CN104898670A - Intelligent floor mopping system and control method thereof - Google Patents
Intelligent floor mopping system and control method thereof Download PDFInfo
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- CN104898670A CN104898670A CN201510218904.6A CN201510218904A CN104898670A CN 104898670 A CN104898670 A CN 104898670A CN 201510218904 A CN201510218904 A CN 201510218904A CN 104898670 A CN104898670 A CN 104898670A
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Abstract
The invention discloses an intelligent floor mopping system and a control method thereof. The intelligent floor mopping system comprises a floor mopping machine and at least one virtual wall apparatus. The virtual wall apparatus is used for emitting first infrared signals of preset frequencies towards a first preset direction so as to form virtual walls. The floor mopping machine comprises a control module for sending first control instructions to the virtual wall apparatus to control the virtual wall apparatus to be started so as to form the virtual walls, a cleaning module for cleaning a room in a preset cleaning mode, and a crossing module for running at an edge mode after cleaning of the current room is finished and according to the crossing frequency of the encountered virtual walls, crossing any one virtual wall to a next room until all the rooms are cleaned. Through such intelligent floor mopping system, the virtual walls are arranged at a door, and the floor mopping machine, when cleaning indoor floor, cleans the rooms one by one, i.e., when the floor mopping machine cleans one room, the machine does not run to other areas for cleaning, such that the cleaning efficiency of a single cleaning area is improved, and the cleaning effect is good.
Description
Technical field
The present invention relates to cleaning equipment field, particularly relate to a kind of intelligence and to mop floor system and control method thereof.
Background technology
At present, apply intelligent floor cleaning machine when flooring is cleaned, due to subregion cleaning can not be carried out to each room in house, then in cleaning process, may exist and sweep at some region repetition circulation cleaning, and the situation of cleaning is not carried out in other region, need to adjust the cleaning area of intelligent floor cleaning machine artificially.In these cases, the cleaning weak effect of intelligent floor cleaning machine, and cleaning efficiency is low.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of intelligence to mop floor system, is intended to solve intelligent floor cleaning machine cleaning weak effect, problem that cleaning efficiency is low.
For achieving the above object, the invention provides a kind of intelligence to mop floor system, for the cleaning of flooring, the described intelligence system of mopping floor comprises floor cleaning machine and at least one virtual wall device, the side of each door is provided with virtual wall device described in, and the first infrared signal that this virtual wall device is used for launching predeterminated frequency to the first preset direction can the virtual wall of shutoff door to be formed; Described floor cleaning machine comprises:
Control module, for sending the first steering order to all described virtual wall devices, starts formation virtual wall to control described virtual wall device;
Cleaning module, for cleaning in a room with default cleaning modes;
Pass through module, for complete current room cleaning after to run along edge mode, and pass through arbitrary virtual wall to next room, until complete roomed cleaning according to the traversing times of the virtual wall run into.
Preferably, described floor cleaning machine also comprises:
First ultrasonic wave module, for launching ultrasonic signal to described virtual wall device, and receives the ultrasonic signal of described virtual wall device feedback;
Computing module, for launching the mistiming between ultrasonic signal and received ultrasonic signal, the distance between computation host and virtual wall according to described first ultrasonic wave module;
Exempt to touch module, for when described distance reaches preset value, turning operation.
Preferably, pass through module described in comprise:
Record cell, for recording the accumulative traversing times of each virtual wall;
Performance element, for when the accumulative traversing times of the virtual wall run into is 0, then passes through this virtual wall and enters next room, clean with default cleaning modes; When the accumulative traversing times of the virtual wall run into is 1 and the accumulative traversing times of all virtual wall of current room is all greater than 0, then passes through this virtual wall and enter next room, to run along edge mode; When the accumulative traversing times of the virtual wall run into is 2 and the accumulative traversing times of the virtual wall of current room is 2, then cleaning process terminates.
Preferably, the described intelligence system that mops floor also comprises cradle, and described control module also after roomed cleaning, sends second steering order to described cradle for completing, and launches the second infrared signal to control described cradle to the second preset direction; Described floor cleaning machine also comprises charging module, and described charging module is used for moving to described cradle according to described second infrared signal and charges.
Preferably, described charging module, to run along edge mode, when receiving described second infrared signal, charges along the direction linear running contrary with described second preset direction to described cradle place after roomed cleaning specifically for completing.
In addition, for achieving the above object, present invention also offers a kind of intelligence and to mop floor the control method of system, for the cleaning of flooring, the mop floor control method of system of described intelligence comprises the following steps:
Described floor cleaning machine sends the first steering order to all described virtual wall devices, starts formation virtual wall to control described virtual wall device;
Clean in a room with default cleaning modes;
Complete to run along edge mode after the cleaning of current room, and pass through arbitrary virtual wall according to the accumulative traversing times of the virtual wall run into and clean to next room, until complete roomed cleaning.
Preferably, described step of cleaning in a room with default cleaning modes specifically comprises:
Launch ultrasonic signal to described virtual wall device, and receive the ultrasonic signal of described virtual wall device feedback;
According to the mistiming of launching between ultrasonic signal and received ultrasonic signal, calculate the distance between virtual wall;
When described distance reaches preset value, then turning operation.
Preferably, the accumulative traversing times of the virtual wall that described basis runs into passes through arbitrary virtual wall and cleans to next room, until complete the step of roomed cleaning specifically comprise:
Record the accumulative traversing times of each virtual wall;
When the accumulative traversing times of the virtual wall run into is 0, then passes through this virtual wall and enter next room, clean with default cleaning modes;
When the accumulative traversing times of the virtual wall run into is 1 and the accumulative traversing times of all virtual wall of current room is all greater than 0, then passes through this virtual wall and enter next room, to run along edge mode;
When the accumulative traversing times of the virtual wall run into is 2 and the accumulative traversing times of the virtual wall of current room is 2, then cleaning process terminates.
Preferably, described complete roomed cleaning step after also comprise:
Send the second steering order to described cradle, launch the second infrared signal to control described cradle to the second preset direction;
Move to described cradle according to described second infrared signal to charge.
Preferably, describedly move to according to described second infrared signal the step that described cradle carries out charging and specifically comprise:
To run along edge mode, when receiving described second infrared signal, charge along the direction linear running contrary with described second preset direction to described cradle place.
A kind of intelligence provided by the present invention mops floor system and control method thereof, by arranging virtual wall at door place, make floor cleaning machine when cleaning flooring, point room cleans, namely when a room (specific region) is cleaned, can not move to other room or region is cleaned, thus promote the sweeping efficiency of single room (cleaning area), and cleaning effect strengthens greatly.
Accompanying drawing explanation
Fig. 1 is the high-level schematic functional block diagram of intelligent system one embodiment that mops floor of the present invention;
Fig. 2 is the high-level schematic functional block diagram of an embodiment of the floor cleaning machine of the intelligent system that mops floor of the present invention;
Fig. 3 is the high-level schematic functional block diagram of an embodiment of the virtual wall device of the intelligent system that mops floor of the present invention;
Fig. 4 is the high-level schematic functional block diagram of passing through an embodiment of module of the intelligent system that mops floor of the present invention;
Fig. 5 is application the present invention intelligence system that mops floor carries out an embodiment of subregion cleaning cleaning schematic diagram by room;
Fig. 6 is the schematic flow sheet of control method one embodiment of the intelligent system that mops floor of the present invention;
Fig. 7 is the process refinement figure of an embodiment of step S200 in Fig. 6;
Fig. 8 is the process refinement figure of an embodiment of step S300 in Fig. 6;
Fig. 9 is the high-level schematic functional block diagram of another embodiment of control method of the intelligent system that mops floor of the present invention;
Figure 10 is the process refinement figure of an embodiment of step S500 in Fig. 9.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Embodiment
Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The invention provides a kind of intelligence to mop floor system.
With reference to Fig. 1, Fig. 2 and Fig. 3, Fig. 1 is the high-level schematic functional block diagram of intelligent system one embodiment that mops floor of the present invention; Fig. 2 is the high-level schematic functional block diagram of an embodiment of the floor cleaning machine of the intelligent system that mops floor of the present invention; Fig. 3 is the high-level schematic functional block diagram of an embodiment of the virtual wall device of the intelligent system that mops floor of the present invention.In the present embodiment, this intelligence mops floor the cleaning of system 10 for flooring, it comprises floor cleaning machine 100, at least one virtual wall device 200 and cradle 300, the side of each door is provided with virtual wall device 200 described in, and this virtual wall device 200 can the virtual wall 400 of shutoff door to be formed for first infrared signal of launching predeterminated frequency to the first preset direction; Described floor cleaning machine 100 comprises:
Control module 110, for sending the first steering order to all described virtual wall devices 200, starts formation virtual wall 400 to control described virtual wall device 200;
Particularly, virtual wall device 200 puts the side in door, floor cleaning machine 100 is provided with the first wireless communication module 190, virtual wall device 200 is provided with the second wireless communication module 220 and the first infrared transmission module 210, communicated with the second wireless communication module 220 by the first wireless communication module 190, all virtual wall devices 200 are communicated to connect with floor cleaning machine 100, now, control module 110 transmits the first steering order to the second wireless communication module 220 by the first wireless communication module 190, control virtual wall device 200 to start, after virtual wall device 200 starts, first infrared transmission module 210 launches the opposite side of the first infrared signal to corresponding door of predeterminated frequency, thus form virtual wall 400 on doorway.
Further, floor cleaning machine 100 is also provided with record cell 131, at virtual wall device 200 with the communication process of floor cleaning machine 100, this record cell 131 is by the total number of the results verification virtual wall device 200 according to communication.Should be noted that, virtual wall device 200 is provided with driving switch, each driving switch has multiple gear, be allocated to different gears, the first infrared signal that virtual wall 400 is launched is different, for the ease of each virtual wall 400 of floor cleaning machine 100 Division identification, the driving switch of each virtual wall 400 the gear dialled different, namely each virtual wall device 200 frequency of the first infrared signal of launching is different.
Cleaning module 120, for cleaning in a room with default cleaning modes;
When each virtual wall device 200 launches the first infrared signal, just each room is formed a cleaning area closed.
When cleaning each room, all can preset the cleaning time, this Preset Time can set according to the size of cleaning area, and when floor cleaning machine 100 reaches preset value in the cleaning time of current room, control module 110 stops the cleaning of current room by controlling cleaning module 120; After this, control module 110 will control floor cleaning machine 100 to run along edge mode, to find arbitrary virtual wall 400, and pass through this virtual wall 400, enter next room.
Pass through module 130, for complete current room cleaning after to run along edge mode, and pass through arbitrary virtual wall 400 to next room, until complete roomed cleaning according to the traversing times of the virtual wall 400 run into.
Particularly, this floor cleaning machine 100 also comprises identification module 180, floor cleaning machine 100 in room to run along edge mode time, when floor cleaning machine 100 receives the first infrared signal, illustrate that floor cleaning machine 100 has moved to door place, now the frequency of identification module 180 to the first infrared signal that this receives identifies, is numbered this virtual wall 400, and by this number record; Meanwhile, turning operation to get around this virtual wall 400, prevents the closed cleaning area formed in this room from not cleaning clean and entering other room by this floor cleaning machine 100.When floor cleaning machine 100 with run along edge mode one circle after, when namely running into same virtual wall 400, then floor cleaning machine 100 is by complete for all virtual wall 400 identiflication number in this room, now judge whether to pass through this virtual wall 400, until complete roomed cleaning according to the accumulative traversing times of this same virtual wall 400 run into.
To be mopped floor system 10 by above-mentioned intelligence, by arranging virtual wall 400 at door place, make floor cleaning machine 100 when cleaning flooring, point room cleans, namely when a room (specific region) is cleaned, can not move to other region to clean, thus sweeping efficiency is high, cleaning effect is good.
Further, floor cleaning machine 100 also comprises:
First ultrasonic wave module 140, for launching ultrasonic signal to described virtual wall device 200, and receives the ultrasonic signal of described virtual wall device 200 feedback;
Virtual wall 400 is bumped against in order to prevent floor cleaning machine 100, floor cleaning machine 100 is also provided with the first ultrasonic wave module 140 (because floor cleaning machine 100 can not identify the particular location of virtual wall 400, then be provided with multiple first ultrasonic wave module 140 in the periphery of floor cleaning machine 100, thus the first ultrasonic wave module 140 all can send ultrasonic signal to all directions), accordingly, virtual wall device 200 is provided with the second ultrasonic wave module 230; Floor cleaning machine 100 controls the first ultrasonic wave module 140 and launches ultrasonic signal, and record the time of ultrasound wave transmitting simultaneously, when the second ultrasonic wave module 230 receives this ultrasonic signal, by ultrasonic signal same for feedback one to the first ultrasonic wave module 140 of floor cleaning machine 100, when the first ultrasonic wave module 140 receives the ultrasonic signal of feedback, floor cleaning machine 100 records the time of this reception.
Computing module 150, for launching the mistiming between ultrasonic signal and received ultrasonic signal according to described first ultrasonic wave module 140, calculates the distance between floor cleaning machine 100 and virtual wall 400;
Because the aerial propagation rate of sound wave is known, and the operating rate of floor cleaning machine 100 under preset mode is certain, thus launch mistiming between ultrasonic signal and received ultrasonic signal by computing module 150 according to the first ultrasonic wave module 140, the distance between floor cleaning machine 100 and virtual wall 400 can be calculated.
Exempt to touch module 160, for when described distance reaches preset value, turning operation is to get around described virtual wall 400.
Computing module 150 is by after calculating floor cleaning machine 100 and the real-time distance of virtual wall 400, this real-time distance is judged, when this real-time distance reaches the preset value of floor cleaning machine 100 inside, then floor cleaning machine 100 inside exempt from touch module 160 and will control floor cleaning machine 100 turning operation, thus, can prevent floor cleaning machine 100 from colliding virtual wall 400 in advance.
Particularly, in the present embodiment, the power consumption of comprehensive consideration first ultrasonic wave module 140 and crashproof degree of accuracy, the first ultrasonic wave module 140 of floor cleaning machine 100 is launched hyperacoustic time interval and is preferably 1 second.
Further, reference Fig. 4, Fig. 4 is the high-level schematic functional block diagram of passing through an embodiment of module of the intelligent system that mops floor of the present invention; Described module 130 of passing through also comprises:
Record cell 131, for recording the accumulative traversing times of each virtual wall 400;
Performance element 132, for when the accumulative traversing times of the virtual wall 400 run into is 0, then passes through this virtual wall 400 and enters next room, clean with default cleaning modes; When the accumulative traversing times of the virtual wall 400 run into is 1 and the accumulative traversing times of all virtual wall 400 of current room is all greater than 0, then passes through this virtual wall 400 and enter next room, to run along edge mode; When the accumulative traversing times of the virtual wall 400 run into is 2 and the accumulative traversing times of the virtual wall 400 of current room is 2, then cleaning process terminates
Particularly, floor cleaning machine 100 is when passing through virtual wall 400, and the numbering of the virtual wall 400 all needing record to pass through and correspondence pass through the numbering of this virtual wall 400.
Reference Fig. 5, Fig. 5 are application the present invention intelligence system that mops floor carries out an embodiment of subregion cleaning cleaning schematic diagram by room; In the present embodiment, room layout is three rooms, and in actual applications, concrete cleaning area is not limited to the present embodiment.In the present embodiment, total cleaning area comprises room 20a, room 20b, room 20c, wherein between room 20a and room 20b, there is a door, there is between room 20b and room 20c a door, the intelligence system 10 that mops floor comprises floor cleaning machine 100, virtual wall device 200a, virtual wall device 200b and cradle 300, virtual wall device 200a puts the side of the door between room 20a and room 20b, virtual wall device 200b puts the side of the door between room 20b and room 20c, as virtual wall device 200a, after virtual wall device 200b communicates with floor cleaning machine 100, the first respective infrared transmission module 210 will be started, and launch the opposite side of the first infrared signal to corresponding door of predeterminated frequency, thus form twice virtual wall 400a and virtual wall 400b on two doorways, in the present embodiment, floor cleaning machine 100 is positioned in room 20a in advance, then clean module 120 and clean in the closed cleaning area be made up of the wall of virtual wall 400a and room 20a with default cleaning modes.
When the cleaning time of room 20a reaches Preset Time, then stop cleaning, floor cleaning machine 100 is to run along edge mode, after having run a circle, identiflication number is carried out to virtual wall 400a, when again running into virtual wall 400a, then determine whether to pass through virtual wall 400a according to the accumulative traversing times of the virtual wall 400a of record cell 131 record.Before passing through virtual wall 400a, the traversing times of the virtual wall 400a that record cell 131 records is 0, then pass through virtual wall 400a and enter room 20b, and the traversing times recording virtual wall 400a is 1 time; In like manner, floor cleaning machine 100 also cleans with the closed cleaning area that default cleaning modes is being made up of the wall of virtual wall 400a, virtual wall 400b and room 20b, when reaching the cleaning time, stop the cleaning of current room 20b, floor cleaning machine 100 is again to run along edge mode, after having run a circle, identiflication number is carried out to virtual wall 400a, virtual wall 400b, when again running into virtual wall 400a, then determine whether to pass through virtual wall 400a according to the accumulative traversing times of the virtual wall 400a of record cell 131 record; Or when again running into virtual wall 400b, then determine whether to pass through virtual wall 400b according to the accumulative traversing times of the virtual wall 400b of record cell 131 record.
Now, the traversing times of the virtual wall 400a that record cell 131 records is 1, the traversing times of the virtual wall 400b of record is 0, then above-mentioned when again running into virtual wall 400a, then do not pass through virtual wall 400a, when again running into virtual wall 400b, then pass through this virtual wall 400b, enter room 20c, and the traversing times recording virtual wall 400b is also 1 time; In like manner, floor cleaning machine 100 also cleans with the closed cleaning area that default cleaning modes is being made up of the wall of virtual wall 400b and room 20c, when reaching the cleaning time, stop the cleaning of current room 20c, floor cleaning machine 100, again to run along edge mode, after having run a circle, has carried out identiflication number to virtual wall 400b, when again running into virtual wall 400b, then determine whether to pass through virtual wall 400b according to the accumulative traversing times of the virtual wall 400b of record cell 131 record.
Now, the traversing times of the virtual wall 400b that record cell 131 records is 1, and the traversing times of virtual wall 400 all in room 20c is all greater than 0, then above-mentioned when again running into virtual wall 400b, then pass through this virtual wall 400b, enter room 20b, and the traversing times recording virtual wall 400b is also 2 times; After this, floor cleaning machine 100 continues to run along edge mode, then after running a circle, when again running into virtual wall 400a, then determine whether to pass through virtual wall 400a according to the accumulative traversing times of the virtual wall 400a of record cell 131 record; Or when again running into virtual wall 400b, then determine whether to pass through virtual wall 400b according to the accumulative traversing times of the virtual wall 400b of record cell 131 record.
Now, the traversing times of virtual wall 400a that record cell 131 records is 1, and the traversing times of the virtual wall 400b of record is 2, then above-mentioned when again running into virtual wall 400b, then do not pass through this virtual wall 400b; When again running into virtual wall 400a, then pass through virtual wall 400a, enter room 20a, and the traversing times recording virtual wall 400a is also 2 times; After this, floor cleaning machine 100 continues to run along edge mode, then after running a circle, when again running into virtual wall 400a, then determine whether to pass through virtual wall 400a according to the accumulative traversing times of the virtual wall 400a of record cell 131 record; Now, the traversing times of the virtual wall 400a that record cell 131 records is 2, and the traversing times of virtual wall 400 all in current room is 2, then cleaning process terminates.
Further, described control module 110 also after roomed cleaning, sends second steering order to described cradle 300 for completing, and launches the second infrared signal to control described cradle 300 to the second preset direction; Described floor cleaning machine 100 also comprises charging module 170, and described charging module 170 charges for moving to described cradle 300 according to described second infrared signal.
Particularly, described cradle 300 is provided with the second infrared transmission module (not shown), cradle 300 launches the second infrared signal to the second preset direction after receiving the second steering order of control module 110.In order to distinguish the first infrared signal and the second infrared signal, the frequency of this second infrared signal is different from the frequency of the first infrared signal.
Described charging module 170, to run along edge mode, when receiving described second infrared signal, charges along the direction linear running contrary with described second preset direction to described cradle 300 place after roomed cleaning specifically for completing.
After whole cleaning process terminates, this floor cleaning machine 100 will run according to along edge mode, now, control module 110 controls cradle 300 will launch the second infrared signal along the second preset direction, when then floor cleaning machine 100 moves to the position relative with this second preset direction, floor cleaning machine 100 will receive this second infrared signal, now, charging module 170, by controlling floor cleaning machine 100 by along the contrary direction linear running of this second preset direction, finally moves to this cradle 300 place and charges.
By this kind of mode, floor cleaning machine 100 can automatically return to cradle 300 place, and consuming time short, save the power consumption of floor cleaning machine 100.
The invention provides a kind of intelligence to mop floor the control method of system 10.
It is the schematic flow sheet of control method one embodiment of the intelligent system that mops floor of the present invention with reference to Fig. 6, Fig. 6; In the present embodiment, the mop floor control method of system 10 of this intelligence carries out the cleaning of flooring for controlling the above-mentioned intelligence system 10 that mops floor, and the mop floor control method of system 10 of described intelligence comprises the following steps:
Step S100, described floor cleaning machine 100 sends the first steering order to all described virtual wall devices 200, starts formation virtual wall 400 to control described virtual wall device 200;
Particularly, virtual wall device 200 puts the side in door, floor cleaning machine 100 is provided with the first wireless communication module 190, virtual wall device 200 is provided with the second wireless communication module 220 and the first infrared transmission module 210, communicated with the second wireless communication module 220 by the first wireless communication module 190, all virtual wall devices 200 are communicated to connect with floor cleaning machine 100, now, control module 110 transmits the first steering order to the second wireless communication module 220 by the first wireless communication module 190, control virtual wall device 200 to start, after virtual wall device 200 starts, first infrared transmission module 210 launches the opposite side of the first infrared signal to corresponding door of predeterminated frequency, thus form virtual wall 400 on doorway.
Further, floor cleaning machine 100 is also provided with record cell 131, at virtual wall device 200 with the communication process of floor cleaning machine 100, this record cell 131 is by the total number of the results verification virtual wall device 200 according to communication.Should be noted that, virtual wall device 200 is provided with driving switch, each driving switch has multiple gear, be allocated to different gears, the first infrared signal that virtual wall 400 is launched is different, for the ease of each virtual wall 400 of floor cleaning machine 100 Division identification, the driving switch of each virtual wall 400 the gear dialled different, namely each virtual wall device 200 frequency of the first infrared signal of launching is different.
Step S200, cleans in a room with default cleaning modes;
When each virtual wall device 200 launches the first infrared signal, just each room is formed a cleaning area closed.
When cleaning each room, all can preset the cleaning time, this Preset Time can set according to the size of cleaning area, and when floor cleaning machine 100 reaches preset value in the cleaning time of current room, control module 110 stops the cleaning of current room by controlling cleaning module 120; After this, control module 110 will control floor cleaning machine 100 to run along edge mode, to find arbitrary virtual wall 400, and pass through this virtual wall 400, enter next room.
Particularly, reference Fig. 7, Fig. 7 is the process refinement figure of an embodiment of step S200 in Fig. 6; In the present embodiment, step S200 specifically comprises:
Step S210, launches ultrasonic signal to described virtual wall device 200, and receives the ultrasonic signal of described virtual wall device 200 feedback;
Virtual wall 400 is bumped against in order to prevent floor cleaning machine 100, floor cleaning machine 100 is also provided with the first ultrasonic wave module 140 (because floor cleaning machine 100 can not identify the particular location of virtual wall 400, then be provided with multiple first ultrasonic wave module 140 in the periphery of floor cleaning machine 100, thus the first ultrasonic wave module 140 all can send ultrasonic signal to all directions), accordingly, virtual wall device 200 is provided with the second ultrasonic wave module 230; Floor cleaning machine 100 controls the first ultrasonic wave module 140 and launches ultrasonic signal, and record the time of ultrasound wave transmitting simultaneously, when the second ultrasonic wave module 230 receives this ultrasonic signal, by ultrasonic signal same for feedback one to the first ultrasonic wave module 140 of floor cleaning machine 100, when the first ultrasonic wave module 140 receives the ultrasonic signal of feedback, floor cleaning machine 100 records the time of this reception.
Step S220, according to the mistiming of launching between ultrasonic signal and received ultrasonic signal, calculates the distance between virtual wall 400.
Because the aerial propagation rate of sound wave is known, and the operating rate of floor cleaning machine 100 under preset mode is certain, thus launch mistiming between ultrasonic signal and received ultrasonic signal by computing module 150 according to the first ultrasonic wave module 140, the distance between floor cleaning machine 100 and virtual wall 400 can be calculated.
Step S230, when described distance reaches preset value, then turning operation.
Computing module 150 is by after calculating floor cleaning machine 100 and the real-time distance of virtual wall 400, this real-time distance is judged, when this real-time distance reaches the preset value of floor cleaning machine 100 inside, then floor cleaning machine 100 inside exempt from touch module 160 and will control floor cleaning machine 100 turning operation, thus, can prevent floor cleaning machine 100 from colliding virtual wall 400 in advance.
Particularly, in the present embodiment, the power consumption of comprehensive consideration first ultrasonic wave module 140 and crashproof degree of accuracy, the first ultrasonic wave module 140 of floor cleaning machine 100 is launched hyperacoustic time interval and is preferably 1 second.
Step S300, completes to run along edge mode after the cleaning of current room, and passes through arbitrary virtual wall 400 according to the accumulative traversing times of the virtual wall 400 run into and clean to next room, until complete roomed cleaning.
Particularly, this floor cleaning machine 100 also comprises identification module 180, floor cleaning machine 100 in room to run along edge mode time, when floor cleaning machine 100 receives the first infrared signal, illustrate that floor cleaning machine 100 has moved to door place, now the frequency of identification module 180 to the first infrared signal that this receives identifies, is numbered this virtual wall 400, and by this number record; Meanwhile, turning operation to get around this virtual wall 400, prevents the closed cleaning area formed in this room from not cleaning clean and entering other room by this floor cleaning machine 100.When floor cleaning machine 100 with run along edge mode one circle after, when namely running into same virtual wall 400, then floor cleaning machine 100 is by complete for all virtual wall 400 identiflication number in this room, now judge whether to pass through this virtual wall 400, until complete roomed cleaning according to the accumulative traversing times of this same virtual wall 400 run into.
The control method of the system that mopped floor by above-mentioned intelligence, by arranging virtual wall 400 at door place, make floor cleaning machine 100 when cleaning flooring, point room cleans, namely when a room (specific region) is cleaned, can not move to other room or region is cleaned, thus promote the sweeping efficiency of single room (cleaning area), and cleaning effect strengthens greatly.
Meanwhile, be the process refinement figure of an embodiment of step S300 in Fig. 6 with reference to Fig. 8, Fig. 8, in the present embodiment, step S300 specifically also comprises:
Step S310, records the accumulative traversing times of each virtual wall 400,
Step S320, when the accumulative traversing times of the virtual wall 400 run into is 0, then passes through this virtual wall 400 and enters next room, clean with default cleaning modes;
Step S330, when the accumulative traversing times of the virtual wall 400 run into is 1 and the accumulative traversing times of all virtual wall 400 of current room is all greater than 0, then passes through this virtual wall 400 and enters next room, to run along edge mode;
Step S340, when the accumulative traversing times of the virtual wall 400 run into is 2 and the accumulative traversing times of the virtual wall 400 of current room is 2, then cleaning process terminates.
Particularly, floor cleaning machine 100, when passing through virtual wall 400, all need record by record cell 131 numbering that the numbering of passed through virtual wall 400 and correspondence pass through this virtual wall 400.
Be described for Fig. 5, in the present embodiment, floor cleaning machine 100 is positioned in room 20a in advance, then clean module 120 and clean in the closed cleaning area be made up of the wall of virtual wall 400a and room 20a with default cleaning modes.
When the cleaning time of room 20a reaches Preset Time, then stop cleaning, floor cleaning machine 100 is to run along edge mode, after having run a circle, identiflication number is carried out to virtual wall 400a, when again running into virtual wall 400a, then determine whether to pass through virtual wall 400a according to the accumulative traversing times of the virtual wall 400a of record cell 131 record.Before passing through virtual wall 400a, the traversing times of the virtual wall 400a that record cell 131 records is 0, then pass through virtual wall 400a and enter room 20b, and the traversing times recording virtual wall 400a is 1 time; In like manner, floor cleaning machine 100 also cleans with the closed cleaning area that default cleaning modes is being made up of the wall of virtual wall 400a, virtual wall 400b and room 20b, when reaching the cleaning time, stop the cleaning of current room 20b, floor cleaning machine 100 is again to run along edge mode, after having run a circle, identiflication number is carried out to virtual wall 400a, virtual wall 400b, when again running into virtual wall 400a, then determine whether to pass through virtual wall 400a according to the accumulative traversing times of the virtual wall 400a of record cell 131 record; Or when again running into virtual wall 400b, then determine whether to pass through virtual wall 400b according to the accumulative traversing times of the virtual wall 400b of record cell 131 record.
Now, the traversing times of the virtual wall 400a that record cell 131 records is 1, the traversing times of the virtual wall 400b of record is 0, then above-mentioned when again running into virtual wall 400a, then do not pass through virtual wall 400a, when again running into virtual wall 400b, then pass through this virtual wall 400b, enter room 20c, and the traversing times recording virtual wall 400b is also 1 time; In like manner, floor cleaning machine 100 also cleans with the closed cleaning area that default cleaning modes is being made up of the wall of virtual wall 400b and room 20c, when reaching the cleaning time, stop the cleaning of current room 20c, floor cleaning machine 100, again to run along edge mode, after having run a circle, has carried out identiflication number to virtual wall 400b, when again running into virtual wall 400b, then determine whether to pass through virtual wall 400b according to the accumulative traversing times of the virtual wall 400b of record cell 131 record.
Now, the traversing times of the virtual wall 400b that record cell 131 records is 1, and the traversing times of virtual wall 400 all in room 20c is all greater than 0, then above-mentioned when again running into virtual wall 400b, then pass through this virtual wall 400b, enter room 20b, and the traversing times recording virtual wall 400b is also 2 times; After this, floor cleaning machine 100 continues to run along edge mode, then after running a circle, when again running into virtual wall 400a, then determine whether to pass through virtual wall 400a according to the accumulative traversing times of the virtual wall 400a of record cell 131 record; Or when again running into virtual wall 400b, then determine whether to pass through virtual wall 400b according to the accumulative traversing times of the virtual wall 400b of record cell 131 record.
Now, the traversing times of virtual wall 400a that record cell 131 records is 1, and the traversing times of the virtual wall 400b of record is 2, then above-mentioned when again running into virtual wall 400b, then do not pass through this virtual wall 400b; When again running into virtual wall 400a, then pass through virtual wall 400a, enter room 20a, and the traversing times recording virtual wall 400a is also 2 times; After this, floor cleaning machine 100 continues to run along edge mode, then after running a circle, when again running into virtual wall 400a, then determine whether to pass through virtual wall 400a according to the accumulative traversing times of the virtual wall 400a of record cell 131 record; Now, the traversing times of the virtual wall 400a that record cell 131 records is 2, and the traversing times of virtual wall 400 all in current room is 2, then cleaning process terminates.
Further, reference Fig. 9, Fig. 9 is the schematic flow sheet of another embodiment of control method of the intelligent system that mops floor of the present invention; In the present embodiment, also comprise after step S300:
Step S400, sends the second steering order to described cradle 300, launches the second infrared signal to control described cradle 300 to the second preset direction.
Described cradle 300 is provided with the second infrared transmission module (not shown), cradle 300 launches the second infrared signal to the second preset direction after receiving the second steering order of control module 110.In order to distinguish the first infrared signal and the second infrared signal, the frequency of this second infrared signal is different from the frequency of the first infrared signal.
Step S500, moves to described cradle 300 according to described second infrared signal and charges.
With reference to the process refinement figure that Figure 10, Figure 10 are an embodiment of step S500 in Fig. 9, in the present embodiment, step S500 specifically also comprises:
Step S510, to run along edge mode, when receiving described second infrared signal, charges along the direction linear running contrary with described second preset direction to described cradle 300 place
After whole cleaning process terminates, this floor cleaning machine 100 will run according to along edge mode, now, control module 110 controls cradle 300 will launch the second infrared signal along the second preset direction, when then floor cleaning machine 100 moves to the position relative with this second preset direction, floor cleaning machine 100 will receive this second infrared signal, now, charging module 170, by controlling floor cleaning machine 100 by along the contrary direction linear running of this second preset direction, finally moves to this cradle 300 place and charges.
By this kind of mode, floor cleaning machine 100 can automatically return to cradle 300 place, and consuming time short, save the power consumption of floor cleaning machine 100
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. an intelligence mops floor system, for the cleaning of flooring, it is characterized in that, comprise floor cleaning machine and at least one virtual wall device, the side of each door is provided with virtual wall device described in, and the first infrared signal that this virtual wall device is used for launching predeterminated frequency to the first preset direction can the virtual wall of shutoff door to be formed; Described floor cleaning machine comprises:
Control module, for sending the first steering order to all described virtual wall devices, starts formation virtual wall to control described virtual wall device;
Cleaning module, for cleaning in a room with default cleaning modes;
Pass through module, for complete current room cleaning after to run along edge mode, and pass through arbitrary virtual wall to next room, until complete roomed cleaning according to the traversing times of the virtual wall run into.
2. intelligence as claimed in claim 1 mops floor system, and it is characterized in that, described floor cleaning machine also comprises:
First ultrasonic wave module, for launching ultrasonic signal to described virtual wall device, and receives the ultrasonic signal of described virtual wall device feedback;
Computing module, for launching the mistiming between ultrasonic signal and received ultrasonic signal, the distance between computation host and virtual wall according to described first ultrasonic wave module;
Exempt to touch module, for when described distance reaches preset value, turning operation.
3. intelligence as claimed in claim 1 mops floor system, it is characterized in that, described in pass through module and comprise:
Record cell, for recording the accumulative traversing times of each virtual wall;
Performance element, for when the accumulative traversing times of the virtual wall run into is 0, then passes through this virtual wall and enters next room, clean with default cleaning modes; When the accumulative traversing times of the virtual wall run into is 1 and the accumulative traversing times of all virtual wall of current room is all greater than 0, then passes through this virtual wall and enter next room, to run along edge mode; When the accumulative traversing times of the virtual wall run into is 2 and the accumulative traversing times of the virtual wall of current room is 2, then cleaning process terminates.
4. intelligence as claimed in claim 1 mops floor system, it is characterized in that, the described intelligence system that mops floor also comprises cradle, described control module is also for completing after roomed cleaning, send the second steering order to described cradle, launch the second infrared signal to control described cradle to the second preset direction; Described floor cleaning machine also comprises charging module, and described charging module is used for moving to described cradle according to described second infrared signal and charges.
5. intelligence as claimed in claim 4 mops floor system, it is characterized in that, described charging module is specifically for completing after roomed cleaning, to run along edge mode, when receiving described second infrared signal, charge along the direction linear running contrary with described second preset direction to described cradle place.
6. intelligence mops floor a control method for system, for the cleaning of flooring, it is characterized in that, comprises the following steps:
Described floor cleaning machine sends the first steering order to all described virtual wall devices, starts formation virtual wall to control described virtual wall device;
Clean in a room with default cleaning modes;
Complete to run along edge mode after the cleaning of current room, and pass through arbitrary virtual wall according to the accumulative traversing times of the virtual wall run into and clean to next room, until complete roomed cleaning.
7. intelligence as claimed in claim 6 mops floor the control method of system, and it is characterized in that, described step of cleaning in a room with default cleaning modes specifically comprises:
Launch ultrasonic signal to described virtual wall device, and receive the ultrasonic signal of described virtual wall device feedback;
According to the mistiming of launching between ultrasonic signal and received ultrasonic signal, calculate the distance between virtual wall;
When described distance reaches preset value, then turning operation.
8. intelligence as claimed in claim 6 mops floor the control method of system, and it is characterized in that, the accumulative traversing times of the virtual wall that described basis runs into passes through arbitrary virtual wall and cleans to next room, until complete the step of roomed cleaning specifically comprise:
Record the accumulative traversing times of each virtual wall;
When the accumulative traversing times of the virtual wall run into is 0, then passes through this virtual wall and enter next room, clean with default cleaning modes;
When the accumulative traversing times of the virtual wall run into is 1 and the accumulative traversing times of all virtual wall of current room is all greater than 0, then passes through this virtual wall and enter next room, to run along edge mode;
When the accumulative traversing times of the virtual wall run into is 2 and the accumulative traversing times of the virtual wall of current room is 2, then cleaning process terminates.
9. intelligence as claimed in claim 6 mops floor the control method of system, it is characterized in that, described complete roomed cleaning step after also comprise:
Send the second steering order to described cradle, launch the second infrared signal to control described cradle to the second preset direction;
Move to described cradle according to described second infrared signal to charge.
10. intelligence as claimed in claim 6 mops floor the control method of system, it is characterized in that, describedly moves to according to described second infrared signal the step that described cradle carries out charging and specifically comprises:
To run along edge mode, when receiving described second infrared signal, charge along the direction linear running contrary with described second preset direction to described cradle place.
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