CN103284662B - The cleaning system and control method - Google Patents

The cleaning system and control method Download PDF

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Publication number
CN103284662B
CN103284662B CN201210452184.6A CN201210452184A CN103284662B CN 103284662 B CN103284662 B CN 103284662B CN 201210452184 A CN201210452184 A CN 201210452184A CN 103284662 B CN103284662 B CN 103284662B
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cleaning
module
detection signal
task
according
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CN201210452184.6A
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Chinese (zh)
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CN103284662A (en
Inventor
洪士哲
冷耀世
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恩斯迈电子(深圳)有限公司
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Priority to US61/606,106 priority
Priority to TW101127709 priority
Priority to TW101127709A priority patent/TW201336457A/en
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    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L13/00Implements for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L13/10Scrubbing; Scouring; Cleaning; Polishing
    • A47L13/42Details
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details 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
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805Parameters or conditions being sensed
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

本发明涉及一种清扫系统及其控制方法。 The present invention relates to a system and method for controlling the cleaning. 该清扫系统,包括一引导物体以及一扫地机器人。 The cleaning system includes a guide body and a cleaning robot. 引导物体具有一磁铁模块,用以形成一磁场。 Having a magnet for guiding the module, to form a magnetic field. 扫地机器人包括,一操作模块、一第一感测模块以及一控制模块。 Cleaning robot comprising an operating module, a first sensing module and a control module. 操作模块根据一控制信号,进行一清洁任务以及一移动任务。 Operating module according to a control signal, and performing a cleaning task a movement task. 第一感测模块根据该磁场,产生一第一检测信号。 According to the first magnetic field sensing module, generating a first detection signal. 控制模块根据第一检测信号,产生控制信号,用以调整清洁任务以及移动任务的至少一个的效能。 The control module according to a first detection signal, generating a control signal, for adjusting at least one cleaning performance tasks and the mobile tasks.

Description

清扫系统及其控制方法 The cleaning system and control method

技术领域 FIELD

[0001] 本发明涉及一种清扫系统,特别是涉及一种具有扫地机器人的清扫系统。 [0001] The present invention relates to a cleaning system, particularly relates to a cleaning system having a cleaning robot. 背景技术 Background technique

[0002] 清洁地板是一种相当费力的工作。 [0002] cleaning the floor is a very demanding job. 为了改善清洁地板所花费的时间,发展出许多清洁装置,如扫把、抹布…等。 To improve the time it takes to clean floors, developed many cleaning devices, such as broom, rags ... etc. 然而,使用者仍需手持清洁装置,方能进行清洁动作,因此,现有的清洁装置并未降低使用者的不便。 However, users still need to hand-held cleaning device, in order to clean actions, therefore, the conventional cleaning devices did not reduce inconvenience to the user.

[0003] 随着科技的进步,电子产品的种类愈来愈多,其中机器人(robot)就是其中一种。 [0003] As technology advances, more and more types of electronic products, in which the robot (robot) is one of them. 以扫地机器人为例,其可自动进行清洁动作,而不需使用者操作,因此逐渐取代现有的清洁装置。 In the cleaning robot as an example, the cleaning operation may be performed automatically, without user operation, thus gradually replace the conventional cleaning apparatus. 一般而言,现有的做法是利用至少一虚拟墙(virtual wall),限制扫地机器人的清扫区域,并利用一基地台(docking stat1n),对扫地机器人充电。 In general, the current practice is to use at least a virtual wall (virtual wall), limiting the cleaning area of ​​the cleaning robot, and the use of a base station (docking stat1n), charge for cleaning robot. 然而,若扫地机器人无法准确地得知虚拟墙或基地台或其他无线导引装置的位置,将导致扫地机器人误碰撞到虚拟墙或是无法即时回到基地台充电。 However, if the cleaning robot could not accurately determine the position of the virtual wall or base station or other wireless device guides, will lead to incorrect cleaning robot collides with a wall or a virtual real-time back to the base station can not be charged. 发明内容 SUMMARY

[0004] 本发明提供一种清扫系统,包括一引导物体以及一扫地机器人。 [0004] The present invention provides a cleaning system comprising a guide body and a cleaning robot. 引导物体具有一磁铁模块,用以形成一磁场。 Having a magnet for guiding the module, to form a magnetic field. 扫地机器人包括,一操作模块、一第一感测模块以及一控制模块。 Cleaning robot comprising an operating module, a first sensing module and a control module. 操作模块根据一控制信号,进行一清洁任务以及一移动任务。 Operating module according to a control signal, and performing a cleaning task a movement task. 第一感测模块根据该磁场,产生一第一检测信号。 According to the first magnetic field sensing module, generating a first detection signal. 控制模块根据第一检测信号,产生控制信号,用以调整清洁任务以及移动任务的至少一个的效能。 The control module according to a first detection signal, generating a control signal, for adjusting at least one cleaning performance tasks and the mobile tasks.

[0005] 本发明还提供一种控制方法,适用于一扫地机器人,包括,设置一磁铁模块于一引导物体中,用以形成一磁场;检测磁场,并根据检测结果产生一第一检测信号;根据第一检测信号,控制扫地机器人的一清洁任务及一移动任务的至少一个的效能。 [0005] The present invention further provides a control method for a cleaning robot, comprising, a magnet disposed in a module guide object for forming a magnetic field; detecting magnetic field, and generates a first detection signal according to the detection result; according to a first detection signal, and controlling a movement of a cleaning task the task of cleaning the at least one robot performance.

[0006] 为使本发明的特征和优点能更明显易懂,下文特举出较佳实施例,并结合附图详细说明如下。 [0006] To make the features and advantages of the present invention can be more fully understood by referring include preferred embodiments, in conjunction with the accompanying drawings and described in detail below. 附图说明 BRIEF DESCRIPTION

[0007] 图1为本发明的清扫系统的示意图。 [0007] FIG. 1 is a schematic view of the cleaning system of the present invention.

[0008] 图2为本发明的控制方法的一可能实施例。 [0008] The control method of the present invention FIG. 2 is a possible embodiment.

[0009] 图3为本发明的控制方法的另一可能实施例。 Another control method of the present invention [0009] FIG 3 a possible embodiment.

[0010] 附图符号说明 [0010] BRIEF DESCRIPTION OF REFERENCE NUMERALS

[0011] 100:清扫系统; [0011] 100: cleaning system;

[0012] 110:引导物体;[〇〇13] 130:扫地机器人; [0012] 110: guide body; [〇〇13] 130: cleaning robot;

[0014] 111:磁铁模块; [0014] 111: magnet module;

[0015] 113:铷铁硼磁铁; [0015] 113: neodymium iron boron magnets;

[0016] 131:操作模块; [0016] 131: operation module;

[0017] 132:感测模块; [0017] 132: a sensing module;

[0018] 133:控制模块; [0018] 133: control module;

[0019] 134:清洁刷; [0019] 134: cleaning brush;

[0020] 135、136:滚轮; [0020] 135, 136: roller;

[0021] 137:吸尘口; [0021] 137: suction port;

[0022] S210〜S230、S310〜S350:步骤。 [0022] S210~S230, S310~S350: step.

具体实施方式 Detailed ways

[0023 ]图1为本发明的清扫系统的示意图。 [0023] FIG. 1 is a schematic view of the cleaning system of the present invention. 如图所示,清扫系统100包括一引导物体110以及一扫地机器人130。 As shown, the cleaning system 100 includes a body 110 and a guide 130 for a cleaning robot. 在本实施例中,引导物体110具有一磁铁模块111,用以形成一磁场。 In the present embodiment, the guide body 110 having a magnet module 111, to form a magnetic field. 在一可能实施例中,磁铁模块111包括至少一铷铁硼磁铁113。 In one possible embodiment, the magnet module 111 comprises at least one of neodymium iron boron magnets 113.

[0024]本发明并不限定引导物体110的功用。 [0024] The present invention is not limited to the function of the guide body 110. 在本实施例中,引导物体110可引导扫地机器人130。 In the present embodiment, the guide 110 may guide the object 130 of the cleaning robot. 在一可能实施例中,引导物体110为一虚拟墙,用以限定扫地机器人130的移动方向。 In one possible embodiment, the guide object 110 as a virtual wall to define a moving direction of the cleaning robot 130. 在另一可能实施例中,引导物体110为一充电基地台或无线导引装置,用以引导扫地机器人130回到充电基地台进行充电动作或无线控制程序。 In another possible embodiment, the guide body 110 is a wireless base station or a charging guide means for guiding the cleaning robot 130 back to the base station charging operation for charging or wireless control program.

[0025]扫地机器人130包括一操作模块131、一感测模块132以及一控制模块133。 [0025] The cleaning robot 130 includes an operating module 131, a sensing module 132 and a control module 133. 操作模块131根据一控制信号,进行一清洁任务以及一移动任务。 The operation module 131 a control signal for moving a cleaning task, and a task. 本发明并不限定操作模块131的构成元件,只要能够进行清洁及移动任务的元件,均可设置在操作模块131之中。 The present invention is not limited to the constituent elements of the operation module 131, and as long as the cleaning element moves task can be set in the operating module 131. 在本实施例中,操作模块131包括一清洁刷134以及滚轮135、136及吸尘口137。 In the present embodiment, operating module 131 includes a cleaning brush 134 and suction port 137 and the rollers 135, 136. 清洁刷134及吸尘口137用以进行一清洁任务。 The cleaning brush 134 and suction port 137 for performing a cleaning task. 滚轮135及136用以进行一移动任务。 Rollers 135 and 136 for performing a movement task.

[0026]感测模块132根据磁铁模块111所产生的磁场,产生一检测信号。 [0026] The sensing module 132 according to the magnetic field generated by the magnet module 111, generates a detection signal. 在本实施例中,感测模块132设置于扫地机器人130的侧面,但并非用以限制本发明。 In the present embodiment, the sensing module 132 is provided on the side surface of the cleaning robot 130, but not to limit the present invention. 在其它实施例中,只要能够感测磁场的位置,均可设置感测模块132。 In other embodiments, as long as the position sensing a magnetic field, the sensing module 132 may be provided. 另外,本发明亦不限定感测模块132的内部架构。 Further, the present invention does not limit the sensing module 132 of the internal architecture. 在一可能实施例中,感测模块132包括一指南针感测器(compass sensor)、一霍尔感测器(Hall sensor)、一陀螺仪及一加速规(g sensor)的至少一个。 In one possible embodiment, the sensing module 132 comprises a compass sensor (compass sensor), a Hall sensor (Hall sensor), a gyroscope and an accelerometer (g sensor) at least one.

[0027]控制模块133根据感测模块132所产生的检测信号,产生一控制信号予操作模块131,用以调整操作模块131所进行的清洁任务以及移动任务的至少一个的效能。 [0027] The control module 133 based on the detection signal generated by the sensing module 132, generating at least one control signal to a performance operation module 131, and a mobile cleaning task for adjusting operation tasks performed by the module 131.

[0028]举例而言,控制模块133根据感测模块132所产生的检测信号,控制滚轮135及136的转速、转向,用以停止或开始扫地机器人130的移动,或是调整扫地机器人130的移动速度(加速或减速)或移动方向(回转或巡航)。 [0028] For example, the control module 133 based on the detection signal generated by the sensing module 132, 135 and 136 controlling the rotational speed of the wheel steering, to stop or start of the cleaning robot 130 to move or adjust the mobile cleaning robot 130 speed (acceleration or deceleration) or the moving direction (swing or cruising).

[0029]另外,控制模块133更可根据感测模块132所产生的检测信号,控制清洁刷134的转速或是吸尘口137的吸力、空气流量,用以调整扫地机器人130的清扫效能。 [0029] Further, the control module 133 may further according to the detection signal generated by the sensing module 132, to control the rotational speed of the cleaning brush 134 or a vacuum suction port, the air flow 137, to adjust the cleaning effectiveness of the cleaning robot 130.

[0030 ]在本实施例中,当扫地机器人130接近引导物体110时,感测模块13 2便可感测到强烈的磁场。 [0030] In the present embodiment, when the cleaning robot 130 approaches the guide body 110, the sensing module 132 can sense the strong magnetic field. 相反地,当扫地机器人130远离引导物体110时,感测模块132便无法感测到磁场,或是只能感测到微小的磁场。 Conversely, when the cleaning robot 130 away from the guide body 110, a sensing module 132 can not sense the magnetic field, or only a minute magnetic field sensed. 因此,根据感测模块132所产生的检测信号,便可得知引导物体110的所在位置。 Thus, based on the detection signal generated by the sensing module 132, will be aware of the location of the guide body 110.

[0031]在一可能实施例中,若引导物体110作为一虚拟墙时,则扫地机器人130在接近引导物体110时,控制模块133便根据感测模块132所产生的检测信号,规划扫地机器人130的移动路径,也就是控制滚轮135及136的转速及转向。 [0031] In one possible embodiment, if the guide object 110 as a virtual wall, the cleaning robot 130 when approaching the guide object 110, the control module 133 will be based on the detection signal sensing module generated 132, planning the cleaning robot 130 the path of movement, i.e. 135 and 136 of the control wheel speed and steering.

[0032] 在另一可能实施例中,若引导物体110作为一充电基地台时,则当扫地机器人130 内的一储能模块(如电池,未显示)的一电能小于一预设值时,控制模块133控制滚轮135及136往引导物体110移动。 When [0032] In another possible embodiment, if the guide object 110 as a charging base station, when an energy storage module within the cleaning robot 130 (e.g., a battery, not shown) is a power smaller than a predetermined value, The control module 133 controls the guide rollers 135 and 136 to 110 of the moving object. 由于引导物体110具有磁铁模块111,因此,藉由感测模块132的检测,扫地机器人130可准确地得知引导物体110的位置,并朝向引导物体110而移动。 Since the guide body 110 having a magnet module 111, and therefore, detection by the sensing module 132, the cleaning robot 130 can accurately determine the position of the guide body 110 and moves toward the guide body 110.

[0033] 在其它实施例中,不论引导物体110的角色为何,控制模块133可根据感测模块132 所产生的检测信号,得知目前扫地机器人130的状态。 [0033] In other embodiments, the object 110 regardless of what the role of the guide, the control module 133 according to the detection signal generated by the sensing module 132, and that the current state of the cleaning robot 130. 举例而言,当感测模块132所产生的检测信号的变化小于一预设值,并且持续超过一预设时间时,表示扫地机器人130—直待在同一地点不动,如机器人卡住或空转。 For example, when a change of the detection signal generated by the sensing module 132 is less than a predetermined value and lasts for more than a predetermined time, the cleaning robot 130- represents a straight stay the same location does not move, jamming or idle robot. 在此例中,控制模块133可控制滚轮135及136的转向,使得扫地机器人130以摇摆的方式移动。 In this embodiment, the control module 133 may control the steering wheel 135 and 136 of the cleaning robot 130 moves in a rocking manner.

[0034] 另外,控制模块133亦可利用声音或光线的效果,呈现扫地机器人130的使用状态。 [0034] Further, the control module 133 may also use sound or light effect, showing the state of the cleaning robot 130 is used. 举例而言,当扫地机器人130卡住时,控制模块133驱动一蜂鸣器(未显示),用以发出警示讯息,或是点亮警示灯,好让使用者即时得知并排除异常状态。 For example, the cleaning robot 130 when stuck, the control module 133 drives a buzzer (not shown) to generate a warning message or warning lamp lit, so that the user instantly and excludes the abnormal state.

[0035] 为了让扫地机器人130以最适当的方式移动,在一可能实施例中,扫地机器人130 还包括一感测模块137。 [0035] In order to allow the cleaning robot 130 moves in the most appropriate manner, in a possible embodiment, the cleaning robot 130 further includes a sensing module 137. 感测模块137根据扫地机器人130的外部环境,产生一检测信号。 The sensing module 137 of the cleaning robot 130 of an external environment, a detection signal is generated. 控制模块133根据感测模块137所产生的检测信号,调整操作模块131的清洁任务以及移动任务至少一个的效能。 The control module 133 based on the detection signal generated by the sensing module 137, the adjusting operation module and a mobile cleaning task 131 at least one task performance.

[0036] 举例而言,若控制模块133根据感测模块132所产生的检测信号,得知扫地机器人130被卡住,控制模块133可调整滚轮135及136的转向,用以使扫地机器人130以摇摆的方式移动,再根据感测模块137所产生的检测信号,调整扫地机器人130的移动路径,使扫地机器人130脱离卡住状态。 [0036] For example, if the control module 133 based on the detection signal generated by the sensing module 132, the cleaning robot 130 that is stuck, the control module 133 can adjust the steering wheel 135 and 136, for causing the cleaning robot 130 swinging movement of the way, and then based on the detection signal generated by the sensing module 137, the adjustment path of the cleaning robot 130 moves the cleaning robot 130 to unstick.

[0037] 本发明并不限定感测模块137的内部架构。 [0037] The present invention is not limited to the internal structure of the sensing module 137. 在一可能实施例中,感测模块137包括一光感测器(photo sensor),根据扫地机器人130周围的一反射光,产生检测信号。 In one possible embodiment, the sensing module 137 includes an optical sensor (photo sensor), the reflected light 130 according to a cleaning robot around, generates a detection signal. 在另一可能实施例中,感测模块137包括一声音感测器,如超音波感测器(ultrasonic sensor),根据扫地机器人130周围的一反射声波,产生检测信号。 In another possible embodiment, the sensing module 137 comprises a sound sensor, such as ultrasonic sensor (ultrasonic sensor), according to a reflected sound wave around the cleaning robot 130, generates a detection signal. 此外,可以感测无线信号的感测模块以及导引装置都是可能的实施例。 Furthermore, embodiments are possible sense the measured wireless signal sensing module and a guide means.

[0038] 图2为本发明的控制方法的一可能实施例。 [0038] FIG 2 is a control method of the invention is a possible embodiment. 首先,设置一磁铁模块于一引导物体中,用以形成一磁场(步骤S210)。 First, a magnet is disposed in a module guide object for forming a magnetic field (step S210). 在一可能实施例,可将至少一铷铁硼磁铁设置于引导物体中,但并非用以限制本发明。 In one possible embodiment, it may be at least one of neodymium iron boron magnets disposed in the guide object, but not to limit the present invention. 在其它实施例中,可设置其它种类的磁铁于引导物体中。 In other embodiments, other types of magnets may be provided in the guide object. [〇〇39]检测引导物体的磁场,并根据检测结果,产生一检测信号(步骤S220)。 [〇〇39] guidance magnetic field detection object, and the detection result, generates a detection signal (step S220). 在一可能实施例中,是利用一指南针感测器、一霍尔感测器、一陀螺仪及一加速规的至少一个检测磁场。 In one possible embodiment, using a compass sensor, a Hall sensor, a gyroscope and an accelerometer at least one detected magnetic field.

[0040] 根据检测信号,控制一扫地机器人的一清洁任务及一移动任务的至少一个的效能(步骤S230)。 [0040] According to the detection signal, control the movement of a cleaning task, and a task of a robot cleaning performance of at least one (step S230). 在一可能实施例中,藉由控制扫地机器人的清洁刷的转速、吸尘口的吸力或空气流量,便可达到控制扫地机器人的一清洁任务的目的。 In one possible embodiment, the cleaning robot by controlling the rotational speed of the cleaning brush, the suction port or the suction air flow, can achieve the purpose of controlling the cleaning robot is a cleaning task. 另外,藉由控制扫地机器人的滚轮的转速及转向,便可达到控制扫地机器人的一移动任务的目的。 Further, by controlling the cleaning robot speed and the steering wheel, can achieve the purpose of controlling the cleaning robot moves a task.

[0041] 图3为本发明的控制方法的另一可能实施例。 Another control method of the present invention [0041] FIG 3 a possible embodiment. 图3相似图2,不同之处在于图3多了步骤S340及S350。 Figure 3 is similar to FIG. 2, FIG. 3 except that step S340 and more S350. 由于图3的步骤S310〜S330与图2的步骤S210〜S230相同,故不再赘述。 Since Steps S310~S330 of FIG. 3 and FIG. 2 in step S210~S230, it will not be repeated. [〇〇42]在步骤S340中,判断步骤S220所产生的检测信号的变化是否小于一预设值,并且持续超过一预设时间。 [〇〇42] In step S340, the determination change detection signal generated in step S220 is smaller than a predetermined value and lasts for more than a predetermined time. 当步骤S220所产生的检测信号的变化小于一预设值,并且持续超过一预设时间时,表示扫地机器人可能被卡住。 When the change detection signal is generated in step S220 is less than a predetermined value and lasts for more than a predetermined time, it means that the cleaning robot may be stuck. 因此,检测扫地机器人的一外部环境,并根据检测结果调整扫地机器人的清洁任务及一移动任务的至少一个(步骤S350)。 Thus, the cleaning robot detecting an external environment, and adjusting the cleaning robot cleaning task, and a task of moving at least one of the detection result (step S350).

[0043] 举例而言,当扫地机器人卡住时,可先调整扫地机器人的移动任务,使扫地机器人以一摇摆方式移动,再利用另一感测模块检测扫地机器人的外部环境,并根据检测结果调整扫地机器人的行进路径,使得扫地机器人离开卡住状态。 [0043] For example, when the cleaning robot jammed, the task may be to adjust the movement of the cleaning robot, so that the cleaning robot moves a swing mode, then the external environment using another sensing module detects a cleaning robot, and the detection result adjust the travel path of the cleaning robot, the cleaning robot away jammed state. 另外,得知扫地机器人卡住后, 可先暂停清洁任务,待卡住状态解除后,再开始清洁任务。 In addition, the cleaning robot stuck after that, you can pause the cleaning task, to be stuck state is released, and then start cleaning tasks.

[0044] 在一可能实施例中,步骤S350是利用一光感测器检测扫地机器人的外部环境的一反射光。 [0044] In one possible embodiment, the step S350 is a reflected light using a light sensor detects the external environment of the cleaning robot. 在另一可能实施例中,步骤S350是利用一声音感测器,检测扫地机器人的外部环境的一反射声波。 In another possible embodiment, the step S350 is a reflection of sound waves using a sound sensor, detecting the external environment of the cleaning robot.

[0045] 当步骤S220所产生的检测信号的变化未小于一预设值,或是持续的时间未超过一预设时间时,表示扫地机器人正常运作,因此,回到步骤S320,继续根据磁场的变化,控制扫地机器人。 [0045] When the change detection signal is not generated in step S220 is smaller than a predetermined value, or does not exceed the duration of a predetermined time, showing the normal operation of the cleaning robot, thus, back to step S320, the magnetic field continues in accordance with change control cleaning robot. 另外,在步骤S350后,亦回到步骤S320,继续检测磁场的变化。 Further, after step S350, the back also step S320, the detected change in magnetic field continues.

[0046] 除非另作定义,在此所有词汇(包含技术与科学词汇)均属本发明所属技术领域中具有通常知识者的一般理解。 [0046] Unless defined otherwise generally appreciated, all of this in terms (including technical and scientific terms) used herein skilled in the art of the present invention, those having ordinary skill. 此外,除非明白表示,词汇于一般字典中的定义应解释为与其相关技术领域的文章中意义一致,而不应解释为理想状态或过分正式的语态。 In addition, unless it clear that the definition of words in general dictionaries should be interpreted as consistent with their relevant technical articles in the field of meaning, and should not be interpreted in an idealized or overly formal sense.

[0047] 虽然本发明已以较佳实施例揭示如上,然其并非用以限定本发明,本领域的技术人员,在不脱离本发明的精神和范围的前提下,可作若干的更动与润饰,因此本发明的保护范围是以本发明的权利要求为准。 [0047] While the present invention has been disclosed in the preferred embodiment described above, they are not intended to limit the invention, those skilled in the art, without departing from the spirit and scope of the present invention, may be made several modifications to retouch, therefore the scope of the present invention is claimed in the invention claims and their equivalents.

Claims (11)

1.一种清扫系统,包括: 一引导物体,具有一磁铁模块,用以形成一磁场;以及一扫地机器人,包括: 一操作模块,根据一控制信号,进行一清洁任务以及一移动任务; 一第一感测模块,根据该磁场,产生一第一检测信号;以及一控制模块,根据该第一检测信号,产生该控制信号,用以调整该清洁任务以及该移动任务的至少一个的效能, 其中该扫地机器人还包括: 一第二感测模块,根据该扫地机器人的一外部环境,产生一第二检测信号,其中当该第一检测信号的变化小于一预设值,并且持续超过一预设时间时,该控制模块根据该第二检测信号,调整该清洁任务以及该移动任务至少一个的效能。 1. A cleaning system comprising: a guide object module having a magnet for forming a magnetic field; and a cleaning robot, comprising: an operating module, according to a control signal, and performing a cleaning task a mobile task; a first sensing module, based on the magnetic field, generating a first detection signal; and a control module, based on the first detection signal to generate the control signal for adjusting the at least one cleaning tasks and task performance of the mobile, wherein the cleaning robot further comprises: a second sensing module, according to an external environment of the cleaning robot generates a second detection signal, wherein the first detection signal when the change is less than a predetermined value, and lasts more than a pre- when the set time, the control module according to the second detection signal, and adjusting the cleaning task moving the at least one task performance.
2.如权利要求1所述的清扫系统,其中该引导物体为一虚拟墙。 2. The cleaning system according to claim 1, wherein the guide object is a virtual wall.
3.如权利要求1所述的清扫系统,其中该引导物体为一充电基地台。 The cleaning system of claim 1, wherein the guide base object is a charging station.
4.如权利要求1所述的清扫系统,其中该引导物体为一无线导引装置。 4. The cleaning system according to claim 1, wherein the guide body is a wireless guide.
5.如权利要求3所述的清扫系统,其中该操作模块包括多个滚轮,用以进行该移动任务,该扫地机器人还包括一储能模块,当该储能模块的一电能小于一预设值时,该控制模块控制该多个滚轮往该充电基地台移动。 5. The cleaning system according to claim 3, wherein the operating module comprises a plurality of rollers, for performing the task of moving the cleaning robot further comprises an energy storage module, the storage module when a power is less than a predetermined value, the control module controls the charging of the plurality of rollers to move the base station.
6.如权利要求1所述的清扫系统,其中该第一感测模块包括一指南针感测器、一霍尔感测器、一陀螺仪及一加速规的至少一个。 The purge system of claim 1, wherein the first sensing module comprises a compass sensor, a Hall sensor, a gyroscope and an accelerometer in at least one.
7.如权利要求1所述的清扫系统,其中该第二感测模块包括一光感测器,根据该外部环境的一反射光,产生该第二检测信号。 7. The cleaning system according to claim 1, wherein the second sensor comprises an optical sensor module, according to a reflected light of the external environment, to generate the second detection signal.
8.如权利要求1所述的清扫系统,其中该第二感测模块包括一声音感测器,根据该外部环境的一反射声波,产生该第二检测信号。 8. The cleaning system according to claim 1, wherein the second sensing module comprises a sound sensor, a reflected sound wave in accordance with the external environment, to generate the second detection signal.
9.如权利要求1所述的清扫系统,其中该第二感测模块包括一无线感测器,根据该外部环境的一无线讯号,产生该第二检测信号。 9. The cleaning system according to claim 1, wherein the second sensor comprises a wireless sensor module, a wireless signal according to the external environment, to generate the second detection signal.
10.如权利要求1所述的清扫系统,其中该磁铁模块包括至少一铷铁硼磁铁。 10. The cleaning system according to claim 1, wherein the module comprises at least one magnet is neodymium iron boron magnets.
11.一种控制方法,适用于一扫地机器人,包括: 设置一磁铁模块于一引导物体中,用以形成一磁场; 检测该磁场,并根据检测结果,产生一第一检测信号; 根据该第一检测信号,控制该扫地机器人的一清洁任务及一移动任务的至少一个的效能;以及当该第一检测信号的变化小于一预设值,并且持续超过一预设时间时,检测该扫地机器人的一外部环境,产生一第二检测信号,根据该第二检测信号,调整该清洁任务以及该移动任务的至少一个的效能。 A control method for a cleaning robot, comprising: a magnet disposed in a module guide object for forming a magnetic field; detecting the magnetic field, and the detection result, generates a first detection signal; According to the second a detection signal to control movement of a cleaning task, and a task of the at least one robot cleaning performance; and when the first change in the detection signal is smaller than a predetermined value and lasts for more than a predetermined time, the cleaning robot detects an external environment, to generate a second detection signal, the second detection signal is adjusted according to the task and at least one of the cleaning performance of the mobile task.
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