CN104172991A - Self-propelled cleaning equipment dirt detection method and device - Google Patents
Self-propelled cleaning equipment dirt detection method and device Download PDFInfo
- Publication number
- CN104172991A CN104172991A CN201410163588.2A CN201410163588A CN104172991A CN 104172991 A CN104172991 A CN 104172991A CN 201410163588 A CN201410163588 A CN 201410163588A CN 104172991 A CN104172991 A CN 104172991A
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- self
- sensing
- cleaning equipment
- dust
- propelled cleaning
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- 238000004140 cleaning Methods 0.000 title claims abstract description 51
- 238000001514 detection method Methods 0.000 title 1
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 239000000428 dust Substances 0.000 claims abstract description 28
- 238000000034 method Methods 0.000 claims abstract description 12
- 239000003990 capacitor Substances 0.000 claims description 29
- 238000010586 diagram Methods 0.000 description 4
- 230000006698 induction Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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- Electric Vacuum Cleaner (AREA)
Abstract
A method and a device for detecting the dirt of a self-propelled cleaning device comprise a sensing area which is arranged on a self-propelled cleaning device body by a capacitance sensing unit and through which the dust can pass; the capacitance sensing unit is electrically connected with a control unit, the capacitance value of the sensing area of the machine body is sensed by the capacitance sensing unit, the control unit compares the capacitance value of the sensing area with a preset capacitance value, and a control signal is output; so as to know the amount of the dust collected by the dust collecting mechanism and the amount of the dust in the cleaning environment, and avoid the influence of the dust adhesion on the sensing value.
Description
[technical field]
Present invention is directed to a kind of self-propelled cleaning equipment, espespecially a kind of use is at the dirty dirt method for detecting and the device that carry out the self-propelled cleaning equipment of cleaning with independence displacement.
[prior art]
Because modern works busy, for family matters, cleaning more feels it is the time-consuming work again of an effort, for solving such problem, there is on the market the product of so-called self-propelled cleaning equipment, control by artificial intelligence, automatically cleaning and dedusting back and forth on the ground, reaches the convenience without manual operation.
Commonly use self-propelled cleaning equipment and all can dust-collecting box be set to collect dirty dirt at internal body, except toppling over the opening that dirty dirt uses, this dust-collecting box is separately provided with two openings, one opening links the dirty dirt suction inlet that dirty dirt runner leads to organism bottom, another opening is connected with negative pressure device, makes the dirty dirt suction inlet being communicated with dust-collecting box produce suction, in order to promote its cleaning effect, part can arrange main brush or in body both sides, side brush is set at the dirty dirt suction inlet of body place, coordinate the movement of self-propelled cleaning equipment, side brush meeting is dialled and is swept main brush or the dirty dirt outside the dirty dirt suction inlet on ground on mobile route, seeing through main brush or dirty dirt suction inlet sucks dirty dirt be stored in the dust-collecting box in body again, but be arranged at internal body owing to commonly using the dust-collecting box system of self-propelled cleaning equipment, therefore user cannot be directly with the dirty dirt collecting amount in the current dust-collecting box of the instant judgement of naked eyes, cause user through after a period of time, just must remove to check the collecting amount of the dirty dirt of internal body dust-collecting box, just can guarantee the effective operation that this self-propelled cleaning equipment can continue, so design needs user constantly initiatively to remove to check dust-collecting box, after cannot waiting until passively the dust-full box of dirt of dust-collecting box, go again cleaning, quite not convenient for user, if and self-propelled cleaning equipment moves to the environmental cleanup of a certain how dirty especially dirt, cause the quick-fried increasing of the dirty dirt collecting amount of dust-collecting box in the short time, under the situation that user also not yet finds, excessive dirty dirt causes negative pressure device certainly will improve its running power in dust-collecting box, cause the unnecessary consumption of electric energy, dirty dirt also may overflow from dust-collecting box along dirty dirt runner, along with the movement of self-propelled cleaning equipment is scattered everywhere, ground after clean is formed to secondary pollution, therefore then there is the design that infrared inductor is set at dirty dirt runner, see through infrared ray and respond to dirty dirt, it mainly ties up to dirty dirt runner both sides one relative infrared signal element is set, one is used for launching infrared ray, another is used for responding to infrared ray, and on infrared signal element, translucent element is set, performance protective effect and not overslaugh Infrared emitting and receiving, when dirty dirt runner has dirty dirt to enter, the interelement infrared induction of two infrared signals is disturbed and weakens, increase along with dirty dust quantity, the received infrared signal of sensing element successively decreases, see through the power of calculating infrared signal, one can judge the dirty dust quantity that dust-collecting box has been collected, two can judge the dirty dust quantity of current cleaning environment.
[summary of the invention]
Because self-propelled cleaning equipment is mainly carry out dirty dirt clean, therefore adhere to unavoidably dirty dirt on translucent element, dirty dirt on it is accumulate to when a certain amount of, the induction of infrared signal will be affected, make completely box or at the environmental cleanup of a how dirty especially dirt of self-propelled cleaning equipment erroneous judgement dust-collecting box, and then carry out incorrect control; And infrared ray is subject to the impact of ambient light, stability is not enough; On the other hand, the long-time lasting transmitting of infrared ray also produces many consumption to electric energy with reception.
Whence is that object of the present invention, the dirty dirt method for detecting of self-propelled cleaning equipment that provides a kind of dirt of not getting dirty to affect is provided.
Another object of the present invention, the dirty dirt arrangement for detecting of self-propelled cleaning equipment that provides a kind of dirt of not getting dirty to affect is provided.
The dirty dirt method for detecting of self-propelled cleaning equipment according to the object of the invention, comprising: with a capacitor sensing unit, being located at self-propelled cleaning equipment body can be for dust by sensing area therebetween; Make this capacitor sensing unit electrically connect one control module, utilize the capacitance of capacitor sensing unit sensing body sensing area, control module is compared the capacitance of sensing area and a predetermined capacitance, and export a control signal.
The dirty dirt arrangement for detecting of self-propelled cleaning equipment according to another object of the present invention, comprising: a sensing area, to be located on the body of self-propelled cleaning equipment, and it is the space that can pass through for dirty dirt; One capacitor sensing unit, is located at this sensing area in order to the capacitance of this sensing area of sensing; One control module, with this capacitor sensing unit electrically connect, in order to capacitance and a predetermined capacitance of this sensing area relatively and export a control signal.
The method of the embodiment of the present invention and device, the sensing element be arrangeding in parallel by capacitor sensing unit two carries out the dielectric coefficient between the two that sensing changes along with the increase and decrease of dirty dust quantity, make capacitor sensing unit sense different capacitances, and via control module, the capacitance recording and a predetermined capacitance are compared, can learn the number of the current dirty dirt collecting amount of dust-collecting mechanism on the one hand, also can judge on the other hand the number of the dirty dust quantity of current cleaning environment, and capacitor sensing unit is different from infrared induction, can not affect its capacitance because dirty dirt is attached to a surface, also relative energy-conservation and be not subject to the impact of ambient light.
[brief description of drawingsfig]
Fig. 1 is the schematic diagram of body of the self-propelled cleaning equipment of the embodiment of the present invention.
Fig. 2 is the schematic diagram of the first capacitor sensing unit configuration of the embodiment of the present invention.
Fig. 3 is the schematic diagram that the dirty dirt of the embodiment of the present invention is assembled sensing area.
Fig. 4 is the schematic diagram of the second capacitor sensing unit configuration of another embodiment of the present invention.
[symbol description]
1 body 11 first sensing areas
12 upper cover 13 tanks
The dirty dirt suction inlet of 14 opening 15
151 dirty dirt runner 16 second sensing areas
2 driving mechanism 21 driving wheels
The main brush of 3 cleaning mechanism 31
32 side brush 4 dust-collecting mechanisms
41 box body 42 lids
43 dust inlet 44 negative pressure outlets
45 trellis filter screen 46 shields
47 trunnion 5 negative pressure mechanisms
51 motor 52 fans
53 negative pressure guiding road 54 negative pressure entrances
6 control module 7 first capacitor sensing unit
71 first sensing element 72 first sensing elements
8 second capacitor sensing unit 81 second sensing elements
82 second sensing elements
[embodiment]
Refer to shown in Fig. 1 and Fig. 2, the embodiment of the present invention can be used the body 1 of self-propelled cleaning equipment as shown in the figure, which is provided with and comprises:
The driving mechanism 2 that can drive body 1 to carry out displacement by the driving wheel 21 that splits body 1 both sides, can there is the main brush 31 of bristle and side brush 32 or one of them or only have a dirty dirt suction inlet 15 of dust suction effect and carry out the cleaning mechanism 3 of ground clean operations, can collect the dust-collecting mechanism 4 of the dirty dirt that cleaning mechanism 3 cleans out, can take out and draw the negative pressure mechanism 5 that the interior air of dust-collecting mechanism 4 makes its inner formation negative pressure state, can carry out every data operation or judgement to carry out the control module 6 that on body 1, various functions is controlled.
Described body 1 inside is provided with the first capacitor sensing unit 7 with control module 6 electrically connects, in order to the capacitance in sensing the first sensing area 11, this first capacitor sensing unit 7 comprises that the suitable spacing of being separated by is arranged at 2 first sensing elements 71,72 of these the first sensing area 11 both sides, and this first sensing area 11 is the space that can pass through for dirty dirt; Body 1 top has the movable upper cover starting 12 and the tank 13 setting to the concave under upper cover 12, and it forms opening 14, and body 1 bottom that is positioned at tank 13 belows is provided with dirty dirt suction inlet 15; Described dust-collecting mechanism 4 is placed in tank 13, comprise a box body 41, box body 41 tops are provided with lid 42, bottom is provided with dust inlet 43, dust inlet 43 communicates with described the first sensing area 11 and forms the space that can pass through for dirty dirt, and on its sidewall, establishes negative pressure outlet 44, on dust inlet 43 and 44 formed negative-pressure air-flow streams of negative pressure outlet, be provided with a trellis filter screen 45, its vertically-arranged and be partially against negative pressure and export 44 places.
Described dirty dirt suction inlet 15 is to dust inlet 43 place's convergents, form for dirty dirt and flow into the dirty dirt runner 151 in dust-collecting mechanism 4, one end that dust inlet 43 is positioned at dust-collecting mechanism 4 inside is subject to frivolous 46 shades of shield, this shield 46 is hubbed at the trunnion 47 of the dust inlet 43 upper vertically-arrangeds in side bottom, and can float because of flowing through of negative-pressure air-flow, this dust inlet 43 is communicated with dust-collecting mechanism 4 inside, and when negative-pressure air-flow stops flowing through, fall and stop that dust inlet 43 communicates with dust-collecting mechanism 4 inside.
Described negative pressure mechanism 5 makes Bas Discharged produce negative pressure by motor 51 drive fan 52, this negative pressure will make negative pressure guiding road 53 think highly of oneself and be pressed into mouthful 54 attraction air, the tank 13 that dust-collecting box 4 is inserted body 1 makes its negative pressure outlet 44 be connected with negative pressure entrance 54, makes air therebetween negotiable.
On the implementation, the dirty dirt in dust-collecting mechanism 4 is collected into when a certain amount of the embodiment of the present invention, and negative pressure mechanism 5 still continues running, and shown in Fig. 3, now dirty dirt is by the interior gathering of sensing area 11 being stranded in dirty dirt runner 151; Because sensing area 11 both sides are provided with the first capacitor sensing unit 7 parallel 2 first sensing elements 71,72 each other, when dirty dust quantity increases, dielectric coefficient in the first sensing area 11 also increases simultaneously, the capacitance that capacitor sensing unit 7 records is increased, control module 6 is compared the capacitance recording and a preset value, as exported control signal higher than this preset value, to body 1, sends warning message to user or temporarily stops the running of cleaning mechanism 3 and negative pressure mechanism 5; Or, utilization is through the dirty dust quantity number of the first sensing area 11, the capacitance that the first capacitor sensing unit 7 is recorded is compared via control module 6 and a preset value, and exports control signal to cleaning mechanism 3 and negative pressure mechanism 5 for the number of capacitance, adjusts its running power.
The method of the embodiment of the present invention and device, it is mainly the first sensing element 71 be arrangeding in parallel by 7 liang of the first capacitor sensing unit, 72 carry out the dielectric coefficient between the two that sensing changes along with the increase and decrease of dirty dust quantity, make the first capacitor sensing unit 7 sense different capacitances, and via control module 6, the capacitance recording and a predetermined capacitance are compared, can learn the number of the current dirty dirt collecting amount of dust-collecting mechanism 4 on the one hand, also can judge on the other hand the number of the dirty dust quantity of current cleaning environment, and capacitor sensing unit 7 is different from infrared induction, can not affect its capacitance because dirty dirt is attached to a surface, also relative energy-conservation and be not subject to the impact of ambient light.
Refer to shown in Fig. 4, in another embodiment of the present invention, 2 second sensing elements 81,82 of the second capacitor sensing unit 8 also can be adjacent to box body 41 both sides of dust-collecting mechanism 4, capacitance in order to the second sensing area 16 of the dirty dirt of the interior gathering of sensing dust-collecting mechanism 4, and via control module 6, the capacitance recording and a preset value are compared, as exported control signal higher than this preset value, to body 1, send warning message to user or temporarily stop the running of cleaning mechanism 3 and negative pressure mechanism 5.
Only as described above, it is only preferred embodiment of the present invention, when not limiting scope of the invention process with this, the simple equivalence of generally doing according to the present patent application the scope of the claims and invention description content changes and modifies, and all still remains within the scope of the patent.
Claims (10)
1. the dirty dirt method for detecting of self-propelled cleaning equipment, comprising:
With a capacitor sensing unit, being located at self-propelled cleaning equipment body can be for dust by sensing area therebetween; Make this capacitor sensing unit electrically connect one control module, utilize the capacitance of capacitor sensing unit sensing body sensing area, control module is compared the capacitance of sensing area and a predetermined capacitance, and export a control signal.
2. the dirty dirt method for detecting of self-propelled cleaning equipment as claimed in claim 1,
It is characterized in that, this control signal is with warning message to user so that body sends automatically.
3. the dirty dirt method for detecting of self-propelled cleaning equipment as claimed in claim 1,
It is characterized in that, this control signal is in order to adjust the running power of a negative pressure device.
4. the dirty dirt method for detecting of self-propelled cleaning equipment as claimed in claim 1,
It is characterized in that, this control signal is in order to adjust the running power of a cleaning mechanism.
5. the dirty dirt arrangement for detecting of self-propelled cleaning equipment as claimed in claim 1,
It is characterized in that, this capacitor sensing unit comprises that the suitable spacing of being separated by is arranged at two sensing elements of these sensing area both sides.
6. the dirty dirt arrangement for detecting of self-propelled cleaning equipment, comprising:
One sensing area, is located on the body of self-propelled cleaning equipment, and it is the space that can pass through for dirty dirt;
One capacitor sensing unit, is located at this sensing area in order to the capacitance of this sensing area of sensing;
One control module, with this capacitor sensing unit electrically connect, in order to capacitance and a predetermined capacitance of this sensing area relatively and export a control signal.
7. the dirty dirt arrangement for detecting of self-propelled cleaning equipment as claimed in claim 6,
It is characterized in that, this sensing fauna is positioned at dirty dirt and enters one for the runner place that gathers the dust-collecting mechanism of dust.
8. the dirty dirt arrangement for detecting of self-propelled cleaning equipment as claimed in claim 6,
It is characterized in that, this sensing fauna is positioned at one for the dust-collecting mechanism that gathers dust.
9. the dirty dirt arrangement for detecting of self-propelled cleaning equipment as claimed in claim 6,
It is characterized in that, this capacitor sensing unit comprises that the suitable spacing of being separated by is arranged at two sensing elements of these sensing area both sides.
10. the dirty dirt arrangement for detecting of self-propelled cleaning equipment as claimed in claim 9,
It is characterized in that, two sensing elements of this capacitor sensing unit are parallel to each other.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW102118710 | 2013-05-28 | ||
| TW102118710A TWI483704B (en) | 2013-05-28 | 2013-05-28 | Self - propelled cleaning equipment - Dust detection method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104172991A true CN104172991A (en) | 2014-12-03 |
Family
ID=51954536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410163588.2A Pending CN104172991A (en) | 2013-05-28 | 2014-04-22 | Self-propelled cleaning equipment dirt detection method and device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2014230746A (en) |
| CN (1) | CN104172991A (en) |
| TW (1) | TWI483704B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106093520A (en) * | 2016-06-17 | 2016-11-09 | 九阳股份有限公司 | The dust-full detecting system of sweeping robot and method |
| CN107661070A (en) * | 2016-07-28 | 2018-02-06 | 九阳股份有限公司 | A kind of clean robot and clean method with dust detection function |
| CN111466831A (en) * | 2019-01-23 | 2020-07-31 | 北京奇虎科技有限公司 | Sweeping robot dust box state detection method and device, dust box and sweeping robot |
| ES2922448A1 (en) * | 2021-03-05 | 2022-09-15 | Cecotec Res And Development S L | DIRT DETECTION SYSTEM FOR CLEANING AND/OR DISINFECTION DEVICE (Machine-translation by Google Translate, not legally binding) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108625324B (en) * | 2018-06-22 | 2023-09-29 | 济南东之林智能软件有限公司 | Dust collection device and road dust collection system |
| US20240060869A1 (en) * | 2022-08-17 | 2024-02-22 | Microchip Touch Solutions Limited | Capacitively determining quantity of particulate present in a chamber |
| CN117810842B (en) * | 2024-03-01 | 2024-07-09 | 四川雅丽兴科技有限公司 | Power distribution cooling system based on cable pit |
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| JPH01153131A (en) * | 1987-12-11 | 1989-06-15 | Matsushita Electric Ind Co Ltd | Dust detector in electric cleaner |
| WO2005123284A1 (en) * | 2004-06-22 | 2005-12-29 | Koganei Corporation | Static charge and dust removing device |
| CN2774660Y (en) * | 2005-01-25 | 2006-04-26 | 武汉大学 | Dust remover |
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| WO2007074035A1 (en) * | 2005-12-22 | 2007-07-05 | Vorwerk & Co. Interholding Gmbh | Floor brush for a vacuum cleaner with a limiting element that can be actively lifted and lowered, and corresponding method |
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| CN202568084U (en) * | 2012-04-11 | 2012-12-05 | 慈溪迈思特电子科技有限公司 | C-shaped dust detecting device of automatic dust collector |
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| JP2005211493A (en) * | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | Self-propelled cleaner |
| TWI400054B (en) * | 2009-05-21 | 2013-07-01 | Ind Tech Res Inst | Cleaning apparatus and detecting method thereof |
| TWM377196U (en) * | 2009-12-01 | 2010-04-01 | cheng-xiang Yan | Dust sensoring device for automatic cleaners |
| CN202453656U (en) * | 2011-12-19 | 2012-09-26 | 珠海天威飞马打印耗材有限公司 | Carbon powder supply and discharge device and system |
-
2013
- 2013-05-28 TW TW102118710A patent/TWI483704B/en not_active IP Right Cessation
-
2014
- 2014-04-18 JP JP2014085950A patent/JP2014230746A/en active Pending
- 2014-04-22 CN CN201410163588.2A patent/CN104172991A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01153131A (en) * | 1987-12-11 | 1989-06-15 | Matsushita Electric Ind Co Ltd | Dust detector in electric cleaner |
| JP2007513661A (en) * | 2003-12-10 | 2007-05-31 | フォルヴェルク・ウント・ツェーオー、インターホールディング・ゲーエムベーハー | Automatic movable floor dust collector |
| WO2005123284A1 (en) * | 2004-06-22 | 2005-12-29 | Koganei Corporation | Static charge and dust removing device |
| CN2774660Y (en) * | 2005-01-25 | 2006-04-26 | 武汉大学 | Dust remover |
| WO2007074035A1 (en) * | 2005-12-22 | 2007-07-05 | Vorwerk & Co. Interholding Gmbh | Floor brush for a vacuum cleaner with a limiting element that can be actively lifted and lowered, and corresponding method |
| CN101688872A (en) * | 2007-06-28 | 2010-03-31 | 贝克曼考尔特公司 | Cleaning device, method for detecting clogging of cleaning nozzle, and automatic analyzer |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106093520A (en) * | 2016-06-17 | 2016-11-09 | 九阳股份有限公司 | The dust-full detecting system of sweeping robot and method |
| CN106093520B (en) * | 2016-06-17 | 2019-01-18 | 九阳股份有限公司 | The dust-full detection system and method for sweeping robot |
| CN107661070A (en) * | 2016-07-28 | 2018-02-06 | 九阳股份有限公司 | A kind of clean robot and clean method with dust detection function |
| CN111466831A (en) * | 2019-01-23 | 2020-07-31 | 北京奇虎科技有限公司 | Sweeping robot dust box state detection method and device, dust box and sweeping robot |
| CN111466831B (en) * | 2019-01-23 | 2023-09-01 | 北京奇虎科技有限公司 | Dust box state detection method and device of sweeping robot, dust box and sweeping robot |
| ES2922448A1 (en) * | 2021-03-05 | 2022-09-15 | Cecotec Res And Development S L | DIRT DETECTION SYSTEM FOR CLEANING AND/OR DISINFECTION DEVICE (Machine-translation by Google Translate, not legally binding) |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI483704B (en) | 2015-05-11 |
| TW201444518A (en) | 2014-12-01 |
| JP2014230746A (en) | 2014-12-11 |
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|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141203 |