
Fig. 7 to Fig. 9 is the cleaning fortune for the first direction of rotation for schematically showing brush unit in accordance with an embodiment of the present disclosure
Dynamic view；
Figure 10 to Figure 12 is the cleaning for the second direction of rotation for schematically showing brush unit in accordance with an embodiment of the present disclosure
The view of motion；
Figure 13 is the view for schematically showing impurity removal tool in accordance with an embodiment of the present disclosure；
Figure 14 is the flow chart for the method for schematically showing the independent cleaning equipment of control in accordance with an embodiment of the present disclosure.
Embodiment
Embodiment of this disclosure is described in detail now, its example is shown in the drawings, wherein, identical label
All the time identical element is indicated.
Fig. 1 is the view for schematically showing cleaning systems in accordance with an embodiment of the present disclosure.
Reference picture 1, cleaning systems 10 include independent cleaning equipment 20 and all-in-service station 60.Independent cleaning equipment 20 is that one kind exists
The equipment that various clean up tasks are performed while independent operating, as a kind of all-in-service station 60 of maintained equipment is used for independent clear
The battery of clean equipment 20 charges or for the equipment for the dust arrester for emptying independent cleaning equipment 20.
All-in-service station 60 includes housing 61 and platform 62.
Platform 62 supports independent cleaning equipment 20 when independent cleaning equipment 20 is docked with all-in-service station 60.Platform 62 is obliquely
Set, so that independent cleaning equipment 20 is easily climbed up platform 62 and climbed down from platform 62.
Second opening 62a is formed through platform 62.Second opening 62a of platform 62 is disposed in the second opening of platform 62
At the position that 62a is connected with the first opening 21a of independent cleaning equipment 20.Therefore, opened by the first of independent cleaning equipment 20
The dust of mouth 21a discharges is introduced in the second opening 62a of platform 62.It is introduced in the second opening 62a of platform 62
Dust is stored in the second dust arrester (not shown) in all-in-service station 60.Second dust arrester can be releasably attached to maintenance
Stand.
Platform 62 may include brush cleaning element, when independent cleaning equipment 20 is docked with all-in-service station 60, brush cleaning element court
Brush unit 41 to protrude, and contact to remove the impurity wound around brush unit 41 with brush unit 41.Brush cleaning element can be installed
It is adjacent to installation in the second opening 62a or with the second opening 62a.
Fig. 2 is the sectional view for schematically showing independent cleaning equipment in accordance with an embodiment of the present disclosure.Fig. 3 is schematically to show
Go out the view of the bottom of independent cleaning equipment in accordance with an embodiment of the present disclosure.
Referring to figs. 1 to Fig. 3, independent cleaning equipment 20 includes main body 21, driving equipment 30, cleaning equipment 40, various sensings
Device 50 and control unit 24.
Main body 21 is set according to variously-shaped.For example, main body 21 can be set according to cylinder form.If in cylindrical
The main body 21 of formula rotates, then main body 21 has constant radius of turn, so that the bar contact with surrounding is avoided, and easily
Change direction.In addition, main body 21 in the form of cylinders can prevent from being stranded due to peripheral obstacle during driving process
Firmly.
Driving equipment 30, cleaning equipment 40, various sensors 50, display 23 and control unit 24 may be disposed at main body
On 21.
Driving equipment 30 enables main body 21 being run on the region cleaned.Driving equipment 30 may include left driving wheel
31a, right driving wheel 31b and castor 32.Left driving wheel 31a and right driving wheel 31b are installed to the central portion of the bottom of main body 21
On point, castor 32 is installed on the front portion of the bottom of main body 21, so that independent cleaning equipment 20 keeps stable posture.
Left driving wheel 31a and right driving wheel 31b is controlled, so that independent cleaning equipment is moved forward and backward, or is changed
Direction.For example, equally controlling left driving wheel 31a and right driving wheel 31b to move 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.
Each it is each implemented as being releasably attached to main body in left driving wheel 31a, right driving wheel 31b and castor 32
21 single component.
Cleaning equipment 40 is configured to beneath and its peripheral part of cleaning body 21.Cleaning equipment 40 includes brush unit
41st, the dust arrester 43 of side brush 45 and first.
Brush unit 41 may be mounted to that at the first opening 21a on the bottom to be formed in main body 21.For example, brush unit 41 can
It is disposed in the position of the middle body of offset from body 21.That is, brush unit 41 can be disposed in close to left driving wheel 31a and right drive
Driving wheel 31b but towards the position at the rear portion (R) of main body 21.
Brush unit 41 will be collected into the first dust arrester 43 in the dust of the beneath accumulation of main body 21.Brush unit 41 includes：
Roller 41a, can be rotatably set at the first opening 21a；41b is brushed, installed in roller 41a outside.When roller 41a rotations
When, including the brush 41b of elastomeric material can stir the dust in the beneath collection of main body 21.By such motion, master is accumulated in
The beneath dust of body 21 is then stored in the first dust arrester 43 by the first opening 21a.
In order to keep the clean-up performance of stable form, control brush unit 41 is so that it is according to constant rotary speed movement.However,
It can change according to by the rotating speed of the situation on the surface cleaned, brush unit 41.For example, with flat surface by when being cleaned
Situation is compared, and when uneven surface (for example, carpet) will be cleaned, the rotating speed of brush unit 41 can be lowered.Now, it is available for
Electric current that should be bigger is so that the rotating speed of brush unit 41 keeps constant.
Side brush 45 can be rotatably installed on the bottom of main body 21.Side brush 45 can be disposed in away from main body 21
Middle body and towards the position of the front portion (F) of main body 21.
Side brush 45 makes the dust collected around main body 21 move to brush unit 41.Side brush 45 make under main body 21 and
Cleaning scope in the circumferential surface of main body 21 expands.As described above, the dust for moving to brush unit 41 can be by the first opening
21a is stored in the first dust arrester 43.
First dust arrester 43 may be mounted to that on the rear portion of main body 21.The entrance 43 ' of first dust arrester 43 and the first opening
21a connections, dust is introduced in the first dust arrester 43 by entrance 43 '.
First dust arrester 43 is divided into big dust arrester 43a and small dust arrester 43b.Brush unit 41 is through first entrance 43a '
Large-sized dust is collected into big dust arrester 43a.Fan unit 22 sucks the floating of small size through second entrance 43b '
Impurity (for example, hair), and it is stored in small dust arrester 43b.Specifically, brush cleaning element 42 is positioned close to
Two entrance 43b ' part, and brush cleaning element 42 filters out the impurity being wrapped on brush unit 41, and utilize fan unit
22 suction collects impurity in small dust arrester 43b through second entrance 43b '.
Dust detection unit 44 is installed in the first dust arrester 43, to detect the amount of the dust in the first dust arrester 43.
Dust detection unit 44 includes optical sensor, and the optical sensor includes luminescence sensor 44a and optical receiving sensor 44b.
However, it should be appreciated by those skilled in the art that the optional construction of the disclosure can detect ash using other kinds of sensor
The amount of dirt.
Fig. 4 is the view for schematically showing brush unit and brush cleaning element in accordance with an embodiment of the present disclosure.
Reference picture 4, brush cleaning element 42 includes protruding along opposite directions and inclined first brush cleaning projection
The brush cleaning projections of 42a and second 42b.
When brush unit 41 rotates towards first direction (P), the first brush cleaning projection 42a is contacted with brush 41b, with effectively
Remove the impurity being wrapped on brush 41b.When brush unit 41 rotates towards second direction (Q), the second brush cleaning projection 42b and brush
41b is contacted, effectively to remove the impurity being wrapped on brush 41b.Here, the example of impurity can be that independent cleaning equipment 20 is
Cleaning and the hair on brush unit 41 is wrapped in while move.
In addition, in the case of brush unit 41 alternately rotates with second direction along a first direction, the first brush cleaning
The brush cleaning projections of projection 42a and second 42b is contacted with brush 41b and is removed the impurity being wrapped on brush 41b in turn.
Brush cleaning element 42 including the first brush brush cleaning projections of cleaning projection 42a and second 42b can be along brush unit 41
Be formed as in the vertical multiple.Brush cleaning element 42 can also be formed according to an at least row in the vertical along brush unit 41.
Fig. 5 and Fig. 6 are the views for schematically showing brush cleaning element in accordance with an embodiment of the present disclosure.
Reference picture 5, the first brush brush cleanings of cleaning projection 42a and second projection 42b is projected into the radius of turn of brush unit 41
It is interior, it is readily removable dust to be contacted by the brush 41b with brush unit 41.
As shown on Fig. 5, the first brush brush cleaning projections of cleaning projection 42a and second 42b can be on the side of brush cleaning element 42
It is formed integrally with each other on edge.In this case, brush cleaning element 42 is positioned close to second entrance 43b ' part, simultaneously
Protruded towards brush unit 41.The dust removed from brush unit 41 is stored in small dust arrester by the suction of fan unit 22
In 43b.
Reference picture 6, direction of rotation shapes of the first brush brush cleanings of the cleaning projection 42a and second projection 42b along brush unit 41
Into on same foundation region, while the two is separated from each other.Now, the first brush cleaning projection 42a is settable has close to second
Entrance 43b ' part, and the second brush cleaning projection 42b may be provided at the same foundation for setting the first brush cleaning projection 42a thereon
On region.Alternatively, the second brush cleaning projection 42b may be provided at the part close to second entrance 43b ', and the first brush cleaning is prominent
Play 42a and may be provided at and be provided with the second brush cleaning projection 42b same foundation region.
In the case of forming the first brush brush cleanings of cleaning projection 42a and second projection 42b the two be separated from each other simultaneously,
First brush cleaning projection 42a can be protruded, while tilted towards the first direction of rotation of brush unit 41, also, the second brush cleaning is prominent
Playing 42b can protrude, while being tilted towards the second direction of rotation of brush unit 41.Meanwhile, each brush cleaning projection 42a's and 42b
Projected direction not limited to this.Therefore, brush cleaning projection 42a and 42b bearing of trend can be along the impurities phases being wrapped on brush 41b
Set for the direction that each direction of rotation of brush unit 41 is easily moved away.
Fig. 7 to Fig. 9 is the cleaning fortune for the first direction of rotation for schematically showing brush unit in accordance with an embodiment of the present disclosure
Dynamic view.
Reference picture 7 to Fig. 9, the first brush brushes of cleaning projection 42a and second cleans the rotation that projection 42b is projected into brush unit 41
In radius.In the case of independent cleaning equipment 20 suction dust, (P) rotates brush unit 41 along a first direction, brushes simultaneously
The dust that 41b agitations are accumulated on floor.The dust for the accumulation being collected as the result of such motion enters by first
Mouth 43a ' is stored in the first dust arrester 43.
However, the impurity in the dust of accumulation disturbs brush while being wrapped on the brush 41b that elastomeric material is formed
The rotation of unit 41, and reduce the clean-up performance of independent cleaning equipment 20.
Now, projection can be cleaned by using the first brush by being wrapped in the impurity rotated simultaneously together with brush 41b on brush 41b
42a is removed.In detail, as brush unit 41 rotates towards first direction, such as it is wrapped on the brush 41b of brush unit 41
The impurity of hair is moveable to adjacent with the first brush cleaning projection 42a.With the brush cleaning projections of the brush 41b of brush unit 41 and first
42a is contacted, and the impurity being wrapped on brush 41b is removed from brush unit 41, and is moved in independent cleaning equipment 20 for cleaning
While, it can be stored in by the first brush cleaning projection 42a impurity removed from brush unit 41 by second entrance 43b ' small
Dust arrester 43b in.
Figure 10 to Figure 12 is the cleaning for the second direction of rotation for schematically showing brush unit in accordance with an embodiment of the present disclosure
The view of motion.
Reference picture 10 rotates along second direction (Q) with the brush unit 41 of independent cleaning equipment 20, can passed through to Figure 12
Projection 42b, which is cleaned, using the second brush goes the removal of impurity.That is, as brush unit 41 is rotated in a second direction, it is wrapped in brush unit 41
On impurity be moveable to it is adjacent with the second brush cleaning projection 42b.As brush 41b is contacted with the second brush cleaning projection 42b, wind
Brush 41b on impurity removed from brush unit 41, and removed impurity can be stored in by second entrance 43b ' it is small
Dust arrester 43b in.
Here, independent cleaning equipment 20 can suck dust while for cleaning campaign, and can be while operation
By dust emissions to all-in-service station 60.
That is, the dust emissions docked and will stored in dust arrester 43a and 43b with all-in-service station 60 in independent cleaning equipment 20
In the case of into all-in-service station 60, the brush unit 41 of independent cleaning equipment 20 is rotated in a second direction.In addition, now, can
Projection 42b is cleaned by using the second brush to remove the impurity being wrapped on brush 41b from brush unit 41, and removed impurity
In the dust arrester that all-in-service station 60 can be discharged into.
Meanwhile, it is different from above-mentioned situation, even if when independent cleaning equipment 20 is not docked with all-in-service station 60, also can be single in brush
Member 41 is while be rotated in a second direction, and projection 42b is cleaned by the impurity being wrapped on brush 41b from brush unit by the second brush
41 remove.Now, independent cleaning equipment 20 can be at fixed state or in the state repeatedly moved forward and backward.
Brush unit 41 alternately rotates with second direction along a first direction, so that going deimpurity performance to maximize.
That is, the brush unit 41 of independent cleaning equipment 20 can make the rotation side of brush unit 41 when removing the impurity being wrapped on brush unit 41
To at least changing once.Because the dust that independent cleaning equipment 20 is sucked then is set by passing through brush unit 41 by independent cleaning
Standby 20 first entrance 43a ' is stored in big dust arrester 43a, so impurity can be wrapped in the brush of independent cleaning equipment 20
On unit 41.Now, by the direction of rotation for the brush unit 41 for changing independent cleaning equipment 20, it is wrapped in independent cleaning equipment 20
Brush unit 41 on impurity can be removed.Afterwards, the brush unit 41 of independent cleaning equipment 20 can be towards original direction again
Change direction of rotation.In this manner it is achieved that the brush unit 41 of independent cleaning equipment 20 can change direction of rotation at least one times
While remove and be wrapped in impurity on brush unit 41.
Reference picture 7 extends from main body 21 to Figure 12 and prominent brush cleaning element 42 is contacted with brush unit 41.Brush cleaning structure
Part 42 is longitudinally formed along brush unit 41, and brush cleaning element 42 removes the impurity being wrapped on brush unit 41.First brush
The brush cleaning projections of cleaning projection 42a and second 42b protrudes to pick up impurity (for example, hair), and by following brush unit 41
Direction of rotation and remove around brush unit 41 collect impurity.That is, when brush unit 41 P or second direction along a first direction
When Q rotates, contacted with the brush 41b of brush unit 41 with the first brush brush cleanings of cleaning projection 42a and second projection 42b, impurity quilt
Pickup.Afterwards, when the brush 41b rotations of brush unit 41, impurity from brush cleaning projection 42a and 42b lower motion to top,
During such process, the removal of impurity is gone from the brush 41b of brush unit 41.
Brush unit 41, each of the dust arrester 43 of side brush 45 and first are formed as single component, it is possible to removably pacify
In main body 21.
Figure 13 is the view for schematically showing impurity removal tool in accordance with an embodiment of the present disclosure.
Reference picture 13, impurity removal tool 46 is formed as single component, it is possible to be removably mounted in main body 21.
In the same fashion, brush unit 41 can also be removably disposed in main body 21.In detail, brush unit 41
Combination protrusion unit 41c including roller 41a He the two ends for being attached to roller 41a.With reference to protrusion unit 41c from roller 41a's
Two ends are outstanding.Main body 21 includes engagement groove unit 21c, and engagement groove unit 21c is attached to reference to protrusion unit 41c.
Impurity removal tool 46 includes the combination protrusion unit for being attached to the engagement groove unit of main body 21 so that impurity is removed
Instrument 46 is attached to main body.As shown in figure 13, when brush unit 41 is attached to main body 21, impurity removal tool 46 with main body 21
The bottom of brush unit is attached to while adjacent.Meanwhile, impurity removal tool 46 can cover the opening of independent cleaning equipment 20
21a, while the formation of impurity removal tool 46 and the curvature identical curvature of the radius of turn of brush unit 41.It is therefore prevented that from brush
The impurity that unit 41 is removed is discharged into the outside of independent cleaning equipment 20.
Impurity removal tool 46 is provided with the brush cleaning element 46c protruded towards predetermined direction.Impurity removal tool 46 is led to
The brush unit 41 with rotating is crossed to contact to remove the impurity being wrapped on brush unit 41.In addition, brush cleaning element 46c can be set
It is equipped with the first brush brush cleaning projections of cleaning projection 46a and second 46b obliquely protruded along opposite directions.
Main body 21 is attached in impurity removal tool 46 while in the case of adjacent with the bottom of brush unit 41, brush is single
Member 41 can along a first direction P either second direction Q rotation or along a first direction P and second direction Q alternately rotate with
The impurity being wrapped on brush unit 41 is removed by using brush cleaning element 46c.
Here, the brush cleaning element 46c being arranged in impurity removal tool 46 can be while protruding towards brush unit 41
It is adjacent with the binding site of impurity removal tool 46 and main body 21.Alternatively, brush cleaning element 46c can be along the longitudinal direction of brush unit 41
Ground formation is in the middle body of impurity removal tool 46.In addition, the first brush brush cleaning projections of cleaning projection 46a and second 46b
It can be formed integrally with each other on brush cleaning element 46c end, or can be formed individually in base area, while the two
It is separated from each other.
When being individually formed while the first brush brush cleanings of cleaning projection 46a and second projection 46b is being separated from each other
In the case of, the first direction of rotation P of the first brush cleaning projection 46a towards brush unit 41 is diagonally slanted at, the second brush cleaning projection
Second direction of rotation Q of 46b towards brush unit 41 is diagonally slanted at.
Referring to figs. 1 to Fig. 3, control unit 24 determines whether to remove the impurity being wrapped on brush unit 41, if it is determined that go
The removal of impurity, then control unit 24 can independently perform impurity remove pattern.Impurity removes pattern and represented in brush unit 41 along the
One direction or second direction are repeatedly rotated or brush unit 41 is repeatedly alternately rotated with second direction along a first direction
While the action for being wrapped in impurity on brush unit 41 is removed by using brush cleaning element 42.For example, being removed according to impurity
Pattern, control unit 24 can be such that brush unit 41 is alternately rotated towards first direction and second direction, and brush unit is wrapped in remove
Impurity on 41.
Meanwhile, after the removal of impurity is determined whether, control unit 24 can control display 23, to show on the determination
Information, and display that impurity remove pattern implementation status.
Provided the user in independent cleaning equipment 20 in the case of determination goes deimpurity information, or determined in user
Go in the case of the removal of impurity, user can by by impurity removal tool 46 be arranged on independent cleaning equipment 20 bottom on come
Carry out impurity and remove pattern.Now, user can remove work by using the impurity on the bottom of independent cleaning equipment 20
Tool 46 is made a return journey the removal of impurity, without brush is separated with independent cleaning equipment 20.
In the case where independent cleaning equipment 20 does not provide suction, independent cleaning equipment 20 can by by brush cleaning projection with
Brush unit to rotate in the storage room (not shown) that the impurity removed from brush unit 41 is stored in impurity removal tool 46.Brush is clear
Clean projection may be provided in the radius of turn of brush or can be arranged in impurity removal tool 46.
As determining whether deimpurity method, control unit 24 can be based on passing through the opening 21a installed in main body 21
Wall on the amount of energy of optical sensor detection determine the amount of impurity being wrapped on brush unit 41, and based on detection
The amount of impurity determines whether the removal of impurity.
Optical sensor may include luminescence sensor 44a and optical receiving sensor 44b.Optical sensor can be configured to make
Obtain and be directly transferred to optical receiving sensor 44b from the luminescence sensor 44a signals sent.
Photodiode or phototransistor can be used to realize for luminescence sensor 44a and optical receiving sensor 44b.This
In the case of, determine to be wrapped in impurity on brush 41b according to the amount by photodiode or the energy of phototransistor detection
Amount.That is, if having gathered impurity, the amount of the energy detected by photodiode or phototransistor can be substantially reduced.To
The amount of the energy detected is compared with default standard value and finds that the amount of the energy is less than after predetermined value, it is determined that will
Go the removal of impurity.That is, the luminescence sensor 44a and optical receiving sensor 44b including photodiode or phototransistor are by outside
Interference effect.Therefore, the letter received by the luminescence sensor 44a signals sent or by optical receiving sensor 44b is such as guided
Number light guide or the structure of slit more accurately detect the presence of dust.
As another example for determining whether deimpurity method, control unit 24 is based on the electricity for running brush unit 41
The load of machine determines the amount for the impurity being wrapped on brush unit 41 and is wrapped in brush based on the amount of the impurity detected to remove
Impurity on unit 41.
In detail, in the case of the amount increase for the impurity being wrapped on brush unit 41, the rotation speed of brush unit 41
Degree reduction, and the load of motor increase.If motor load increase, being supplied to the magnitude of current of motor increases.Therefore, controller
24 detect the load for being applied to motor based on the magnitude of current of motor is supplied to.Therefore, the feelings when load on motor increases
Under condition, control unit 24 determines whether to remove the impurity being wrapped on brush unit 41.That is, by predetermined value and the electricity for being supplied to motor
Flow is compared, if being supplied to the magnitude of current of motor to be less than predetermined value, controller 24 determines not going the removal of impurity, if for
Predetermined value should be more than to the magnitude of current of motor, then controller 24 determines to go the removal of impurity.
Meanwhile, control unit 24 can determine whether the removal of impurity based on the input of user.Can be by being arranged on independent cleaning
Switch in the main body 21 of equipment 20 carries out user's input.In addition, user can be by interacting with independent cleaning equipment 20
Remote control equipment inputted.That is, user can input impurity by the switch being arranged on remote control equipment and remove
Pattern, pattern is removed to control independent cleaning equipment 20 to perform impurity.In addition, user can be during the specific period according to rule
Time interval input order then, so that independent cleaning equipment 20 performs impurity and removes pattern.Control unit 24 can be based on user
The input of progress performs impurity and removes pattern, and when impurity removes Pattern completion on display 23 display indicator.
When performing impurity removal pattern, P rotates brush unit 41 along a first direction, is wrapped in the brush 41b of brush unit 41
On impurity (for example, hair) move to it is adjacent with the first brush cleaning projection 42a.When the first brush cleaning projection 42a and brush unit
During 41 brush 41b contacts, the impurity being wrapped on brush 41b is removed from brush unit 41.
Meanwhile, when brush unit 41 rotates along second direction Q, it is wrapped in the impurity (example on the brush 41b of brush unit 41
Such as, hair) move to it is adjacent with the second brush cleaning projection 42b.When the second brush cleaning projection 42b and brush unit 41 brush 41b connects
When touching, the impurity being wrapped on brush 41b is removed from brush unit 41.
Brush unit 41 can be repeatedly set P or second direction Q rotations or to make the rotation of brush unit 41 along a first direction
Turn to perform impurity removal pattern while direction repeatedly changes between P and second direction Q in a first direction.In addition, in independence
, can while cleaning equipment 20 is in fixed state, or independent cleaning equipment 20 in the state repeatedly moved forward and backward
Perform impurity and remove pattern.
If independent cleaning equipment 20 determines that the removal of impurity will be gone, independent cleaning equipment 20 is moved on all-in-service station 60, and
Enter impurity while independent cleaning equipment 20 is in stationary state and remove pattern.Independent cleaning equipment 20 can utilize itself
Suction or all-in-service station 60 suction.When independent cleaning equipment 20, which enters impurity, removes pattern, the housing 61 of all-in-service station 60
Interior fan unit (not shown) operation, all-in-service station 60 sucks the impurity filtered from independent cleaning equipment 20.
Meanwhile, the impurity removal tool 46 of the recognizable bottom for being attached to brush unit 41 of control unit 24.Removed in impurity
When instrument 46 is identified as being attached to the bottom of brush unit 41, control unit 24 can be used microswitch, optical sensor or
Magnetic sensor.
Microswitch is the inching switch of relatively great amount of electric current can be provided and disconnected by using small power, and be can be set
At the engagement groove unit 21c of main body 21.By the knot that main body 21 is attached to when the combination protrusion unit of impurity removal tool 46
The power produced during groove unit 21c is closed, sliding contact (travelling contact) instantaneously changes, to make current flow through.Control
Unit 24 can be incorporated into the bottom of brush unit 41 based on the electric current identification impurity removal tool 46 flowed through.
In the case of infrared light transducer[sensor is used as the example of optical sensor, infrared light transducer[sensor is arranged on main body 21
Engagement groove unit 21c at, and determine the infrared light sent from the luminescence unit of infrared light transducer[sensor whether by light receiving unit
Receive.If infrared light is received by light receiving unit, impurity removal tool 46 is identified as not disturbance state and is identified as
It is not bonded to main body 21.If infrared light is not received by light receiving unit, impurity removal tool 46 is identified as being attached to master
Body 21.
Magnetic sensor may be provided at the engagement groove unit 21c of main body 21, and magnet may be provided at impurity removal tool 46
Combination protrusion unit at.Magnetic sensor is detectable by the magnet for the combination protrusion unit for being arranged on impurity removal tool 46
The magnetic field of generation, and whether main body 21 is attached to based on magnetic field intensity identification impurity removal tool 46.
In the case of impurity removal tool 46 is attached to main body 21 adjacent with the bottom of brush unit 41 while, control
Unit 24 processed can independently be performed impurity and remove pattern or impurity removal pattern be performed based on the input that user is carried out.
Various sensors 50 in main body 21 are used to detect barrier.Sensor can be used touch sensor or
Person's Proximity Sensor is realized.For example, the buffer 51 on the front portion (F) of main body 21 can be used for detection front side obstacle
Thing, for example, wall.In addition, infrared light transducer[sensor (or ultrasonic sensor) can be used for detection front side barrier.
In addition, the infrared light transducer[sensor 52 (or ultrasonic sensor) installed in the bottom of main body 21 can be used for detection ground
The situation of plate (for example, step).Multiple infrared light transducer[sensors 52 can be arranged on according to semicircular arc along the circumference of main body 21 and lead
On the bottom of body 21.However, the position not limited to this of infrared light transducer[sensor.
In addition to the above described sensors, various sensors can be arranged in main body 21, to send on independent cleaning equipment
The information of 20 state.
Control unit 24 receives the signal from various sensors 50 and controls driving equipment 30 and cleaning equipment 40, to have
The independent cleaning equipment 20 of effect ground control.
Figure 14 is the flow chart for the method for schematically showing the independent cleaning equipment of control in accordance with an embodiment of the present disclosure.
Reference picture 14, independent cleaning equipment makes brush unit rotate and the dust accumulated under main body is collected into dust
In device.However, the impurity in the dust of accumulation can disturb brush unit rotation while being wrapped in and painting, and it can reduce independent clear
The clean-up performance of clean equipment.Therefore, before the impurity being wrapped on brush unit is removed, it is determined whether removal is wrapped in brush unit
On impurity (S10).
Here, it is determined that going deimpurity method to be based on by being passed including the optics on the wall of the opening of main body
The amount for the energy that the dust detection unit 44 of sensor is detected, or twined based on the load on the motor for running brush unit to detect
The amount for the impurity being wound on brush unit.The amount of impurity based on detection determines whether the removal of impurity.
In addition, the input based on user, it may be determined whether removal is wrapped in the impurity on brush unit.Can be by being arranged on
In the main body of independent cleaning equipment switch carry out user input, or can by with independent cleaning equipment interact it is remote
Program control control equipment carries out the input of user.
Impurity on brush unit 41 is wrapped in if will remove, with brush unit 41 P and second party along a first direction
Repeatedly rotated to Q, including along opposite directions obliquely projection first brush cleaning projection 42a and second brush clean
Projection 42b brush cleaning element 42 removes the impurity (S20) being wrapped on brush unit.
Specifically, as brush unit 41 rotates towards first direction P, it is wrapped in the impurity on the brush 41b of brush unit 41
(for example, hair) is moveable to adjacent with the first brush cleaning projection 42a.As the brush cleanings of the brush 41b of brush unit 41 and first are prominent
42a contacts are played, the impurity being wrapped on brush 41b is removed from brush unit 41.In addition, as brush unit 41 is along second direction Q
Rotation, the impurity (for example, hair) being wrapped on the brush 41b of brush unit 41 is moveable to adjacent with the second brush cleaning projection 42b.
Contacted with the brush 41b of brush unit 41 with the second brush cleaning projection 42b, the impurity being wrapped on brush 41b is gone from brush unit 41
Remove.
Brush unit 41 rotates alternately along first direction P and second direction Q, is wrapped in removal miscellaneous on brush unit 41
Matter.That is, the brush unit 41 of independent cleaning equipment 20 can be removed while the direction of rotation for making brush unit 41 at least changes one time
Impurity.
Although having been shown and describing some embodiments of the present disclosure, it will be recognized to those skilled in the art that
Do not depart from by claim and its equivalent limit its scope the disclosure principle and spirit in the case of, can be to these realities
Example is applied to be changed.
Claims (15)
1. a kind of independent cleaning equipment, the independent cleaning equipment includes：
Main body；
Brush unit, is rotatably installed in main body, to collect the dust come under autonomous agent；
First entrance is formed with dust arrester, including big dust arrester and small dust arrester, big dust arrester and is stored by brushing
The dust that unit is collected, the dust is introduced on big dust arrester, small dust arrester via first entrance and is formed with second
Entrance；
Brush cleaning element, is positioned close to the part of second entrance, and prominent including the first brush cleaning projection and the second brush cleaning
Rise, the first brush cleaning projection and the second brush cleaning projection are protruded towards brush unit, to be contacted with brush unit, are wrapped in so as to remove
Impurity on brush unit,
Wherein, the impurity being wrapped on brush unit is removed by brush cleaning element, and is stored in via second entrance small
Dust arrester in.
2. independent cleaning equipment as claimed in claim 1, wherein, the first brush cleaning projection and the second brush cleaning projection along that
This opposite direction is tilted, and brush list is wrapped in cause the first brush cleaning projection to be removed when brush unit rotates along a first direction
Impurity in member, and second brush cleaning projection removed when brush unit is rotated in a second direction be wrapped in it is miscellaneous on brush unit
Matter.
3. independent cleaning equipment as claimed in claim 2, wherein, rotated along a first direction in brush unit so that independent clean
Equipment sucks dust and brush unit while be rotated in a second direction so that independent cleaning equipment discharges dust, clear by brush
Clean component removes the impurity being wrapped on brush unit.
4. independent cleaning equipment as claimed in claim 2, wherein, in brush unit along a first direction with second direction alternately
While rotation, the impurity being wrapped on brush unit is removed by brush cleaning element.
5. independent cleaning equipment as claimed in claim 1, wherein, the first brush cleaning projection is formed with along brush unit longitudinally
Multiple brushes cleaning projection of setting, the second brush cleaning projection is formed with the multiple brushes cleaning being longitudinally disposed along brush unit and dashed forward
Rise, and the first brush cleaning projection and the second brush cleaning projection are projected 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 are clear in brush
It is formed integrally with each other on the end of clean component.
7. independent cleaning equipment as claimed in claim 1, wherein, the first brush cleaning projection and the second brush clean projection along brush
The direction of rotation of unit is independently formed in base area, while the first brush cleaning projection and the second brush cleaning projection are divided each other
Open.
8. independent cleaning equipment as claimed in claim 1, the independent cleaning equipment also includes control unit, the control list
Whether member is configured to determine removes the impurity being wrapped on brush unit and performs control so that in brush unit along a first direction
The impurity being wrapped on brush unit is removed by brush cleaning element while alternately rotation with second direction.
9. independent cleaning equipment as claimed in claim 8, wherein, wall of the control unit based on the opening by being arranged on main body
The energy of optical sensor detection on surface detects the amount for the impurity being wrapped on brush unit and based on the impurity detected
Amount determine whether to remove the impurity.
10. independent cleaning equipment as claimed in claim 8, wherein, control unit is based on the motor for running brush unit
Load detects the amount for the impurity being wrapped on brush unit and the amount based on the impurity detected determines whether to remove the impurity.
11. independent cleaning equipment as claimed in claim 8, wherein, input of the control unit based on user determines whether to remove
Impurity.
12. a kind of method for controlling independent cleaning equipment, the independent cleaning equipment includes dust arrester, dust arrester includes big collection
First entrance is formed with dirt device and small dust arrester, big dust arrester and the dust collected by brush unit, the ash is stored
Dirt is introduced on big dust arrester, small dust arrester via first entrance and is formed with second entrance, and methods described includes：
Determine whether to remove the impurity for being wrapped in and being configured to from the brush unit of the beneath collection dust of main body；
Once it is determined that the removal of impurity is gone, while brush unit alternately rotates with second direction along a first direction, by using
Brush cleaning element removes the impurity being wrapped on brush unit, and brush cleaning element is positioned close to the second entrance of small dust arrester
Part and including first brush cleaning projection and second brush cleaning projection, first brush cleaning projection and second brush clean projection towards
Brush unit is protruded, to be contacted with brush unit, while the first brush cleaning projection and the second brush clean projection along reciprocal side
To inclination,
Wherein, the impurity being wrapped on brush unit is removed by brush cleaning element, and is stored in via second entrance small
Dust arrester in.
13. method as claimed in claim 12, wherein, when determining whether to remove the impurity being wrapped on brush unit, it is based on
The energy detected by optical sensor on the wall surface for the opening for being arranged on main body come detect be wrapped in it is miscellaneous on brush unit
The amount of matter and amount based on the impurity detected determines whether to remove the impurity.
14. method as claimed in claim 12, wherein, when determining whether to remove the impurity being wrapped on brush unit, it is based on
The load on the motor that brush unit runs is set to detect the amount for the impurity being wrapped on brush unit and based on the impurity detected
Amount determines whether to remove the impurity.
15. method as claimed in claim 12, wherein, when determining whether to remove the impurity being wrapped on brush unit, it is based on
The input of user determines whether the removal of impurity.
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 CN102961088A (en) | 2013-03-13 |
| CN102961088B true 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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Also Published As
| Publication number | Publication date |
|---|---|
| CN102961088A (en) | 2013-03-13 |
| EP2570067A1 (en) | 2013-03-20 |
| US20130056026A1 (en) | 2013-03-07 |
| JP2013052238A (en) | 2013-03-21 |
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