CN106093520B - The dust-full detection system and method for sweeping robot - Google Patents
The dust-full detection system and method for sweeping robot Download PDFInfo
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- CN106093520B CN106093520B CN201610437301.XA CN201610437301A CN106093520B CN 106093520 B CN106093520 B CN 106093520B CN 201610437301 A CN201610437301 A CN 201610437301A CN 106093520 B CN106093520 B CN 106093520B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 135
- 238000001514 detection method Methods 0.000 title claims abstract description 106
- 238000000034 method Methods 0.000 title description 7
- 239000000428 dust Substances 0.000 claims abstract description 124
- 238000012545 processing Methods 0.000 claims abstract description 22
- 238000005259 measurement Methods 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 9
- 241000208340 Araliaceae Species 0.000 claims description 7
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 7
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 7
- 235000008434 ginseng Nutrition 0.000 claims description 7
- 238000007689 inspection Methods 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 description 10
- 238000004140 cleaning Methods 0.000 description 6
- 241001417527 Pempheridae Species 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005406 washing Methods 0.000 description 4
- 230000002618 waking effect Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/0092—Arrangements for measuring currents or voltages or for indicating presence or sign thereof measuring current only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
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- Electric Vacuum Cleaner (AREA)
Abstract
The present invention discloses a kind of dust-full detection system of sweeping robot, comprising: first detection module obtains the first parameter for detecting；Second detection module obtains the second parameter for detecting；Processing unit, for judging whether the first parameter is more than the first parameter threshold of setting, and judge the second parameter whether be more than setting the second parameter threshold；Reminding unit, for issuing information to remind user to carry out relevant operation；Wherein, processing unit is adjusted according to input parameter of the judging result to dust sucting motor or processing unit is according to judging result instruction reminding unit sending information.The present invention also provides a kind of dust-full detection methods of sweeping robot.Using technical solution of the present invention, when air duct blocks, sweeping robot can a point situation user is reminded, and testing result is not easy to be disturbed.
Description
Technical field
The present invention relates to a kind of detection system of sweeping robot and method, sweep the floor machine more specifically to one kind
The dust-full detection system and method for people.
Background technique
Sweeper more and more enters among family life, and the intelligence degree of sweeper is also higher and higher.Sweeper
An important function be exactly the rubbish for cleaning family, and by garbage collection into its dust-collecting box.Sweeper cleaning process
Substantially artificial intervention is not needed, the completion cleaning works that it can be autonomous, but the cleaning of dust-collecting box is to need manual operation
, so whether the dust-collecting box for needing to detect sweeping robot is already filled with, to prompt user to clear up dust-collecting box.Existing one kind
Detection method is in dust-collecting box or entrance location installs the transmitter-receiver device of photoelectricity, passes through and detects photoelectric receiving arrangement
Signal judge whether dust-collecting box is filled.This detection mode is first is that electrooptical device is easy to be covered by dust and caused accidentally to touch
Hair, needs user to go to clean；The other is to reach not only a pair of of detection that relatively good detection effect needs, Ke Nengxu
Multipair or even array mode is wanted to detect, complexity and cost are relatively high.Another detection mode is examined by weight
The mode of survey, the bad control of the precision that this mode detects, the density variation of different dusts is larger, when dust-collecting box is filled
Weight also differs larger.The application proposes a kind of dust-full detection system, what whether the air duct by detecting sweeping robot was blocked
Mode judges the dust situation in dust-collecting box, reminds the user that and is cleared up sweeping robot or checked.
Summary of the invention
The present invention is to solve above-mentioned the technical problems existing in the prior art, provides a kind of dust-full inspection of sweeping robot
Examining system can exclude the case where air inlet blocks, judge whether dust-collecting box has been filled, remind the user that maintenance sweeper
Device people or cleaning dust-collecting box.The present invention additionally provides a kind of dust-full detection method of sweeping robot simultaneously.
In order to achieve the above objectives, The technical solution adopted by the invention is as follows:
A kind of dust-full detection system of sweeping robot, comprising:
First detection module obtains the first parameter for detecting, should when the movable motor of sweeping robot is opened loop control
First parameter includes the first electric current and/or the first revolving speed of sweeping robot movable motor；The movable motor of sweeping robot is
When closed-loop control, which includes the first electric current of sweeping robot movable motor；
Second detection module obtains the second parameter for detecting, should when the dust sucting motor of sweeping robot is opened loop control
Second parameter includes the wind speed of the second electric current of sweeping robot dust sucting motor, the second revolving speed and/or dust sucting motor air outlet；It sweeps
The dust sucting motor of floor-washing robot be closed-loop control when, second parameter include sweeping robot dust sucting motor the second electric current and/
Or the wind speed of dust sucting motor air outlet；
Processing unit for judging whether the first parameter is more than the first parameter threshold of setting, and judges the second parameter
It whether is more than the second parameter threshold set；
Reminding unit, for issuing information to remind user to carry out relevant operation；
Wherein, processing unit is adjusted or processing unit root according to input parameter of the judging result to dust sucting motor
It is judged that object command reminding unit issues information.
Further, input parameter is dust sucting motor voltage duty cycle or voltage magnitude.
Further, when the first parameter is more than the first parameter threshold, processing unit reduces input parameter, until the first parameter
Restore to the first parameter threshold；Alternatively, until input parameter is 0.
Further, it when the first parameter is less than the first parameter threshold and the second parameter is more than the second parameter threshold, mentions
Unit of waking up issues information, and user is reminded to clear up the dust-collecting box of sweeping robot.
Optionally, first detection module includes current detection module and/or Rotating speed measring module.
Optionally, the second detection module includes current measurement module, measuring wind speed module and/or rotation speed measuring module.
Optionally, Rotating speed measring module is movable motor itself, and movable motor is brushless motor.
Optionally, rotation speed measuring module is dust sucting motor itself, and dust sucting motor is brushless motor.
Optionally, Rotating speed measring module realizes detection function using magnet ring and Hall sensor；Or Rotating speed measring module
Detection function is realized using grating and infrared tube.
Optionally, rotation speed measuring module realizes detection function using magnet ring and Hall sensor；Or Rotating speed measring module
Detection function is realized using grating and infrared tube.
Optionally, reminding unit is light alarm device, voice signal alarm；Or reminding unit is access network
Terminal device.
The present invention also provides a kind of dust-full detection method of sweeping robot, scheme is as follows.
A kind of dust-full detection method of sweeping robot, comprising:
Step 1, detection obtains the first parameter, when the movable motor of sweeping robot is opened loop control, the first parameter packet
Include the first electric current and/or the first revolving speed of sweeping robot movable motor；When the movable motor of sweeping robot is closed-loop control,
First parameter includes the first electric current of sweeping robot movable motor；
Step 2, detection obtains the second parameter, when the dust sucting motor of sweeping robot is opened loop control, the second parameter packet
Include the wind speed of the second electric current of sweeping robot dust sucting motor, the second revolving speed and/or dust sucting motor air outlet；Sweeping robot
When dust sucting motor is closed-loop control, which includes the second electric current and/or dust sucting motor of sweeping robot dust sucting motor
The wind speed of air outlet；
Step 3, judge the first parameter whether be more than setting the first parameter threshold；
Step 4, judge the second parameter whether be more than setting the second parameter threshold；
Step 5 is adjusted according to input parameter of the judging result to dust sucting motor, or is reminded according to judging result
User carries out relevant operation.
Further, it when the first parameter is less than the first parameter threshold and the second parameter is more than the second parameter threshold, mentions
Unit of waking up issues information, and user is reminded to clear up the dust-collecting box of sweeping robot.
Technical solution of the present invention has the beneficial effect that:
The dust-full detection system of sweeping robot disclosed in this invention, can not only be when sweeping robot breaks down
It issues and reminds, additionally it is possible to timely user be reminded to clear up in the case where dust-collecting box has been expired, swept the floor to substantially improve
The user experience of robot.The present invention is it is further proposed that the dust-full detection method of sweeping robot.
Detailed description of the invention
Fig. 1 is the air channel structure schematic diagram that the dust-full detection system of sweeping robot of the present invention is related to；
Fig. 2 is the another air channel structure schematic diagram that the dust-full detection system of sweeping robot of the present invention is related to；
Fig. 3 is the function structure chart of the dust-full detection system first embodiment of sweeping robot of the present invention；
Fig. 4 is the flow chart of the dust-full detection method first embodiment of sweeping robot of the present invention；
Fig. 5 is the threshold information table of the dust-full detection method first embodiment of sweeping robot of the present invention；
Fig. 6 is the function structure chart of the dust-full detection system second embodiment of sweeping robot of the present invention；
Fig. 7 is the flow chart of the dust-full detection method second embodiment of sweeping robot of the present invention；
Fig. 8 is the threshold information table of the dust-full detection method second embodiment of sweeping robot of the present invention.
Specific embodiment
Technical solution provided by the present invention is made a detailed description below by way of the drawings and specific embodiments:
As shown in Figure 1, it is the knot in the wherein air duct that the dust-full detection system of sweeping robot of the present invention is related to
Structure schematic diagram.The air duct be horizontal air duct, be disposed in the horizontal plane air inlet 101, dust-collecting box 102, strainer 103,
The air outlet 105 of dust sucting motor 104 and dust sucting motor.As shown in Fig. 2, being the dust-full detection system of sweeping robot of the present invention
The structural schematic diagram in the another air duct that system is related to.The air duct is rectilinear air duct, and air inlet is disposed on vertical plane
201, the air outlet 205 of dust-collecting box 202, strainer 203, dust sucting motor 204 and dust sucting motor.Arrow in Fig. 1 and Fig. 2 is indicated
Flow direction of the air in the air duct.
By taking the air channel structure in Fig. 1 as an example, the principle of the present invention is illustrated.It is empty under the action of dust sucting motor 104
Gas enters air duct by air inlet 101, successively passes through dust-collecting box 102 and strainer 103, and air duct finally is discharged by air outlet 105.In wind
In each component part in road, any portion blocking, such as the blocking of air inlet 101 or strainer 103 are blocked, and can all lead to entire air duct
Blocking.Since during dust suction, most dusts can be trapped in dust-collecting box 102 by strainer 103, so air outlet 105
Seldom cause blockages, and relatively common blockage problem is mainly blocked up by air inlet 101, dust-collecting box 102 and strainer 103
Caused by plug.
When air inlet 101 blocks, reason may be that sweeping robot enters some special ground regions, such as
It is laid with the region of carpet, carpet fold under the action of suction is picked up to air inlet 101, sweeping robot is caused to walk
Difficulty, air duct blocking.In this case, the walking resistance of sweeping robot greatly increases, adjoint to be in the presence of it being walking electricity
The electric current of machine increases；In the case where opened loop control, the revolving speed of movable motor be will also decrease；In the case where closed-loop control, walking electricity
The revolving speed of machine remains unchanged, but the electric current of movable motor is by the more obvious of increase.If air duct obstruction is strictly by above-mentioned original
Because caused by, at this point, reducing the input parameter of dust sucting motor 104, reduces the suction of sweeping robot, will be helpful to carpet in this way
It is detached from air inlet 101, so that sweeping robot be helped to restore automatically to the state of normal walking, what air inlet 101 blocked is asked
Topic will also be eliminated therewith, be not necessarily to manual intervention.And if reducing the input parameter of dust sucting motor, it is even switched off dust sucting motor, all
The electric current of movable motor, revolving speed can not be made to restore normal, then illustrate that failure occurs in sweeping robot, need to remind user to sweeping
Floor-washing robot is checked, with debugging.In the situation that air inlet 101 blocks, user need not be specially to dust-collecting box 102
It is operated.
And when air duct blocks, either since the blocking of air inlet 101, dust-collecting box 102 are filled blocking or strainer
103 block, and the air quantity in entire air duct will reduce, therefore the load of dust sucting motor 104 will become smaller.According to motor
Working mechanism, the electric current of dust sucting motor 104 can decline at this time, and the wind speed of air outlet 105 can reduce；Meanwhile if dust sucting motor
104 be opened loop control, then the revolving speed of dust sucting motor 104 will also rise；If dust sucting motor 104 is closed-loop control, dust suction electricity
The revolving speed of machine 104 will remain unchanged, but becoming apparent of can declining of the electric current of dust sucting motor 104.In this case, if in conjunction with
To the judging result of movable motor electric current and/or revolving speed, the situation of the blocking of air inlet 101 is eliminated, then can determine air duct
Blocking is since dust-collecting box 102 is filled or strainer 103 occurs caused by blocking.But regardless of being that dust-collecting box 102 is filled, also
It is that strainer 103 blocks, it is necessary to remind user dust-collecting box 102 to be handled or toppled over the rubbish in dust-collecting box 102
Rubbish or replacement or cleaning strainer 103, can make air duct restore unobstructed.
Based on the above principles, machine of sweeping the floor can be first determined whether by way of detection movable motor electric current and/or revolving speed
Whether people breaks down or whether air inlet 101 blocks；According to the judging result to movable motor, by above situation plus
After excluding, then the reason of blocking is judged by way of detecting 104 electric current of dust sucting motor, 105 wind speed of revolving speed and/or air outlet
Whether occur on dust-collecting box 102 or strainer 103, to further user be reminded to operate dust-collecting box 102.Moreover, adopting
User is reminded to clear up dust-collecting box 102 with technical solution of the present invention, other dust-full detection means, example compared to this field
Such as weight detecting, photosensitive detection mode have valence without the expensive all kinds of high-performance sensors sensors of additional setting value
Lattice advantage.Meanwhile technical solution of the present invention also has higher compared to traditional detections modes such as weight detecting, photosensitive detections
Stability and veracity because density, the humidity difference of rubbish cause weight detecting to be difficult accurately to reflect dust-collecting box
Whether 102 be already filled up；And light-sensitive element, in use due to the absorption of dust and accumulation, surface is easily overwritten,
So as to cause erroneous judgement.
As shown in figure 3, being the function structure chart of the dust-full detection system first embodiment of sweeping robot of the present invention.It should
First embodiment includes: first detection module 301, obtains the first parameter, the movable motor of the sweeping robot for detecting
307 be opened loop control when, first parameter include the sweeping robot movable motor 307 the first electric current and/or first turn
Speed；When the movable motor 307 of the sweeping robot is closed-loop control, which includes the sweeping robot walking electricity
First electric current of machine 307；
Second detection module 302 obtains the second parameter for detecting, and the dust sucting motor 308 of the sweeping robot is to open
When ring controls, which includes the second electric current of the sweeping robot dust sucting motor 308, the second revolving speed and/or described
The wind speed of 308 air outlet of dust sucting motor；When the dust sucting motor 308 of the sweeping robot is closed-loop control, the second parameter packet
Include the wind speed of 308 air outlet of the second electric current and/or the dust sucting motor of the sweeping robot dust sucting motor 308；
Processing unit 310 for judging whether first parameter is more than the first parameter threshold of setting, and judges institute
State the second parameter whether be more than setting the second parameter threshold；
Reminding unit 311, for issuing information to remind user to carry out relevant operation；
Wherein, processing unit 310 is adjusted according to input parameter of the judging result to dust sucting motor 308, or processing
Unit 310 instructs reminding unit 311 to issue information according to judging result.
The first embodiment further includes storage unit 312, and for storing the threshold information of setting, the threshold information includes
First parameter threshold and the second parameter threshold.
In the present embodiment, first detection module 301 includes current detection module 303 and Rotating speed measring module, electric current inspection
The size of current that module 303 is responsible for detection movable motor 307 is surveyed, Rotating speed measring module is responsible for detecting the revolving speed of movable motor 307.
Wherein, Rotating speed measring module is movable motor 307 itself, which is brushless motor, can feed back turning for itself
Speed.Meanwhile movable motor 307 is set as opened loop control in the present embodiment, so that the first parameter chosen in the present embodiment includes
The first electric current and the first revolving speed of movable motor 307, correspondingly, the first parameter threshold include the first electric current of movable motor 307
Threshold value and the first rotary speed threshold value.In other embodiments, ordinary motor also can be selected rather than brushless motor in movable motor 307.It is general
Three-way motor can not feed back itself revolving speed, therefore realize the measurement to 307 revolving speed of movable motor, need to be separately provided revolving speed inspection again
Module is surveyed, as a wherein embodiment for such Rotating speed measring module, detection function can be realized using magnet ring and Hall sensor
Energy；As the another embodiment of such Rotating speed measring module, detection function can be realized using grating and infrared tube.
In the present embodiment, the second detection module 302 includes current measurement module 304, measuring wind speed module 305 and revolving speed
Measurement module 306, current measurement module 304 are responsible for the size of current of detection dust sucting motor 308, and measuring wind speed module 305 is responsible for
The size of 308 air outlet wind speed of dust sucting motor is detected, rotation speed measuring module 306 is responsible for the revolving speed size of detection dust sucting motor 308.
Wherein, which is ordinary motor, rather than brushless motor, therefore is separately provided with revolving speed in the second detection module 302
Measurement module 306 measures the revolving speed of dust sucting motor 308；In other embodiments, brushless electricity can be selected in dust sucting motor 308
Machine can save rotation speed measuring module 306 since brushless motor can feed back itself revolving speed.Dust suction in the present embodiment
Motor 308 is set as opened loop control, thus the second parameter chosen in the present embodiment include dust sucting motor 308 the second electric current,
The wind speed of 308 air outlet of second revolving speed and dust sucting motor, correspondingly, the second parameter threshold includes the second of dust sucting motor 308
The wind speed threshold value of 308 air outlet of current threshold, the second rotary speed threshold value and dust sucting motor.In the present embodiment, tachometric survey mould
Block 306 realizes detection function using magnet ring and Hall sensor；In other embodiments, rotation speed measuring module 306 can also be used
Grating and infrared tube realize detection function.In the present embodiment, measuring wind speed module 305 settings go out in dust sucting motor 308
The small fan blade at air port rear, by the revolving speed for measuring small fan blade, it can be deduced that the wind speed of 308 air outlet of dust sucting motor.
The first electric current and the first revolving speed two in the present embodiment, for the selection of the first parameter, while to movable motor 307
A parameter is detected, and be directed to the second parameter selection, while to the second electric current of dust sucting motor 308, the second revolving speed with
And three parameters of the wind speed of 308 air outlet of dust sucting motor are detected.In practice to goal of the invention is realized, above-mentioned first
Alternative in parameter one-out-three or three selects two to be detected in the second parameter, and the first embodiment of the present invention why
It chooses multiple groups parameter to be detected, its object is to by various features such as electrical and mechanical, while be judged, thus
Improve the accuracy to threshold decision.
In first embodiment, reminding unit 311 is light alarm device, is sent out after the instruction for receiving processing unit 310
The light of different colours reminds user out, and user checks sweeping robot according to the corresponding color of light, or
Dust-collecting box is cleared up.In other embodiments, reminding unit 311 also can be selected voice signal alarm, by sounding come
User is reminded to carry out corresponding operating.
Corresponding with first embodiment, Fig. 4 is the dust-full detection method first embodiment of sweeping robot of the present invention
Flow chart.The first embodiment includes:
Step 401, detection obtains the first parameter, when the movable motor 307 of sweeping robot is opened loop control, first ginseng
Number includes the first electric current and/or the first revolving speed of sweeping robot movable motor 307；The movable motor 307 of sweeping robot is
When closed-loop control, which includes the first electric current of sweeping robot movable motor 307；
Step 402, detection obtains the second parameter, when the dust sucting motor 308 of sweeping robot is opened loop control, second ginseng
Number includes the wind speed of 308 air outlet of the second electric current, the second revolving speed and/or dust sucting motor of sweeping robot dust sucting motor 308；It sweeps
When the dust sucting motor 308 of floor-washing robot is closed-loop control, which includes the second electricity of sweeping robot dust sucting motor 308
The wind speed of stream and/or 308 air outlet of dust sucting motor；
Step 403, judge the first parameter whether be more than setting the first parameter threshold；
Step 404, judge the second parameter whether be more than setting the second parameter threshold；
Step 405, it is adjusted according to input parameter of the judging result to dust sucting motor 308, or according to judging result
User is reminded to carry out relevant operation.
First embodiment more specifically detects and decision logic is as follows:
Step 4001, detection obtain the first parameter, judge first parameter whether be more than setting the first parameter threshold,
If it is step 4002 is carried out, if not then carrying out step 4003；Wherein, the movable motor 307 of the sweeping robot
When for opened loop control, which includes the first electric current and the first revolving speed of the sweeping robot movable motor 307；
Step 4002, reduce the input parameter of the dust sucting motor 308, if first Parameter reconstruction to it is described first ginseng
Within number threshold values, then carry out step 4003, if the input parameter be reduced to 0 and first parameter still above described first
Parameter threshold then carries out step 4004；
Step 4003, detection obtain the second parameter, judge second parameter whether be more than setting the second parameter threshold,
If it is step 4005 is carried out；Wherein, when the dust sucting motor 308 of the sweeping robot is opened loop control, second parameter
The wind of the second electric current, the second revolving speed and 308 air outlet of the dust sucting motor including the sweeping robot dust sucting motor 308
Speed；
Step 4004, user is reminded to check the sweeping robot；
Step 4005, user is reminded to clear up the dust-collecting box of the sweeping robot.
Wherein, in first embodiment and first embodiment, the input parameter of dust sucting motor 308 is dust sucting motor 308
Voltage duty cycle；In other embodiments and embodiment, which may be the voltage amplitude of dust sucting motor 308
Value.The input parameter adjusts selection according to the different operation range default setting of sweeping robot or by user immediately on demand, because
This special measurement, processing unit 310 can need not directly acquire the data of the input parameter again when judging, single with storage
The threshold information stored in member 311 is compared, and then completes corresponding instruction.
Fig. 5 is the threshold information table in first embodiment of the invention, which can be measured by manufacturer, is pre-stored in storage
In unit 311, called when needed for processing unit 310.Wherein, table 5.1 discloses the first of first embodiment of the invention
Parameter threshold information, table 5.2 disclose the second parameter threshold information of first embodiment of the invention, and the threshold information is
A series of mutual corresponding parameter values.When whether the first parameter for judging movable motor 307 exceeds threshold value, pass through the first detection
Module 301 detects the first current value and the first tachometer value of movable motor 307, is then compared with table 5.1, thus to
Whether one parameter judges beyond threshold value.When being blocked due to air inlet, the variation that movable motor occurs is that electric current rises,
The decline of (under opened loop control) revolving speed then shows as the first electric current and exceeds upwards so if the first parameter exceeds threshold value, is higher than the
One current threshold；Or first revolving speed exceed downwards, be lower than the first rotary speed threshold value.Such as detect that the first revolving speed is 5000r/
Min, the first electric current are 0.15A；It is compared at this time with table 5.1, it is found that corresponding first current threshold is under 5000r/min
0.1 ~ 0.12, just the first electric current of explanation has been higher than threshold value at this time, has exceeded threshold range, needs to advise according in first embodiment
Fixed step carries out corresponding operation.Similarly, it can be determined that whether the second parameter exceeds threshold value.According to the present embodiment and this implementation
The wherein primary dust-full detection data that mode carries out are as follows: the first revolving speed is 5000r/min, and the first electric current is 0.11A；Second revolving speed
For 10000r/min, the second electric current is 0.72A, wind speed 1.8m/s.It can be seen that the first electric current at this time according to above-mentioned data
0.11A is fallen in the section of the first current threshold 0.1 ~ 0.12, and the second electric current 0.72A has been more than the second current threshold downwards
The section of 0.75 ~ 0.8A, and wind speed 1.8m/s has also been more than the section of wind speed threshold value 2.2 ~ 4.0 downwards.Thus tied according to judgement
Fruit meets the first parameter and is less than the first parameter threshold and the second parameter when being more than the second parameter threshold, at this time reminding unit 311
Information will be issued, user is reminded to clear up the dust-collecting box of sweeping robot.
As shown in fig. 6, being the function structure chart of the dust-full detection system second embodiment of sweeping robot of the present invention.It should
Second embodiment includes: first detection module 601, obtains the first parameter, the movable motor of the sweeping robot for detecting
607 be opened loop control when, first parameter include the sweeping robot movable motor 607 the first electric current and/or first turn
Speed；When the movable motor 607 of the sweeping robot is closed-loop control, which includes the sweeping robot walking electricity
First electric current of machine 607；
Second detection module 602 obtains the second parameter for detecting, and the dust sucting motor 608 of the sweeping robot is to open
When ring controls, which includes the second electric current of the sweeping robot dust sucting motor 608, the second revolving speed and/or described
The wind speed of 608 air outlet of dust sucting motor；When the dust sucting motor 608 of the sweeping robot is closed-loop control, the second parameter packet
Include the wind speed of 608 air outlet of the second electric current and/or the dust sucting motor of the sweeping robot dust sucting motor 608；
Processing unit 610 for judging whether first parameter is more than the first parameter threshold of setting, and judges institute
State the second parameter whether be more than setting the second parameter threshold；
Reminding unit 611, for issuing information to remind user to carry out relevant operation；
Wherein, processing unit 610 is adjusted according to input parameter of the judging result to dust sucting motor 608, or processing
Unit 610 instructs reminding unit 611 to issue information according to judging result.
The second embodiment further includes storage unit 612, and for storing the threshold information of setting, the threshold information includes
First parameter threshold and the second parameter threshold.
In the present embodiment, first detection module 601 includes current detection module 603, and current detection module 603 is responsible for inspection
Survey the size of current of movable motor 607.Movable motor 607 is set as closed-loop control in the present embodiment, to select in the present embodiment
The first parameter taken includes the first electric current of movable motor 607, and correspondingly, the first parameter threshold includes the of movable motor 607
One current threshold.
In the present embodiment, the second detection module 602 includes current measurement module 604, and current measurement module 604 is responsible for inspection
Survey the size of current of dust sucting motor 608.Wherein, the dust sucting motor 608 in the present embodiment is set as closed-loop control, thus this implementation
The second parameter chosen in example includes the second electric current of dust sucting motor 608, and correspondingly, the second parameter threshold includes dust sucting motor
608 the second current threshold.
In the present embodiment, for the selection of the first parameter, only one parameter of the first electric current of movable motor 607 is carried out
Detection, and it is directed to the selection of the second parameter, only one parameter of the second electric current of dust sucting motor 608 is detected.According to upper
It states mode to choose the first parameter and the second parameter, has been enough to realize goal of the invention, since the parameter of selection is less, thus
Component is saved, the structure of sweeping robot is also relatively more succinct.
In second embodiment, reminding unit 611 is the terminal device for accessing network, can be to other terminal devices of user
Message is sent, reminds user to check sweeping robot, or clear up dust-collecting box.In other embodiments, it mentions
Light alarm device or voice signal alarm can also be used in unit 611 of waking up.
Corresponding with second embodiment, Fig. 7 is the dust-full detection method second embodiment of sweeping robot of the present invention
Flow chart.The second embodiment includes:
Step 701, detection obtains the first parameter, when the movable motor 607 of sweeping robot is opened loop control, first ginseng
Number includes the first electric current and/or the first revolving speed of sweeping robot movable motor 607；The movable motor 607 of sweeping robot is
When closed-loop control, which includes the first electric current of sweeping robot movable motor 607；
Step 702, detection obtains the second parameter, when the dust sucting motor 608 of sweeping robot is opened loop control, second ginseng
Number includes the wind speed of 608 air outlet of the second electric current, the second revolving speed and/or dust sucting motor of sweeping robot dust sucting motor 608；It sweeps
When the dust sucting motor 608 of floor-washing robot is closed-loop control, which includes the second electricity of sweeping robot dust sucting motor 608
The wind speed of stream and/or 608 air outlet of dust sucting motor；
Step 703, judge the first parameter whether be more than setting the first parameter threshold；
Step 704, judge the second parameter whether be more than setting the second parameter threshold；
Step 705, it is adjusted according to input parameter of the judging result to dust sucting motor 608, or according to judging result
User is reminded to carry out relevant operation.
Second embodiment more specifically detects and decision logic is as follows:
Step 7001, detection obtain the first parameter, judge first parameter whether be more than setting the first parameter threshold,
If it is step 7002 is carried out, if not then carrying out step 7003；Wherein, the movable motor 607 of the sweeping robot
When for closed-loop control, which includes the first electric current of the sweeping robot movable motor 607；
Step 7002, reduce the input parameter of the dust sucting motor 608, if first Parameter reconstruction to it is described first ginseng
Within number threshold values, then carry out step 7003, if the input parameter be reduced to 0 and first parameter still above described first
Parameter threshold then carries out step 7004；
Step 7003, detection obtain the second parameter, judge second parameter whether be more than setting the second parameter threshold,
If it is step 7005 is carried out；Wherein, when the dust sucting motor 608 of the sweeping robot is closed-loop control, second parameter
The wind speed of 608 air outlet of the second electric current and/or the dust sucting motor including the sweeping robot dust sucting motor 608；
Step 7004, user is reminded to check the sweeping robot；
Step 7005, user is reminded to clear up the dust-collecting box of the sweeping robot.
Wherein, in second embodiment and second embodiment, the input parameter of dust sucting motor 608 is dust sucting motor 608
Voltage duty cycle；In other embodiments and embodiment, which may be the voltage amplitude of dust sucting motor 608
Value.The input parameter adjusts selection according to the different operation range default setting of sweeping robot or by user immediately on demand, because
This special measurement, processing unit 610 can need not directly acquire the data of the input parameter again when judging, single with storage
The threshold information stored in member 611 is compared, and then completes corresponding instruction.Similarly, movable motor 607 also has input
Parameter, without measurement.
Fig. 8 is the threshold information table in second embodiment of the invention, which can be measured by manufacturer, is pre-stored in storage
In unit 611, called when needed for processing unit 610.Wherein, table 8.1 discloses the first of second embodiment of the invention
Parameter threshold information, table 8.2 disclose the second parameter threshold information of second embodiment of the invention, and the threshold information is
A series of mutual corresponding parameter values.When whether the second parameter for judging dust sucting motor 608 exceeds threshold value, pass through the second detection
Module 602 detects the second current value of dust sucting motor 608, is compared then in conjunction with input parameter with table 8.2, thus to the
Whether two parameters judge beyond threshold value.After being blocked due to air duct, the variation that dust sucting motor occurs is electric current decline,
(under opened loop control) revolving speed rises, the wind speed decreased of air outlet, so if the second parameter has been more than the second parameter threshold, then table
Now exceed downwards for the electric current of dust sucting motor, is lower than the second current threshold；Or the revolving speed of dust sucting motor exceeds upwards, is higher than the
Two rotary speed threshold values；Or the wind speed of air outlet exceeds downwards, is lower than wind speed threshold value.Such as user adjusts dust sucting motor voltage and accounts for
Sky is than to 100%, it is 0.73A that detection, which obtains the second electric current,；It is compared at this time with table 8.2, finds dust sucting motor voltage duty cycle
Corresponding second current threshold is 0.75 ~ 0.8 when being 100%, and just the second electric current of explanation has been lower than threshold value at this time, has exceeded threshold value
Range needs to carry out corresponding operation according to step specified in second embodiment.Similarly, it can be determined that whether the first parameter
Beyond threshold value.The wherein primary dust-full detection data carried out according to the present embodiment and present embodiment are as follows: movable motor voltage accounts for
For sky than being 80%, the first electric current is 0.09A；Dust sucting motor voltage duty cycle is 80%, and the second electric current is 0.59A.According to above-mentioned number
It is fallen in the section of first 0.09 ~ 0.1A of current threshold according to can be seen that the first electric current 0.09A at this time, and the second electric current 0.59A
It has downwards been more than the section of second 0.6 ~ 0.65A of current threshold.Thus according to judging result, meets the first parameter and be less than first
When parameter threshold and the second parameter are more than the second parameter threshold, reminding unit 611 will issue information at this time, remind user to sweeping the floor
The dust-collecting box of robot is cleared up.
Above-mentioned specific embodiment is only intended to illustrate design method of the invention, for the purpose of limiting the invention can not protect
Protect range.For the deformation and conversion under the thought guidance of technical solution of the present invention, it should all be attributed to the scope of the present invention
Within.
Claims (13)
1. a kind of dust-full detection system of sweeping robot characterized by comprising
First detection module obtains the first parameter for detecting, should when the movable motor of the sweeping robot is opened loop control
First parameter includes the first electric current and/or the first revolving speed of the sweeping robot movable motor；The row of the sweeping robot
Walk motor be closed-loop control when, which includes the first electric current of the sweeping robot movable motor；
Second detection module obtains the second parameter for detecting, should when the dust sucting motor of the sweeping robot is opened loop control
Second parameter includes the second electric current, the second revolving speed and/or the dust sucting motor air outlet of the sweeping robot dust sucting motor
Wind speed；When the dust sucting motor of the sweeping robot is closed-loop control, which includes the sweeping robot dust suction
The wind speed of second electric current of motor and/or the dust sucting motor air outlet；
Processing unit for judging whether first parameter is more than the first parameter threshold of setting, and judges described second
Parameter whether be more than setting the second parameter threshold；
Reminding unit, for issuing information to remind user to carry out relevant operation；
Wherein, when first parameter is more than first parameter threshold, input of the processing unit to the dust sucting motor
Parameter is adjusted, or when first parameter is less than first parameter threshold and second parameter is more than described the
When two parameter thresholds, the processing unit instructs the reminding unit to issue information.
2. the dust-full detection system of sweeping robot according to claim 1, which is characterized in that the input parameter is institute
State dust sucting motor voltage duty cycle or voltage magnitude.
3. the dust-full detection system of sweeping robot according to claim 1 or 2, which is characterized in that first parameter
When more than first parameter threshold, the processing unit reduces the input parameter, until first Parameter reconstruction is to the
Within one parameter threshold；Alternatively, until the input parameter is 0.
4. the dust-full detection system of sweeping robot according to claim 1 or 2, which is characterized in that when first ginseng
Number is less than first parameter threshold and second parameter when being more than second parameter threshold, and the reminding unit issues
Information reminds user to clear up the dust-collecting box of the sweeping robot.
5. the dust-full detection system of sweeping robot according to claim 1, which is characterized in that the first detection module
Including current detection module and/or Rotating speed measring module.
6. the dust-full detection system of sweeping robot according to claim 1, which is characterized in that second detection module
Including current measurement module, measuring wind speed module and/or rotation speed measuring module.
7. the dust-full detection system of sweeping robot according to claim 5, which is characterized in that the Rotating speed measring module
For the movable motor itself, the movable motor is brushless motor.
8. the dust-full detection system of sweeping robot according to claim 6, which is characterized in that the rotation speed measuring module
For the dust sucting motor itself, the dust sucting motor is brushless motor.
9. the dust-full detection system of sweeping robot according to claim 5, which is characterized in that the Rotating speed measring module
Detection function is realized using magnet ring and Hall sensor；Or the Rotating speed measring module realizes inspection using grating and infrared tube
Brake.
10. the dust-full detection system of sweeping robot according to claim 6, which is characterized in that the tachometric survey mould
Block realizes detection function using magnet ring and Hall sensor；Or the Rotating speed measring module is realized using grating and infrared tube
Detection function.
11. the dust-full detection system of sweeping robot according to claim 1, which is characterized in that the reminding unit is
Light alarm device, voice signal alarm；Or the reminding unit is the terminal device for accessing network.
12. a kind of dust-full detection method of sweeping robot characterized by comprising
Step 1, detection obtains the first parameter, when the movable motor of the sweeping robot is opened loop control, the first parameter packet
Include the first electric current and/or the first revolving speed of the sweeping robot movable motor；The movable motor of the sweeping robot is to close
When ring controls, which includes the first electric current of the sweeping robot movable motor；
Step 2, detection obtains the second parameter, when the dust sucting motor of the sweeping robot is opened loop control, the second parameter packet
Include the wind speed of the second electric current of the sweeping robot dust sucting motor, the second revolving speed and/or the dust sucting motor air outlet；It is described
When the dust sucting motor of sweeping robot is closed-loop control, which includes the second electricity of the sweeping robot dust sucting motor
The wind speed of stream and/or the dust sucting motor air outlet；
Step 3, judge first parameter whether be more than setting the first parameter threshold；
Step 4, judge second parameter whether be more than setting the second parameter threshold；
Step 5 adjusts the input parameter of the dust sucting motor when first parameter is more than first parameter threshold
Section, or when first parameter is less than first parameter threshold and second parameter is more than second parameter threshold
When, remind user to carry out relevant operation.
13. the dust-full detection method of sweeping robot according to claim 12, which is characterized in that when first parameter
It is less than first parameter threshold and second parameter reminds user to sweep the floor to described when being more than second parameter threshold
The dust-collecting box of robot is cleared up.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107014633B (en) * | 2017-04-18 | 2019-02-01 | 小狗电器互联网科技（北京）股份有限公司 | A kind of sweeping robot dust filter device intelligent detecting method |
| CN109061738B (en) * | 2018-08-27 | 2021-08-03 | 北京小米移动软件有限公司 | Detection method and device for filter element packaging bag and storage medium |
| CN110367883A (en) * | 2019-08-29 | 2019-10-25 | 深圳巴诺机器人有限公司 | A kind of external cabinet detection method of sweeping robot and device |
| CN110619361B (en) * | 2019-09-10 | 2022-03-18 | 北京小米智能科技有限公司 | Method for predicting filter element blockage and device for predicting filter element blockage |
| CN112013923A (en) * | 2020-09-07 | 2020-12-01 | 追创科技(苏州)有限公司 | Dust fullness detection system and method of dust collection barrel |
| CN112630463B (en) * | 2020-12-11 | 2021-11-23 | 美智纵横科技有限责任公司 | Method and device for detecting dust fullness of dust box of sweeper, sweeper and storage medium |
| CN118021215A (en) * | 2024-04-15 | 2024-05-14 | 追觅创新科技(苏州)有限公司 | Sweeper, cleaning system and control method of sweeper |
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