CN103584798A - Intelligent dust collector control system and intelligent dust collector cleaning method - Google Patents
Intelligent dust collector control system and intelligent dust collector cleaning method Download PDFInfo
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- CN103584798A CN103584798A CN201210294453.0A CN201210294453A CN103584798A CN 103584798 A CN103584798 A CN 103584798A CN 201210294453 A CN201210294453 A CN 201210294453A CN 103584798 A CN103584798 A CN 103584798A
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Abstract
The invention discloses an intelligent dust collector control system comprising an intelligent control module, an obstacle detection module and an angle sensing module. The intelligent control module receives signals and sends action commands to a driving motor of wheels of a dust collector cording to the received signals; the obstacle detection module detects obstacles in the advancing route of the dust collector and converts detected signals into control signals to send to the intelligent control module; the angle sensing module senses rotations angles of the dust collector and converts the sensed angle signals into control signals to send to the intelligent control module. By the intelligent dust collector control system, regional cleaning can be realized, repeated cleaning is avoided, and cleaning efficiency is high. The invention further discloses a method for controlling cleaning of the intelligent dust collector by the aid of the intelligent dust collector control system in any of the technical scheme.
Description
Technical field
The present invention relates to household appliance technical field, particularly relate to a kind of method for cleaning intelligent dust collector.The present invention relates to a kind of Robot Cleaner Controlling System system that realizes above-mentioned method for cleaning intelligent dust collector simultaneously.
Background technology
Along with people's rhythm of life is more and more faster, kinsfolk is difficult to find time room floor to clean, then, it is comfortable, clean and tidy that living environment must keep again, thereby home-use dust catcher just arises at the historic moment, and obtained very soon liking of many families, the usage quantity of domestic vacuum cleaners and demand are all increasing, and as a kind of household electrical appliance, dust catcher has wide commercial promise.
Intellective dust collector is a kind of device at cleaning area automated movement, carries out cleaning function, and when the charging voltage of battery is reduced to predetermined value, intellective dust collector can be automatically moved to charge position, after completing charging, continues to carry out cleaning function according to environment.
Intellective dust collector comprises for sucking the suction unit of impurity on ground, and the unit and for responding to the navigation elements of dust suction position and cleaning area of automatically walking, also comprises conventionally for automatically controlling the control module of intellective dust collector.
Existing intellective dust collector, the sweep-out pattern that its control method realizes is random, this sweep-out pattern is random, cleaning completely that not only cannot feasible region, and can repeat cleaning, and increasing the cleaning time, sweeping efficiency declines, and has caused the waste of the energy.
Summary of the invention
In order to address the above problem, the invention provides a kind of method for cleaning intelligent dust collector.
The invention provides a kind of Robot Cleaner Controlling System system, comprising: obstacle detection module is surveyed the barrier in dust catcher course, and change into control signal and send to described intelligent control module; Angle sensing module, responds to the angle of described dust catcher rotation, and the angle sensing is changed into control signal sends to described intelligent control module; Intelligent control module, when described obstacle detection module detects obstacle, described intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in left and right with identical speed, counter rotating, described dust catcher original place left/right turns, in rotary course, the measured value of the continuous reading angular sensor of described intelligent processing module, until angle value is while arriving predetermined angular, described intelligent processing module stops output pulse signal.
Preferably, described intelligent processing module is CPU, and described obstacle detection module is ultrasonic sensor, and described angle sensing module is gyro sensor, is also provided with Hall element on described wheels of dust collector.
Preferably, described dust catcher is circular, and the diameter of described dust catcher is 20cm.
Preferably, when the barrier that detects when described obstacle detection module is vertical with described dust catcher course, described predetermined angular is 90 degree; The described predetermined value of described displacement is 20cm.
Preferably, when the barrier detecting when described obstacle detection module and described dust catcher course out of plumb, described predetermined angular is α, the value of described α is determined as described below: in described dust catcher rotary course, described intelligent processing module constantly reads the value of described obstacle detection module and the measured value of described angular transducer, until described detection module is confirmed the place ahead clear, now recording angular value α; The described predetermined value of described displacement is L=20cm/ (sin α).
The present invention provides a kind of simultaneously and has utilized arbitrary described Robot Cleaner Controlling System system in technique scheme to control the method that intellective dust collector cleans, comprise: step 102 intelligent processing module sends the pulse signal of two groups of certain frequencies, drive left and right wheels sub-motor with identical speed, equidirectional rotation, dust catcher straight line moving, starts obstacle detection module simultaneously and starts working; Step 104 is when described obstacle detection module detects obstacle, described intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in left and right with identical speed, counter rotating, described dust catcher original place left/right turns, in rotary course, and the measured value of the continuous reading angular sensor of described intelligent processing module, until angle value is while arriving predetermined angular, described intelligent processing module stops output pulse signal; Described in step 106, intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in left and right with identical speed, rotating Vortex, described dust catcher straight line moving, be arranged on the Hall element work on described wheel simultaneously, displacement is counted and calculated to described intelligent processing module to the signal of described Hall element, and when displacement arrives predetermined value, described intelligent processing module stops output pulse signal; Described in step 108, intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in left and right with identical speed, counter rotating, described dust catcher original place left/right turns, in rotary course, the measured value of the continuous reading angular sensor of described intelligent processing module, until angle value arrives 180 while spending, described intelligent processing module stops output pulse signal; Described in step 110, intelligent processing module sends the pulse signal of two groups of certain frequencies, drives the described sub-motor of taking turns in left and right with identical speed, rotating Vortex, and described dust catcher straight line moving, starts described obstacle detection module simultaneously and starts working; Step 112 is when described obstacle detection module detects barrier, described intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in left and right with identical speed, counter rotating, described dust catcher original place right/left turns, and in rotary course, described intelligent processing module constantly reads the measured value of described angular transducer, until angle value is while arriving predetermined angular, described intelligent processing module stops output pulse signal; Described in step 114, intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in left and right with identical speed, rotating Vortex, described dust catcher straight line moving, described Hall element work on described wheel simultaneously, displacement is counted and calculated to described intelligent processing module to the signal of described Hall element, and when displacement arrives predetermined value, described intelligent processing module stops output pulse signal; Step 116 intelligent processing module sends the pulse signal of two groups of certain frequencies, drive left and right wheels sub-motor with identical speed, rightabout rotation, described dust catcher flicker, in rotary course, described intelligent processing module constantly reads the measured value of described angular transducer, until angle value is while arriving predetermined angular, described intelligent processing module stops output pulse signal; Step 118 repeating step 102 is to step 116.
Preferably, the method of described intellective dust collector cleaning also comprises: the last execution step of step 120 106 o'clock, when described dust catcher forward travel distance is less than described predetermined value, described obstacle detection module just detects barrier, now described intelligent processing module stops output pulse signal, then performs step 108.
Preferably, when the barrier detecting when described obstacle detection module and described dust catcher course out of plumb, described predetermined angular is α, the value of described α is determined as described below: in step 104, in described dust catcher rotary course, described intelligent processing module constantly reads the value of described obstacle detection module and the measured value of described angular transducer, until described detection module is confirmed the place ahead clear, now recording angular value α; The described predetermined value of described displacement is L=20cm/ (sin α).
In sum, according to the present invention, the sweep-out pattern of intellective dust collector is to walk along direction of advance always, until run into barrier, then rotate to an angle, the distance of a fuselage of advancing, then rotate to an angle, walking is until run into barrier forward, and then rotate to an angle, the advance distance of a fuselage, completes a circulation, back and forth carries out.And, through arranging, can make described intellective dust collector take the sweep-out pattern of " Z " font.This cleaning mode can feasible region cleaning completely, can not repeat cleaning, sweeping efficiency is high.
Accompanying drawing explanation
Fig. 1 shows according to the schematic diagram of the embodiment of Robot Cleaner Controlling System system of the present invention;
Fig. 2 shows according to the circuit diagram of the Hall element in the embodiment of Robot Cleaner Controlling System system of the present invention;
Fig. 3 shows according to the schematic flow sheet of the embodiment of method for cleaning intelligent dust collector of the present invention;
Fig. 4 shows the rectilinear motion subroutine flow chart schematic diagram of the embodiment of the method for cleaning intelligent dust collector shown in Fig. 3;
Fig. 5 shows the diagonal movement subprogram schematic flow sheet of the embodiment of the method for cleaning intelligent dust collector shown in Fig. 3;
Fig. 6 shows according to the track route schematic diagram of the intellective dust collector under the control of method for cleaning intelligent dust collector of the present invention embodiment;
Fig. 7 shows the track route schematic diagram according to the intellective dust collector under the control of another embodiment of method for cleaning intelligent dust collector of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, illustrate according to the specific embodiment of the present invention.
Set forth in the following description a lot of details so that fully understand the present invention, still, the present invention can also adopt other to be different from other modes described here and implement, and therefore, the present invention is not limited to the restriction of following public specific embodiment.
Fig. 1 shows according to the schematic diagram of the embodiment of Robot Cleaner Controlling System system of the present invention, and Fig. 2 shows according to the circuit diagram of the Hall element in the embodiment of Robot Cleaner Controlling System system of the present invention.
As shown in the figure, an embodiment of Robot Cleaner Controlling System system provided by the invention, comprising: obstacle detection module is surveyed the barrier in dust catcher course, and changes into control signal and send to described intelligent control module; Angle sensing module, responds to the angle of described dust catcher rotation, and the angle sensing is changed into control signal sends to described intelligent control module; Intelligent control module, when described obstacle detection module detects obstacle, described intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in left and right with identical speed, counter rotating, described dust catcher original place left/right turns, in rotary course, the measured value of the continuous reading angular sensor of described intelligent processing module, until angle value is while arriving predetermined angular, described intelligent processing module stops output pulse signal.
As preferred embodiment, described intelligent processing module is CPU, and described obstacle detection module is ultrasonic sensor, and described angle sensing module is gyro sensor, is also provided with Hall element on described wheels of dust collector.
As preferred embodiment, described dust catcher is circular, and the diameter of described dust catcher is 20cm.
As preferred embodiment, when the barrier that detects when described obstacle detection module is vertical with described dust catcher course, described predetermined angular is 90 degree; The described predetermined value of described displacement is 20cm.
As preferred embodiment, when the barrier detecting when described obstacle detection module and described dust catcher course out of plumb, described predetermined angular is α, the value of described α is determined as described below: in described dust catcher rotary course, described intelligent processing module constantly reads the value of described obstacle detection module and the measured value of described angular transducer, until described detection module is confirmed the place ahead clear, now recording angular value α; The described predetermined value of described displacement is L=20cm/ (sin α).
Fig. 3 shows according to the schematic flow sheet of the embodiment of method for cleaning intelligent dust collector of the present invention, Fig. 4 shows the rectilinear motion subroutine flow chart schematic diagram of the embodiment of the method for cleaning intelligent dust collector shown in Fig. 3, Fig. 5 shows the diagonal movement subprogram schematic flow sheet of the embodiment of the method for cleaning intelligent dust collector shown in Fig. 3, Fig. 6 shows according to the track route schematic diagram of the intellective dust collector under the control of method for cleaning intelligent dust collector of the present invention embodiment, Fig. 7 shows the track route schematic diagram according to the intellective dust collector under the control of another embodiment of method for cleaning intelligent dust collector of the present invention.
The embodiment of method for cleaning intelligent dust collector of the present invention, in general, its process is: start after " Z " font sweeper mode, gyro sensor is measured the anglec of rotation of dust catcher in real time, and measured value is sent to CPU.While running into barrier in the middle of the process of advancing, CPU sends two reverse pulse signals, drives left and right rotating of wheel, when receiving gyroscope survey value, is 90 while spending, and CPU stops sending rotating signal, and now robot cleaner is realized the rotation of 90 degree.CPU then sends progress signal, forward travel distance is a fuselage, after completing, CPU drives two rotating of wheels again, when receiving gyroscope survey value, is 90 while spending, and CPU stops sending rotating signal, send progress signal simultaneously, until run into after barrier, again send rotating signal, so loop.
Specifically, an embodiment of method for cleaning intelligent dust collector provided by the invention, comprise: step 102CPU sends the pulse signal of two groups of certain frequencies, drive left and right wheels sub-motor with identical speed, equidirectional rotation, dust catcher straight line moving, starts obstacle detection module simultaneously and starts working;
Step 106CPU sends the pulse signal of two groups of certain frequencies, drive left and right wheels sub-motor with identical speed, equidirectional rotation, dust catcher straight line moving, Hall element work on wheel simultaneously, CPU counts and calculates displacement to its signal, and when distance arrives 20cm, CPU stops output pulse signal;
Step 108CPU sends the pulse signal of two groups of certain frequencies, drives left and right wheels sub-motor with identical speed, rightabout rotation, dust catcher flicker, in rotary course, the measured value of the continuous reading angular sensor of CPU, until angle value arrives 180 while spending, CPU stops output pulse signal;
Step 110CPU sends the pulse signal of two groups of certain frequencies, drives left and right wheels sub-motor with identical speed, equidirectional rotation, and dust catcher straight line moving, starts obstacle detection module simultaneously and starts working;
Step 114CPU sends the pulse signal of two groups of certain frequencies, drive left and right wheels sub-motor with identical speed, equidirectional rotation, dust catcher straight line moving, Hall element work on wheel simultaneously, CPU counts and calculates displacement to its signal, and when distance arrives 20cm, CPU stops output pulse signal;
Step 116CPU sends the pulse signal of two groups of certain frequencies, drives left and right wheels sub-motor with identical speed, rightabout rotation, dust catcher flicker, in rotary course, the measured value of the continuous reading angular sensor of CPU, until angle value arrives 90 while spending, CPU stops output pulse signal;
The last execution step of step 120 106 o'clock, when dust catcher forward travel distance is less than 20cm, obstacle detection module just detects barrier, and now CPU stops output pulse signal, then performs step 108.
Another embodiment of method for cleaning intelligent dust collector provided by the invention, comprise: step 102CPU sends the pulse signal of two groups of certain frequencies, drive left and right wheels sub-motor with identical speed, equidirectional rotation, dust catcher straight line moving, starts obstacle detection module simultaneously and starts working;
Step 106CPU sends the pulse signal of two groups of certain frequencies, drive left and right wheels sub-motor with identical speed, equidirectional rotation, dust catcher straight line moving, Hall element work on wheel simultaneously, CPU counts and calculates displacement to its signal, and when distance arrives L=20cm/ (sin α), CPU stops output pulse signal;
Step 108CPU sends the pulse signal of two groups of certain frequencies, drives left and right wheels sub-motor with identical speed, rightabout rotation, dust catcher flicker, in rotary course, the measured value of the continuous reading angular sensor of CPU, until angle value arrives 180 while spending, CPU stops output pulse signal;
Step 110CPU sends the pulse signal of two groups of certain frequencies, drives left and right wheels sub-motor with identical speed, equidirectional rotation, and dust catcher straight line moving, starts obstacle detection module simultaneously and starts working;
Step 114CPU sends the pulse signal of two groups of certain frequencies, drive left and right wheels sub-motor with identical speed, equidirectional rotation, dust catcher straight line moving, Hall element work on wheel simultaneously, CPU counts and calculates displacement to its signal, and when distance arrives 20cm, CPU stops output pulse signal;
Step 116CPU sends the pulse signal of two groups of certain frequencies, drives left and right wheels sub-motor with identical speed, rightabout rotation, dust catcher flicker, in rotary course, the measured value of the continuous reading angular sensor of CPU, until angle value arrives 90 while spending, CPU stops output pulse signal;
The last execution step of step 120 106 o'clock, when dust catcher forward travel distance is less than 20cm, obstacle detection module just detects barrier, and now CPU stops output pulse signal, then performs step 108.
In sum, according to the present invention, the sweep-out pattern of intellective dust collector is to walk along direction of advance always, until run into barrier, then rotate to an angle, the distance of a fuselage of advancing, then rotate to an angle, walking is until run into barrier forward, and then rotate to an angle, the advance distance of a fuselage, completes a circulation, back and forth carries out.And, through arranging, can make described intellective dust collector take the sweep-out pattern of " Z " font.This cleaning mode can feasible region cleaning completely, can not repeat cleaning, sweeping efficiency is high.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (7)
1. a Robot Cleaner Controlling System system, is characterized in that, comprising:
Obstacle detection module is surveyed the barrier in dust catcher course, and changes into control signal and send to described intelligent control module;
Angle sensing module, responds to the angle of described dust catcher rotation, and the angle sensing is changed into control signal sends to described intelligent control module;
Intelligent control module, when described obstacle detection module detects obstacle, described intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in left and right with identical speed, counter rotating, described dust catcher original place left/right turns, in rotary course, the measured value of the continuous reading angular sensor of described intelligent processing module, until angle value is while arriving predetermined angular, described intelligent processing module stops output pulse signal.
2. Robot Cleaner Controlling System system according to claim 1, it is characterized in that, described intelligent processing module is CPU, and described obstacle detection module is ultrasonic sensor, described angle sensing module is gyro sensor, is also provided with Hall element on described wheels of dust collector.
3. Robot Cleaner Controlling System system according to claim 1 and 2, is characterized in that, described dust catcher is circular, and the diameter of described dust catcher is 20cm.
4. Robot Cleaner Controlling System system according to claim 3, is characterized in that, when the barrier that detects when described obstacle detection module is vertical with described dust catcher course, described predetermined angular is 90 degree;
The described predetermined value of described displacement is 20cm.
5. Robot Cleaner Controlling System system according to claim 3, it is characterized in that, it is characterized in that, when the barrier detecting when described obstacle detection module and described dust catcher course out of plumb, described predetermined angular is α, the value of described α is determined as described below: in described dust catcher rotary course, described intelligent processing module constantly reads the value of described obstacle detection module and the measured value of described angular transducer, until described detection module is confirmed the place ahead clear, now recording angular value α;
The described predetermined value of described displacement is L=20cm/ (sin α).
6. utilize the Robot Cleaner Controlling System system described in claim 1 to 5 to control a method for intellective dust collector cleaning, it is characterized in that, comprising:
Step 102 intelligent processing module sends the pulse signal of two groups of certain frequencies, drives left and right wheels sub-motor with identical speed, equidirectional rotation, and dust catcher straight line moving, starts obstacle detection module simultaneously and starts working;
Step 104 is when described obstacle detection module detects obstacle, described intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in left and right with identical speed, counter rotating, described dust catcher original place left/right turns, in rotary course, and the measured value of the continuous reading angular sensor of described intelligent processing module, until angle value is while arriving predetermined angular, described intelligent processing module stops output pulse signal;
Described in step 106, intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in left and right with identical speed, rotating Vortex, described dust catcher straight line moving, be arranged on the Hall element work on described wheel simultaneously, displacement is counted and calculated to described intelligent processing module to the signal of described Hall element, and when displacement arrives predetermined value, described intelligent processing module stops output pulse signal;
Described in step 108, intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in left and right with identical speed, counter rotating, described dust catcher original place left/right turns, in rotary course, the measured value of the continuous reading angular sensor of described intelligent processing module, until angle value arrives 180 while spending, described intelligent processing module stops output pulse signal;
Described in step 110, intelligent processing module sends the pulse signal of two groups of certain frequencies, drives the described sub-motor of taking turns in left and right with identical speed, rotating Vortex, and described dust catcher straight line moving, starts described obstacle detection module simultaneously and starts working;
Step 112 is when described obstacle detection module detects barrier, described intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in left and right with identical speed, counter rotating, described dust catcher original place right/left turns, and in rotary course, described intelligent processing module constantly reads the measured value of described angular transducer, until angle value is while arriving predetermined angular, described intelligent processing module stops output pulse signal;
Described in step 114, intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in left and right with identical speed, rotating Vortex, described dust catcher straight line moving, described Hall element work on described wheel simultaneously, displacement is counted and calculated to described intelligent processing module to the signal of described Hall element, and when displacement arrives predetermined value, described intelligent processing module stops output pulse signal;
Step 116 intelligent processing module sends the pulse signal of two groups of certain frequencies, drive left and right wheels sub-motor with identical speed, rightabout rotation, described dust catcher flicker, in rotary course, described intelligent processing module constantly reads the measured value of described angular transducer, until angle value is while arriving predetermined angular, described intelligent processing module stops output pulse signal;
Step 118 repeating step 102 is to step 116.
7. method for cleaning intelligent dust collector according to claim 6, is characterized in that, also comprises:
The last execution step of step 120 106 o'clock, when described dust catcher forward travel distance is less than described predetermined value, described obstacle detection module just detects barrier, and now described intelligent processing module stops output pulse signal, then performs step 108.
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