CN104224058A - Object differential detection method and device - Google Patents
Object differential detection method and device Download PDFInfo
- Publication number
- CN104224058A CN104224058A CN201410177758.2A CN201410177758A CN104224058A CN 104224058 A CN104224058 A CN 104224058A CN 201410177758 A CN201410177758 A CN 201410177758A CN 104224058 A CN104224058 A CN 104224058A
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- differential
- driving wheels
- capacitance
- capacitance sensor
- differential detecting
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- 238000001514 detection method Methods 0.000 title 1
- 239000002184 metal Substances 0.000 claims abstract description 31
- 229910052751 metal Inorganic materials 0.000 claims abstract description 31
- 238000000034 method Methods 0.000 claims abstract description 17
- 238000004140 cleaning Methods 0.000 claims description 43
- 230000007246 mechanism Effects 0.000 claims description 19
- 239000003990 capacitor Substances 0.000 claims description 16
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 239000000428 dust Substances 0.000 claims description 7
- 230000006870 function Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000011889 copper foil Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Landscapes
- Electric Vacuum Cleaner (AREA)
- Geophysics And Detection Of Objects (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A method and device for detecting the differential value of two objects and sending a signal to perform a default action, comprising: providing a first object on which a metal component is arranged; providing a second object, wherein a sensing sheet of a capacitive sensor corresponding to the metal component on the first object is arranged on the second object; when the first object generates a differential motion relative to the second object, the capacitive sensor senses different capacitance values, and sends a signal to perform a default action when the position of the first object relative to the second object is known by the different capacitance values.
Description
Technical field
The present invention has about a kind of method for detecting and device, is espespecially used in have independence displacement and carry out in the self-propelled cleaning device of cleaning, in order to detect the differential world between two objects, to carry out corresponding reaction or the object differential detecting method controlled and device.
Background technology
Because modern works busy, family matters cleaning is more thought that one is required great effort and time consuming work, for solving such problem, namely there is the product of so-called self-propelled cleaning device on the market, by the control of artificial intelligence, automatically can clean back and forth over a surface to be cleaned and dedusting, reach the convenience without the need to manual operation.
Commonly use self-propelled cleaning device as run into child and to be picked up by self-propelled cleaning device or self-propelled cleaning device reaches barrier by mistake ... etc. situation, cause self-propelled cleaning device body all or part be suspended on surface to be cleaned and cannot continue perform cleaning, but now self-propelled cleaning device still can continuous running, the driving wheel of idle running, main brush, side brush ... if not only cause the consumption of energy and child touches and causes pointing the situation be involved in and occur in mechanism, consequence is more hardly imaginable, occur to prevent said circumstances, then have and feeler is set on the body of self-propelled cleaning device, detecting is without the guide wheel of driving force and the contact condition of feeler, under self-propelled cleaning device normally performs cleaning state on surface to be cleaned, feeler and guide wheel keep in touch, the guide wheel of self-propelled cleaning device liftoff be suspended on to be cleaned surface time, guide wheel can be separated with feeler because gravity down falls, making feeler detect guide wheel is liftoffly be suspended on surface state to be cleaned, with and export alerting reminding user through control unit.
Summary of the invention
Commonly using self-propelled cleaning device is by drive wheel, and the guide wheel without driving force is only assistant steering device, as arranged sensor at guide wheel place, certainly will increase the structure complexity of guide wheel; Add commonly use self-propelled cleaning device control unit on IC circuit board be usually arranged at guide wheel upper area, the structure complexity as guide wheel increases, and also can produce the inconvenience on space matching; And after self-propelled cleaning device uses a period of time, guide wheel is also easily by hair, filament ... the dirty dirt be wound around Deng easily stretching is wound around and need takes off cleaning, the assembly that sensor needs electrical communication if it is arranged, and will cause dismounting not easily; In addition, when having depression on surface to be cleaned or run into ladder, guide wheel also down can fall because of gravity, causes the situation judging misalignment to occur.
So object of the present invention, is to provide a kind of object differential detecting method whether driving wheel detecting self-propelled cleaning device is liftoff.
Another object of the present invention, is to provide the object differential detecting device whether a kind of driving wheel detecting self-propelled cleaning device is liftoff.
According to the object differential detecting method of the object of the invention, it is in order to detect the differential values of two objects, and send a signal and carry out a default-action, comprise: a body is provided, it is provided with and comprises: perform the cleaning mechanism of cleaning function, carry the driving wheels of body displacement, collect the dust-collecting box of dust, be provided with exhaust outlet mat discharge air to provide the negative pressure device of negative-pressure sucking, and the control unit that executive system controls; One capacitor sensing unit is provided, is located between the housing as the body of the first object and the driving wheels as the second object; When driving wheels to carry out differential relative to body, capacitor sensing unit senses different capacitances, and learns the position driving wheels relative to body by different capacitances.
According to another object differential detecting method of the object of the invention, it is in order to detect the differential values of two objects, and sends a signal and carry out a default-action, comprising: provide one first object, which is provided with metal assembly; One second object is provided, which is provided with the sensing sheet of the capacitance sensor corresponding with metal assembly on this first object; Make the first object when relative second object produces differential, capacitance sensor senses different capacitances, and when learning the position of relative second object of the first object by different capacitances, sends a signal and carry out a default-action person.
According to the object differential detecting device of another object of the present invention, it is in order to detect the differential values of two objects, and send a signal and carry out a default-action, comprise: be provided with in a body and comprise: perform the cleaning mechanism of cleaning function, carry the driving wheels of body displacement, collect the dust-collecting box of dust, be provided with exhaust outlet mat discharge air to provide the negative pressure device of negative-pressure sucking, and the control unit that executive system controls; Described internal body is provided with a capacitor sensing unit, and it comprises: a sheet metal is located on the driving wheels as the first object and the sensing sheet of a capacitance sensor is located on the second object corresponding with this sheet metal.
According to another object differential detecting device of another object of the present invention, it is in order to detect the differential values of two objects, and send a signal and carry out a default-action, comprise: be provided with in a body and comprise: perform the cleaning mechanism of cleaning function, carry the driving wheels of body displacement, collect the dust-collecting box of dust, be provided with exhaust outlet mat discharge air to provide the negative pressure device of negative-pressure sucking, and the control unit that executive system controls; Described internal body is provided with a capacitor sensing unit, and it comprises: the sensing sheet of a capacitance sensor is located on the driving wheels as the first object and a sheet metal is located on the second object corresponding with capacitance sensor.
The method and apparatus of the embodiment of the present invention, it is mainly in order to detect the differential values of two objects, and send a signal and carry out a default-action, sense the distance of sheet or orthographic projection by capacitor sensing unit according to the sheet metal being located at the first object and the capacitance sensor being located at the second object to occur simultaneously mutually the different of area, and sense different capacitances, make it when being applied to self-propelled cleaning device, when capacitance reaches a default value, judge as the driving wheel of the first object to be liftoffly be suspended on surface state to be cleaned, sending alerting to user stops the running of all mechanisms on body, energy ezpenditure when preventing body from dallying with avoid child touch and cause injured situation to occur, its structural design is simple, do not take up space, and directly detect body differential of driving wheels relative to the second object of the first object, can judge whether self-propelled cleaning device is in more accurately and liftoffly be suspended on surface state to be cleaned.
Accompanying drawing explanation
Fig. 1 is each structural scheme of mechanism in the body of general self-propelled cleaning device.
Fig. 2 is that the capacitor sensing unit of the embodiment of the present invention is configured in self-propelled cleaning device and drives wheels place to carry out the schematic diagram detected.
Fig. 3 is the liftoff unsettled schematic diagram of driving wheel in the embodiment of the present invention.
Sheet metal when Fig. 4 is driving wheel normal displacement state in the embodiment of the present invention and capacitance sensor sense sheet relative position schematic diagram.
Fig. 5 be the driving wheel of the embodiment of the present invention liftoff unsettled time sheet metal and capacitance sensor sense sheet relative position schematic diagram.
Symbol description
1 body 11 upper shell
111 engrave hole 12 lower house
121 pivot 13 rooms
2 drive wheels 21 driving wheel
22 motor 23 gear trains
231 first gear 232 second gears
24 sheath body 3 cleaning mechanisms
31 main brush 32 side brushes
4 dust-collecting mechanism 5 negative pressure mechanisms
6 control unit 7 capacitor sensing unit
71 sheet metal 72 capacitance sensors
721 sensing sheet 8 elastic parts
A1 first area A2 second area
D1 first average distance d2 second average distance
Detailed description of the invention
Refer to shown in Fig. 1, the method for detecting of the embodiment of the present invention can apply to self-propelled cleaning device as shown in the figure, it is provided with and comprises: can body 1 be driven to carry out the driving wheels 2 of displacement by the driving wheel 21 splitting body 1 both sides, can have the main brush 31 of bristle and side brush 32 one of them or only have a suction inlet of dust suction effect and perform the cleaning mechanism 3 of surface cleaning operation to be cleaned, the dust-collecting mechanism 4 of the dirty dirt that cleaning mechanism 3 cleans out can be collected, can take out and draw the negative pressure mechanism 5 that air in dust-collecting mechanism 4 makes its inner formation negative pressure state, every data operation can be performed or judge to carry out the control unit 6 that on body 1, various functions controls.
Refer to shown in Fig. 2, described driving wheels 2 are located in the room 13 be made up of the upper shell 11 of body 1 and lower house 12, and the bottom of driving wheel 21 is exposed outside body 1 by the hole 111 of engraving of lower house 12; In room 13, be provided with a capacitor sensing unit 7, it is by being installed in the sheet metal 71 driven on the first object of forming of wheels 2, and is installed in the second object that upper shell 11 forms and the corresponding capacitance sensor 72 of sheet metal 71 formed; This sheet metal 71 can be Copper Foil in pcb board or other metal materials, the outer link of this capacitance sensor 72 metal material roughly the same with sheet metal 71 area senses sheet 721, and driving wheel 21 normal displacement in surface to be cleaned time, sheet metal 71 roughly maintains parastate with the sensing sheet 721 of capacitance sensor 72.
Refer to shown in Fig. 3, described driving wheels 2 are drive driving wheel 21 with motor 22 via a gear train 23; Drive the motor 22 of wheels 2 and gear train 23 to be located in a sheath body 24 coated by its institute, gear train 23 comprises the first gear 231 driven by motor 22, and the second gear 232 coaxially set up with driving wheel 21; Wherein, drive the sheath body 24 of wheels 2 to be provided with one and be hubbed on pivot 121 on lower house 12, there is provided and drive wheels 2 with pivot 121 for axis of rotation carries out swinging up and down relative to body 1, coordinate one to be located at the elastic parts 8 driving and wheels 2 are supported mutually with upper shell 11, provide driving wheel 21 to roll over and lame road conditions surface of running produces vibrations time buffering and shock-proof effect.
Referring to shown in Fig. 2 and Fig. 4, when body 1 is normally walked as moving in ground, there is between almost parallel sheet metal 71 and the sensing sheet 721 of capacitance sensor 72 one first average distance d1, and first area of both orthographic projections being A1; Please refer to shown in Fig. 3 and Fig. 5, when body 1 is raised, driving wheel 21 is liftoff when being suspended on surface to be cleaned, wheels 2 are driven to be that axis of rotation is to lower swing with pivot 121, relative body 1 is formed differential, now sheet metal 71 and capacitance sensor 72 sense the second average distance between sheet 721 is d2, and both occur simultaneously, the second area of lower orthographic projection is A2, and wherein d2 is greater than d1 and A2 is less than A1.
The embodiment of the present invention on the implementation, known electric capacitance C=ε A/d (A: frontal projected area; D: distance; ε: dielectric coefficient), while the relative body 1 of driving wheels 2 is differential, sheet metal 71 and capacitance sensor 72 sense the change that the area of distance between sheet 721 and orthographic projection also can be relative, capacitor sensing unit 7 is made to sense different capacitances, and via control unit 6, this numerical value is compared to a default value, learn the relative position driving wheels 2 and body 1, as control unit 6 judges to drive, the driving wheel 21 of wheels 2 is liftoff is suspended on surface to be cleaned, then an exportable alerting reminding user and stop the running of all mechanisms on body 1.
The position that sheet metal 71 in the embodiment of the present invention and capacitance sensor 72 sense sheet is interchangeable, such as, capacitance sensor 72 and sensing sheet 721 are installed in the lower house 12 of body 1, and sheet metal 71 are installed in position corresponding on driving wheels 2; Or sheet metal 71 or capacitance sensor 72 and sensing sheet 721 be installed in drive any position on wheels 2, in the upper shell 11 or lower house 12 of body 1, arbitrary correspondence position is installed sheet metal 71 or capacitance sensor 72 and is sensed sheet 721 again, also can produce the change of capacitance.
The method and apparatus of the embodiment of the present invention, it is mainly the differential values detecting two objects, and send a signal and carry out a default-action, sense the distance of sheet 721 or orthographic projection by capacitor sensing unit 7 according to the sheet metal 71 being located at the first object and the capacitance sensor 72 being located at the second object to occur simultaneously mutually the different of area, and sense different capacitances, make it when being applied to self-propelled cleaning device, when capacitance reaches a default value, judge that the driving wheel 21 as the first object is suspended on surface state to be cleaned as liftoff, sending alerting to user stops the running of all mechanisms on body 1, energy ezpenditure when preventing body 1 from dallying with avoid child touch and cause injured situation to occur, its structural design is simple, do not take up space, and directly detect the differential of the body 1 of relative second object of driving wheels 2 of the first object, can judge whether self-propelled cleaning device is in more accurately and liftoffly be suspended on surface state to be cleaned.
Only as described above, be only preferred embodiment of the present invention, when not limiting scope of the invention process with this, the simple equivalence namely generally done 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 (12)
1. an object differential detecting method, it is in order to detect the differential values of two objects, and sends signal and carry out default-action, comprising:
There is provided body, it is provided with and comprises: perform the cleaning mechanism of cleaning function, carry the driving wheels of body displacement, collect the dust-collecting box of dust, be provided with exhaust outlet mat discharge air to provide the negative pressure device of negative-pressure sucking, and the control unit that executive system controls;
Capacitor sensing unit is provided, is located between the housing as the body of the first object and the driving wheels as the second object;
When driving wheels to carry out differential relative to body, capacitor sensing unit senses different capacitances, and learns the position driving wheels relative to body by different capacitances.
2. an object differential detecting method, it is in order to detect the differential values of two objects, and sends signal and carry out default-action, comprising:
First object is provided, which is provided with metal assembly;
Second object is provided, which is provided with the sensing sheet of the capacitance sensor corresponding with metal assembly on this first object;
Make the first object when relative second object produces differential, capacitance sensor senses different capacitances, and when learning the position of relative second object of the first object by different capacitances, sends signal and carry out default-action person.
3. object differential detecting method as claimed in claim 1, is characterized in that, this capacitance changes according to distance change.
4. object differential detecting method as claimed in claim 1, it is characterized in that, this capacitance changes according to area change.
5. object differential detecting method as claimed in claim 1, is characterized in that, when capacitance reaches default value, control unit stops the running of body.
6. object differential detecting method as claimed in claim 1, is characterized in that, when capacitance reaches default value, control unit exports alerting.
7. an object differential detecting device, it is in order to detect the differential values of two objects, and sends signal and carry out default-action, comprising:
Be provided with in body and comprise: perform the cleaning mechanism of cleaning function, carry the driving wheels of body displacement, collect the dust-collecting box of dust, be provided with exhaust outlet mat discharge air to provide the negative pressure device of negative-pressure sucking, and the control unit that executive system controls;
Described internal body is provided with capacitor sensing unit, and it comprises: sheet metal is located on the driving wheels as the first object and the sensing sheet of capacitance sensor is located on the second object corresponding with this sheet metal.
8. an object differential detecting device, it is in order to detect the differential values of two objects, and sends signal and carry out default-action, comprising:
Be provided with in body and comprise: perform the cleaning mechanism of cleaning function, carry the driving wheels of body displacement, collect the dust-collecting box of dust, be provided with exhaust outlet mat discharge air to provide the negative pressure device of negative-pressure sucking, and the control unit that executive system controls;
Described internal body is provided with capacitor sensing unit, and it comprises: the sensing sheet of capacitance sensor is located on the driving wheels as the first object and sheet metal is located on the second object corresponding with capacitance sensor.
9. object differential detecting device as claimed in claim 7 or 8, it is characterized in that, these driving wheels are that pivot can swing up and down by body relatively with pivot.
10. object differential detecting device as claimed in claim 7 or 8, it is characterized in that, these driving wheels are provided with elastic parts and are resisted against body housing.
11. object differential detecting devices as claimed in claim 7 or 8, is characterized in that, the capacitance that this capacitor sensing unit sense capacitance sensor and sheet metal distance change.
12. object differential detecting devices as claimed in claim 7 or 8, is characterized in that, the capacitance of this capacitor sensing unit sense capacitance sensor and sheet metal area change.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW102119849A TW201446208A (en) | 2013-06-05 | 2013-06-05 | Object differential detection method and apparatus |
| TW102119849 | 2013-06-05 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104224058A true CN104224058A (en) | 2014-12-24 |
Family
ID=52134689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410177758.2A Pending CN104224058A (en) | 2013-06-05 | 2014-04-29 | Object differential detection method and device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2014236955A (en) |
| CN (1) | CN104224058A (en) |
| TW (1) | TW201446208A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10444757B2 (en) | 2016-02-03 | 2019-10-15 | Positec Power Tools (Suzhou) Co., Ltd. | Self-moving device and control method therefor |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6703820B2 (en) * | 2015-11-11 | 2020-06-03 | シャープ株式会社 | Self-propelled electronic device |
| CN109164498A (en) * | 2018-08-14 | 2019-01-08 | 贵州大学 | A kind of ore-rock exploitation tenor survey meter |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5733317A (en) * | 1980-08-08 | 1982-02-23 | Yokogawa Hokushin Electric Corp | Differential electrostatic capacity type sensor |
| JP2002360480A (en) * | 2001-06-05 | 2002-12-17 | Matsushita Electric Ind Co Ltd | Self-propelled cleaner |
| WO2003073131A1 (en) * | 2002-02-21 | 2003-09-04 | Robert Bosch Gmbh | Method and measuring appliance for locating enclosed objects |
| CN1830375A (en) * | 2005-03-07 | 2006-09-13 | 三星光州电子株式会社 | Mobile robot having body sensor |
| CN101524259A (en) * | 2008-03-06 | 2009-09-09 | 威赛有限公司 | Nozzle for floor vacuum cleaner |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3537094B2 (en) * | 2001-10-09 | 2004-06-14 | 株式会社フクザワコーポレーション | Excavating apparatus, driving method thereof, and inclination angle measuring apparatus |
| JP2007334667A (en) * | 2006-06-15 | 2007-12-27 | Funai Electric Co Ltd | Self-propelled vacuum cleaner |
-
2013
- 2013-06-05 TW TW102119849A patent/TW201446208A/en unknown
-
2014
- 2014-04-22 JP JP2014087781A patent/JP2014236955A/en active Pending
- 2014-04-29 CN CN201410177758.2A patent/CN104224058A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5733317A (en) * | 1980-08-08 | 1982-02-23 | Yokogawa Hokushin Electric Corp | Differential electrostatic capacity type sensor |
| JP2002360480A (en) * | 2001-06-05 | 2002-12-17 | Matsushita Electric Ind Co Ltd | Self-propelled cleaner |
| WO2003073131A1 (en) * | 2002-02-21 | 2003-09-04 | Robert Bosch Gmbh | Method and measuring appliance for locating enclosed objects |
| CN1830375A (en) * | 2005-03-07 | 2006-09-13 | 三星光州电子株式会社 | Mobile robot having body sensor |
| CN101524259A (en) * | 2008-03-06 | 2009-09-09 | 威赛有限公司 | Nozzle for floor vacuum cleaner |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10444757B2 (en) | 2016-02-03 | 2019-10-15 | Positec Power Tools (Suzhou) Co., Ltd. | Self-moving device and control method therefor |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2014236955A (en) | 2014-12-18 |
| TW201446208A (en) | 2014-12-16 |
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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: 20141224 |