CN103284662A - Cleaning system and control method thereof - Google Patents
Cleaning system and control method thereof Download PDFInfo
- Publication number
- CN103284662A CN103284662A CN2012104521846A CN201210452184A CN103284662A CN 103284662 A CN103284662 A CN 103284662A CN 2012104521846 A CN2012104521846 A CN 2012104521846A CN 201210452184 A CN201210452184 A CN 201210452184A CN 103284662 A CN103284662 A CN 103284662A
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- Prior art keywords
- detection signal
- task
- module
- robot
- floor
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Links
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000004140 cleaning Methods 0.000 title abstract description 19
- 238000010408 sweeping Methods 0.000 claims abstract description 49
- 238000001514 detection method Methods 0.000 claims abstract description 37
- 238000010926 purge Methods 0.000 claims description 20
- 241001417527 Pempheridae Species 0.000 claims description 7
- 238000004146 energy storage Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
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
- A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
- A47L13/42—Details
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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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a cleaning system and a control method thereof. The cleaning system comprises a guide object and a sweeping robot. The guiding object is provided with a magnet module for forming a magnetic field. The sweeping robot comprises an operation module, a first sensing module and a control module. The operation module performs a cleaning task and a moving task according to a control signal. The first sensing module generates a first detection signal according to the magnetic field. The control module generates a control signal according to the first detection signal for adjusting the performance of at least one of the cleaning task and the moving task.
Description
Technical field
The present invention relates to a kind of purging system, particularly relate to a kind of purging system with the robot of sweeping the floor.
Background technology
The cleaning floor is a kind of work of suitable effort.Many cleaning devices in order to improve the time that the cleaning floor spends, to develop, as besom, rag ... Deng.Yet the user still needs hand held device for cleaning, can carry out cleaning action, and therefore, existing cleaning device does not reduce user's inconvenience.
Along with the progress of science and technology, the kind of electronic product is more and more many, and wherein robot (robot) is exactly wherein a kind of.With the artificially example of machine of sweeping the floor, it can carry out cleaning action automatically, and does not need the user to operate, and therefore replaces existing cleaning device gradually.Generally speaking, existing way is to utilize at least one virtual wall (virtual wall), limits the purging zone of robot of sweeping the floor, and utilizes a base station (docking station), to the robot charging of sweeping the floor.Yet if the position that the robot of sweeping the floor can't learn virtual wall or base station or other wireless guiding devices exactly, the robot false hit that will cause sweeping the floor is to virtual wall or can't get back to the base station charging immediately.
Summary of the invention
The invention provides a kind of purging system, comprise guiding object and a sweeper device people.The guiding object has a magnet module, in order to form a magnetic field.The robot of sweeping the floor comprises an operational module, one first sensing module and a control module.Operational module carries out a clean up task and and moves task according to a control signal.First sensing module produces one first detection signal according to this magnetic field.Control module is according to first detection signal, produces control signal, in order to adjust at least one usefulness of clean up task and mobile task.
The present invention also provides a kind of control method, is applicable to a sweeper device people, comprises, a magnet module is set in a guiding object, in order to form a magnetic field; Detect magnetic field, and produce one first detection signal according to testing result; According to first detection signal, the sweep the floor clean up task and of robot of control moves at least one usefulness of task.
For the features and advantages of the present invention can be become apparent, cited below particularlyly go out preferred embodiment, and be described with reference to the accompanying drawings as follows.
Description of drawings
Fig. 1 is the schematic diagram of purging system of the present invention.
Fig. 2 is that one of control method of the present invention may embodiment.
Fig. 3 is another possibility embodiment of control method of the present invention.
The reference numeral explanation
100: purging system;
110: the guiding object;
130: the robot of sweeping the floor;
111: the magnet module;
113: nd-fe-b magnet;
131: operational module;
132: sensing module;
133: control module;
134: cleaning brush;
135,136: roller;
137: suction port;
S210 ~ S230, S310 ~ S350: step.
The specific embodiment
Fig. 1 is the schematic diagram of purging system of the present invention.As shown in the figure, purging system 100 comprises guiding object 110 and a sweeper device people 130.In the present embodiment, guiding object 110 has a magnet module 111, in order to form a magnetic field.In a possibility embodiment, magnet module 111 comprises at least one nd-fe-b magnet 113.
The present invention does not limit the function of guiding object 110.In the present embodiment, the guiding object 110 bootable robots 130 of sweeping the floor.One may embodiment in, guiding object 110 is a virtual wall, in order to the sweep the floor moving direction of robot 130 of restriction.In another may embodiment, guiding object 110 was a charging base platform or wireless guiding device, got back to charging base platform charge action or controlled in wireless program in order to the guiding robot 130 of sweeping the floor.
The robot 130 of sweeping the floor comprises an operational module 131, a sensing module 132 and a control module 133.Operational module 131 carries out a clean up task and and moves task according to a control signal.The present invention does not limit the composed component of operational module 131, as long as can clean and the element of mobile task, all can be arranged among the operational module 131.In the present embodiment, operational module 131 comprises a cleaning brush 134 and roller 135,136 and suction port 137.Cleaning brush 134 and suction port 137 are in order to carry out a clean up task.Roller 135 and 136 is in order to carry out moving task.
Sensing module 132 produces a detection signal according to the magnetic field that magnet module 111 produces.In the present embodiment, sensing module 132 is arranged at the side of robot 130 of sweeping the floor, but is not in order to limit the present invention.In other embodiments, as long as position that can sensing magnetic field all can arrange sensing module 132.In addition, the present invention does not also limit the inside structure of sensing module 132.In a possibility embodiment, sensing module 132 comprises that a compass sensor (compass sensor), a Hall sensor (Hall sensor), a gyroscope and accelerate at least one of rule (g sensor).
Control module 133 produces a control signal and gives operational module 131 according to the detection signal that sensing module 132 produces, in order to adjust at least one usefulness of clean up task that operational module 131 carries out and mobile task.
For example, the detection signal that control module 133 produces according to sensing module 132, control roller 135 and 136 rotating speed, turn to, in order to the movement of the robot 130 that stops or beginning sweeping the floor, or adjust the translational speed (accelerate or slow down) of the robot 130 of sweeping the floor or moving direction (turn round or cruise).
In addition, the detection signal that control module 133 more can produce according to sensing module 132, the rotating speed of control cleaning brush 134 or suction, the air mass flow of suction port 137 are in order to the sweep the floor cleaning usefulness of robot 130 of adjustment.
In the present embodiment, when sweeping the floor robot 130 close control objects 110, sensing module 132 just can sense strong magnetic field.On the contrary, when the robot 130 of sweeping the floor away from guiding during object 110, sensing module 132 just can't sense magnetic field, or can only sense small magnetic field.Therefore, according to the detection signal that sensing module 132 produces, just can learn the position of guiding object 110.
In a possibility embodiment, if when guiding object 110 as a virtual wall, then sweep the floor robot 130 when close control object 110, the detection signal that control module 133 just produces according to sensing module 132, the sweep the floor mobile route of robot 130 of planning is just controlled the rotating speed of roller 135 and 136 and is turned to.
In another possibility embodiment, if when guiding object 110 as a charging base platform, then ought sweep the floor an electric energy of the energy-storage module (as battery, showing) in the robot 130 during less than a preset value, and control module 133 control rollers 135 and 136 move toward guiding objects 110.Because guiding object 110 has magnet module 111, therefore, by the detection of sensing module 132, the robot 130 of sweeping the floor can learn the position of guiding object 110 exactly, and moves towards guiding object 110.
In other embodiments, no matter the role of guiding object 110 why, the detection signal that control module 133 can produce according to sensing module 132 is learnt the state of the robot 130 of sweeping the floor at present.For example, the variation of the detection signal that produces when sensing module 132 is less than a preset value, and when continuing to surpass a Preset Time, and the expression robot 130 1 of sweeping the floor waits until in same place motionlessly, blocks or dallies as robot.In this example, control module 133 can be controlled turning to of roller 135 and 136, and the feasible robot 130 of sweeping the floor moves in the mode of waving.
In addition, control module 133 also can be utilized the effect of sound or light, presents the use state of the robot 130 of sweeping the floor.For example, when the robot 130 of sweeping the floor blocked, control module 133 drove a buzzer (not shown), in order to sending the caution message, or lighted warning lamp, allowed the user learn immediately well and got rid of abnormality.
In order to allow the robot 130 of sweeping the floor move in optimal mode, one may embodiment in, the robot 130 of sweeping the floor also comprises a sensing module 137.Sensing module 137 produces a detection signal according to the external environment condition of the robot 130 of sweeping the floor.The detection signal that control module 133 produces according to sensing module 137 is adjusted at least one usefulness of the clean up task of operational module 131 and mobile task.
For example, if the detection signal that control module 133 produces according to sensing module 132, learn that the robot 130 of sweeping the floor is stuck, control module 133 can be adjusted turning to of roller 135 and 136, with so that sweeper device people 130 move in the mode of waving, the detection signal that produces according to sensing module 137 is again adjusted the mobile route of the robot 130 of sweeping the floor, and makes the robot 130 of sweeping the floor break away from the state that blocks.
The present invention does not limit the inside structure of sensing module 137.In a possibility embodiment, sensing module 137 comprises an OPTICAL SENSORS (photo sensor), and the reverberation according to around the robot 130 of sweeping the floor produces detection signal.In another possibility embodiment, sensing module 137 comprises a sound sensor, and as ultrasonic sensing method (ultrasonic sensor), the reflective sound wave according to around the robot 130 of sweeping the floor produces detection signal.In addition, sensing module and guiding device that can the sensing wireless signal all be possible embodiment.
Fig. 2 is that one of control method of the present invention may embodiment.At first, a magnet module is set in a guiding object, in order to form a magnetic field (step S210).At a possibility embodiment, at least one nd-fe-b magnet can be arranged in the guiding object, but be not in order to limit the present invention.In other embodiments, the magnet of other kind can be set in the guiding object.
Detect the magnetic field of guiding object, and according to testing result, produce a detection signal (step S220).In a possibility embodiment, be to utilize a compass sensor, a Hall sensor, a gyroscope and to accelerate at least one detection magnetic field of rule.
According to detection signal, a clean up task and of controlling a sweeper device people moves at least one usefulness (step S230) of task.One may embodiment in, by the sweep the floor rotating speed, suction or the air mass flow of suction port of cleaning brush of robot of control, just can reach the sweep the floor purpose of a clean up task of robot of control.In addition, by control sweep the floor robot roller rotating speed and turn to, just can reach control one of the robot of sweeping the floor and move the purpose of task.
Fig. 3 is another possibility embodiment of control method of the present invention.Fig. 3 similar diagram 2, difference have been more than Fig. 3 step S340 and S350.Because step S310 ~ S330 of Fig. 3 is identical with step S210 ~ S230 of Fig. 2, so repeat no more.
In step S340, whether the variation of the detection signal that determining step S220 produces is less than a preset value, and the lasting Preset Time that surpasses.The variation of the detection signal that produces as step S220 is less than a preset value, and when continuing to surpass a Preset Time, and the expression robot of sweeping the floor may be stuck.Therefore, detect an external environment condition of the robot of sweeping the floor, and the sweep the floor clean up task and of robot of adjustment moves task at least one (step S350) according to testing result.
For example, when the robot of sweeping the floor blocks, can adjust the mobile task of the robot of sweeping the floor earlier, the robot of sweeping the floor is moved in a mode of waving, another sensing module of recycling detects the external environment condition of the robot of sweeping the floor, and according to testing result the sweep the floor travel path of robot of adjustment, make the robot of sweeping the floor leave the state of blocking.In addition, learn that the robot of sweeping the floor blocks after, can suspend clean up task earlier, after waiting to block state and removing, begin clean up task again.
In a possibility embodiment, step S350 utilizes an OPTICAL SENSORS to detect a reverberation of the external environment condition of the robot of sweeping the floor.In another possibility embodiment, step S350 utilizes a sound sensor, detects a reflective sound wave of the external environment condition of the robot of sweeping the floor.
The variation of the detection signal that produces as step S220 is less than a preset value, or time that continues when surpassing a Preset Time, and therefore the expression robot normal operation of sweeping the floor, gets back to step S320, continues the variation according to magnetic field, the control robot of sweeping the floor.In addition, behind step S350, also get back to step S320, continue to detect the variation in magnetic field.
Unless define in addition, all belong to (comprising technology and science vocabulary) persond having ordinary knowledge in the technical field of the present invention's general understanding at these all vocabulary.In addition, unless clear expression, it is consistent that the definition of vocabulary in general dictionary should be interpreted as in the article with its correlative technology field meaning, and should not be construed as perfect condition or too formal voice.
Though the present invention discloses as above with preferred embodiment; right its is not in order to limiting the present invention, those skilled in the art, under the premise without departing from the spirit and scope of the present invention; can do some changes and retouching, so protection scope of the present invention is to be as the criterion with claim of the present invention.
Claims (12)
1. purging system comprises:
One guiding object has a magnet module, in order to form a magnetic field; And
One sweeper device people comprises:
One operational module according to a control signal, carries out a clean up task and and moves task;
One first sensing module according to this magnetic field, produces one first detection signal; And
One control module according to this first detection signal, produces this control signal, in order to adjust at least one usefulness of this clean up task and this mobile task.
2. purging system as claimed in claim 1, wherein this guiding object is a virtual wall.
3. purging system as claimed in claim 1, wherein this guiding object is a charging base platform.
4. purging system as claimed in claim 1, wherein this guiding object is a wireless guiding device.
5. purging system as claimed in claim 3, wherein this operational module comprises a plurality of rollers, move task in order to carry out this, this robot of sweeping the floor also comprises an energy-storage module, when an electric energy of this energy-storage module during less than a preset value, this control module is controlled these rollers and is moved toward this charging base platform.
6. purging system as claimed in claim 1, wherein this first sensing module comprises that a compass sensor, a Hall sensor, a gyroscope and accelerate at least one of rule.
7. purging system as claimed in claim 1, wherein this robot of sweeping the floor also comprises:
One second sensing module, external environment condition according to this robot of sweeping the floor, produce one second detection signal, wherein work as the variation of this first detection signal less than a preset value, and when continuing to surpass a Preset Time, this control module is according to this second detection signal, adjusts at least one usefulness of this clean up task and this mobile task.
8. purging system as claimed in claim 7, wherein this second sensing module comprises an OPTICAL SENSORS, according to a reverberation of this external environment condition, produces this second detection signal.
9. purging system as claimed in claim 7, wherein this second sensing module comprises a sound sensor, according to a reflective sound wave of this external environment condition, produces this second detection signal.
10. purging system as claimed in claim 7, wherein this second sensing module comprises a wireless sensor device, according to a wireless signal of this external environment condition, produces this second detection signal.
11. purging system as claimed in claim 1, wherein this magnet module comprises at least one nd-fe-b magnet.
12. a control method is applicable to a sweeper device people, comprising:
One magnet module is set in a guiding object, in order to form a magnetic field;
Detect this magnetic field, and according to testing result, produce one first detection signal; And
According to this first detection signal, a clean up task and of controlling this robot of sweeping the floor moves at least one usefulness of task.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201261606106P | 2012-03-02 | 2012-03-02 | |
| US61/606,106 | 2012-03-02 | ||
| TW101127709 | 2012-08-01 | ||
| TW101127709A TW201336457A (en) | 2012-03-02 | 2012-08-01 | Cleaning system and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103284662A true CN103284662A (en) | 2013-09-11 |
| CN103284662B CN103284662B (en) | 2016-09-21 |
Family
ID=48985190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210452184.6A Active CN103284662B (en) | 2012-03-02 | 2012-11-13 | Cleaning system and control method thereof |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20130228198A1 (en) |
| JP (1) | JP2013180204A (en) |
| CN (1) | CN103284662B (en) |
| DE (1) | DE102013101700A1 (en) |
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| CN105988139A (en) * | 2015-04-15 | 2016-10-05 | 小米科技有限责任公司 | Intelligent cleaning device, collision detection assembly, de-trapping method and de-trapping device of intelligent cleaning device |
| CN106137042A (en) * | 2014-12-24 | 2016-11-23 | 江苏美的清洁电器股份有限公司 | The control method of sweeping robot and sweeping robot and control device |
| CN106239504A (en) * | 2016-07-29 | 2016-12-21 | 北京小米移动软件有限公司 | Clean robot and control method thereof |
| WO2016206648A1 (en) * | 2015-06-26 | 2016-12-29 | 苏州宝时得电动工具有限公司 | Autonomous mobile device and wireless charging system thereof |
| CN106272441A (en) * | 2016-10-21 | 2017-01-04 | 苏州大成电子科技有限公司 | Robot cruise site and set up method and the cruise method of coordinate system by site |
| CN107249415A (en) * | 2016-01-08 | 2017-10-13 | 东芝生活电器株式会社 | From type of law traveling body |
| CN107348906A (en) * | 2016-05-09 | 2017-11-17 | 沃维克股份有限公司 | The system and method for floor cleaning with clean robot |
| CN107744370A (en) * | 2016-07-13 | 2018-03-02 | 艾罗伯特公司 | Autonomous robot automatic docked and EMS and method |
| CN108209747A (en) * | 2017-12-29 | 2018-06-29 | 北京视觉世界科技有限公司 | Waste disposal method, device, computer equipment and storage medium |
| CN108334082A (en) * | 2018-01-18 | 2018-07-27 | 安徽三弟电子科技有限责任公司 | Scavenging machine automatic recharging method based on base station location and its control system |
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| CN106137058B (en) * | 2015-04-15 | 2019-08-06 | 小米科技有限责任公司 | Cleaning robot system and virtual wall detection method |
| EP3282912B1 (en) * | 2015-04-17 | 2020-06-10 | Aktiebolaget Electrolux | Robotic cleaning device and a method of controlling the robotic cleaning device |
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-
2012
- 2012-11-13 CN CN201210452184.6A patent/CN103284662B/en active Active
- 2012-12-21 US US13/724,140 patent/US20130228198A1/en not_active Abandoned
-
2013
- 2013-02-20 DE DE102013101700A patent/DE102013101700A1/en not_active Withdrawn
- 2013-02-27 JP JP2013036716A patent/JP2013180204A/en active Pending
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| WO2016206648A1 (en) * | 2015-06-26 | 2016-12-29 | 苏州宝时得电动工具有限公司 | Autonomous mobile device and wireless charging system thereof |
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| CN110575099B (en) * | 2018-06-07 | 2021-07-27 | 科沃斯机器人股份有限公司 | Fixed-point cleaning method, floor sweeping robot and storage medium |
| CN111158354A (en) * | 2018-11-07 | 2020-05-15 | 科沃斯机器人股份有限公司 | Self-moving equipment operation method, equipment and storage medium |
| CN110881908A (en) * | 2019-12-14 | 2020-03-17 | 陈志后 | Mechanical robot of sweeping floor that disk rack angular distance arc was nibbled based on degree of freedom |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2013180204A (en) | 2013-09-12 |
| US20130228198A1 (en) | 2013-09-05 |
| DE102013101700A1 (en) | 2013-09-05 |
| CN103284662B (en) | 2016-09-21 |
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