CN106137043A - The control method of sweeping robot and sweeping robot and control device - Google Patents
The control method of sweeping robot and sweeping robot and control device Download PDFInfo
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- CN106137043A CN106137043A CN201510128462.6A CN201510128462A CN106137043A CN 106137043 A CN106137043 A CN 106137043A CN 201510128462 A CN201510128462 A CN 201510128462A CN 106137043 A CN106137043 A CN 106137043A
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- sweeping robot
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- round brush
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Abstract
The invention discloses the control method of a kind of sweeping robot, it comprises the following steps: the amount of dust of the dust inlet of the round brush of detection sweeping robot, and detects the amount of dust of the dust inlet of the dirt box of sweeping robot；The amount of dust of the dust inlet according to the round brush being continuously detected in the first Preset Time controls the switching of the mode of operation of sweeping robot, wherein, described mode of operation includes common cleaning modes and low noise cleaning modes, and when sweeping robot enters low noise cleaning modes, according to the amount of dust of the dust inlet of the dirt box being continuously detected in the second Preset Time, the rotating speed of the dust sucting motor of described sweeping robot is controlled.The control method of this sweeping robot can control sweeping robot and be switched to low noise cleaning modes when floor-dust amount is less, is effectively reduced environmental noise, meets the demand of user.The invention also discloses the control device of a kind of sweeping robot and a kind of sweeping robot.
Description
Technical field
The present invention relates to Intelligent life technical field of electric appliances, particularly to control method, the one of a kind of sweeping robot
The control device of sweeping robot and a kind of sweeping robot with this control device.
Background technology
Along with the high speed development of science and technology, increasing Intelligent life electrical equipment enters huge numbers of families, is greatly improved people
Life comfortableness and convenience.
At present, vacuum cleaner such as sweeping robot has obtained the favor of users, but current sweeping robot exists
Cleaning process the most all uses peak power be operated, bigger noise can be produced, affect the use of user.
Summary of the invention
The purpose of the present invention is intended at least solve above-mentioned technological deficiency.
To this end, the first of the present invention purpose is to propose the control method of a kind of sweeping robot, it is possible at ground ash
Control sweeping robot time dust quantity is less and be switched to low noise cleaning modes, be effectively reduced environmental noise, meet
The demand of user.
Second object of the present invention is to propose the control device of a kind of sweeping robot.Third object of the present invention
It is to propose a kind of sweeping robot.
For reaching above-mentioned purpose, the control method of a kind of sweeping robot that first aspect present invention embodiment proposes, bag
Include following steps: detect the amount of dust of the dust inlet of the round brush of described sweeping robot, and detect described sweeper
The amount of dust of the dust inlet of the dirt box of device people；Ash according to the described round brush being continuously detected in the first Preset Time
The amount of dust of dirt porch controls the switching of the mode of operation of described sweeping robot, and wherein, described mode of operation includes
Common cleaning modes and low noise cleaning modes, and when described sweeping robot enters described low noise cleaning modes,
The amount of dust of the dust inlet according to the described dirt box being continuously detected in the second Preset Time is to described sweeping robot
The rotating speed of dust sucting motor be controlled.
The control method of sweeping robot according to embodiments of the present invention, by the amount of dust of the dust inlet to round brush
Detection control the mode of operation of sweeping robot and switch between common cleaning modes and low noise cleaning modes, and
And control sweeping robot when the smaller i.e. floor-dust amount of the amount of dust of the dust inlet of round brush is fewer and be switched to
Low noise cleaning modes, and when sweeping robot enters low noise cleaning modes, according to the dust of the dirt box detected
The rotating speed of the dust sucting motor of sweeping robot is controlled by the amount of dust of porch, therefore, and sweeping of the embodiment of the present invention
The control method of floor-washing robot can not only be effectively reduced environmental noise, improves the comfort level of user, moreover it is possible to ensures cleaning
Effect, fully meets the demand of user.
According to one embodiment of present invention, when the dust inlet of the described round brush being continuously detected in the first Preset Time
Place amount of dust less than the first preset value time, control described sweeping robot enter described low noise cleaning modes, wherein,
When the amount of dust of the dust inlet of the described dirt box being continuously detected in the second Preset Time is less than the second preset value,
The rotating speed of the round brush motor and dust sucting motor that control described sweeping robot reduces.
According to one embodiment of present invention, when the dust inlet of the described round brush being continuously detected in the first Preset Time
When the amount of dust at place is more than or equal to described first preset value, controls described sweeping robot and enter described common cleaning modes.
According to one embodiment of present invention, described mode of operation also includes powerful cleaning modes, and described control method is also
Including: detect the perceptibility signal of the gyroscope of described sweeping robot, and detect the round brush of described sweeping robot
Running parameter, wherein, when the perceptibility signal of described gyroscope and the running parameter of described round brush are in normal condition
Time, control described sweeping robot and be operated with described common cleaning modes；Perceptibility signal when described gyroscope
When being in abnormality with the running parameter of described round brush, control described sweeping robot with described powerful cleaning modes
It is operated；It is in when the perceptibility signal of described gyroscope is in the running parameter of described normal condition and described round brush
During described abnormality, control described sweeping robot and be operated with described common cleaning modes, and sweep described in control
Floor-washing robot sends round brush and abnormal information occurs；When the perceptibility signal of described gyroscope is in described abnormal shape
When the running parameter of state and described round brush is in described normal condition, control described sweeping robot with described powerful cleaning
Pattern is operated.
According to one embodiment of present invention, according on the basis of the operation time of described sweeping robot or described in sweep the floor
Judge on the basis of the travel distance of robot whether the perceptibility signal of described gyroscope and the running parameter of described round brush are located
In described normal condition.
For reaching above-mentioned purpose, the control device of a kind of sweeping robot that second aspect present invention embodiment proposes, bag
Include: the first amount of dust detection module, for detecting the amount of dust of the dust inlet of the round brush of described sweeping robot；
Second amount of dust detection module, for detecting the amount of dust of the dust inlet of the dirt box of described sweeping robot；Control
Module, described control module is according to the dust of the dust inlet of the described round brush being continuously detected in the first Preset Time
Amount controls the switching of mode of operation of described sweeping robot, wherein, described mode of operation include common cleaning modes and
Low noise cleaning modes, and when described sweeping robot enters described low noise cleaning modes, described control module root
According to the amount of dust of dust inlet of the described dirt box being continuously detected in the second Preset Time to described sweeping robot
The rotating speed of dust sucting motor is controlled.
The control device of sweeping robot according to embodiments of the present invention, by the first amount of dust detection module detection round brush
The amount of dust of dust inlet control the mode of operation of sweeping robot and clean mould in common cleaning modes and low noise
Switch between formula, and in the smaller i.e. floor-dust amount fewer time control molding of amount of dust of the dust inlet of round brush
Block controls sweeping robot and is switched to low noise cleaning modes, and when sweeping robot enters low noise cleaning modes,
The amount of dust of the dust inlet of the dirt box that control module detects according to the second amount of dust detection module is to sweeping robot
The rotating speed of dust sucting motor be controlled, therefore, the control device of the sweeping robot of the embodiment of the present invention can not only have
Effect ground reduces environmental noise, improves the comfort level of user, moreover it is possible to ensures cleaning effect, fully meets the demand of user.
According to one embodiment of present invention, when the dust inlet of the described round brush being continuously detected in the first Preset Time
When the amount of dust at place is less than the first preset value, it is clear that described control module controls the described sweeping robot described low noise of entrance
Sweep pattern, wherein, when the amount of dust of the dust inlet of the described dirt box being continuously detected in the second Preset Time is less than
During the second preset value, the rotating speed of round brush motor and dust sucting motor that described control module controls described sweeping robot reduces.
According to one embodiment of present invention, when the dust inlet of the described round brush being continuously detected in the first Preset Time
When the amount of dust at place is more than or equal to described first preset value, described control module controls described sweeping robot and enters described
Common cleaning modes.
According to one embodiment of present invention, described mode of operation also includes powerful cleaning modes, and described control device is also
Including first detection module and the second detection module, described first detection module is for detecting the top of described sweeping robot
The perceptibility signal of spiral shell instrument, described second detection module is used for detecting the running parameter of the round brush of described sweeping robot,
Wherein, when the perceptibility signal of described gyroscope and the running parameter of described round brush are in normal condition, described control
Molding block controls described sweeping robot and is operated with described common cleaning modes；When the perceptibility of described gyroscope is believed
Number and time the running parameter of described round brush is in abnormality, described control module controls described sweeping robot with institute
State powerful cleaning modes to be operated；When the perceptibility signal of described gyroscope is in described normal condition and described round brush
Running parameter when being in described abnormality, described control module controls described sweeping robot with described common cleaning
Pattern is operated, and controls described sweeping robot and send round brush and abnormal information occur；When described gyroscope
Perceptibility signal be in the running parameter of described abnormality and described round brush when being in described normal condition, described control
Molding block controls described sweeping robot and is operated with described powerful cleaning modes.
According to one embodiment of present invention, on the basis of described control module is according to the operation time of described sweeping robot
Or judge perceptibility signal and the work of described round brush of described gyroscope on the basis of the travel distance of described sweeping robot
Make whether parameter is in described normal condition.
Additionally, embodiments of the invention also proposed a kind of sweeping robot, it includes the control of above-mentioned sweeping robot
Device processed.
The sweeping robot of the embodiment of the present invention can be by controlling the detection of the amount of dust of the dust inlet of round brush
Mode of operation switches between common cleaning modes and low noise cleaning modes, and the ash of the dust inlet at round brush
The smaller i.e. floor-dust amount of dust quantity is switched to low noise cleaning modes time fewer, and cleans mould entering low noise
During formula, it is possible to the rotating speed controlling dust sucting motor when the amount of dust of the dust inlet of dirt box is smaller reduces, therefore,
The sweeping robot of the embodiment of the present invention can be effectively reduced environmental noise, improves the comfort level of user.Additionally, this
The sweeping robot of bright embodiment can also carry out double check to the running parameter of the perceptibility of gyroscope and round brush, and
Double check according to the running parameter to the perceptibility of gyroscope and round brush controls mode of operation in common cleaning modes
Switch between powerful cleaning modes, such as by the double check energy of the running parameter to the perceptibility of gyroscope and round brush
Enough be accurately judged to be currently walking on carpet or when being in the relatively many region of floor-dust with powerful cleaning mould
Formula is operated, and can not only improve judging nicety rate, it is to avoid misoperation occur, moreover it is possible to ensure cleaning effect, fully
Meet the demand of user.
Aspect and advantage that the present invention adds will part be given in the following description, and part will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Accompanying drawing explanation
The present invention above-mentioned and/or that add aspect and advantage will become bright from the following description of the accompanying drawings of embodiments
Aobvious and easy to understand, wherein:
Fig. 1 is the flow chart of the control method of the sweeping robot according to the embodiment of the present invention；
Fig. 2 is to judge, according to one embodiment of the invention, the schematic diagram that sweeping robot is walked on carpet；
Fig. 3 is to judge that sweeping robot is in the relatively many region walking of floor-dust according to one embodiment of the invention
Schematic diagram；
Fig. 4 is the block diagram controlling device of the sweeping robot according to the embodiment of the present invention；And
Fig. 5 is the block diagram controlling device of the sweeping robot according to one embodiment of the invention.
Detailed description of the invention
Embodiments of the invention are described below in detail, and the example of described embodiment is shown in the drawings, the most from start to finish
Same or similar label represents same or similar element or has the element of same or like function.Below by ginseng
The embodiment examining accompanying drawing description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Following disclosure provides many different embodiments or example for realizing the different structure of the present invention.For letter
Changing disclosure of the invention, hereinafter parts and setting to specific examples are described.Certainly, they are the most merely illustrative,
And it is not intended to limit the present invention.Additionally, the present invention can in different examples repeat reference numerals and/or letter.
This repetition is for purposes of simplicity and clarity, between itself not indicating discussed various embodiment and/or arranging
Relation.Additionally, the various specific technique that the invention provides and the example of material, but ordinary skill people
Member is it can be appreciated that the property of can be applicable to of other techniques and/or the use of other materials.It addition, described below first is special
Levy second feature it " on " structure can include that the first and second features are formed as the embodiment directly contacted, it is possible to
To include the embodiment that other feature is formed between the first and second features, such first and second features may not
It it is directly contact.
In describing the invention, it should be noted that unless otherwise prescribed and limit, term " is installed ", " being connected ",
" connect " and should be interpreted broadly, for example, it may be mechanically connected or electrical connection, it is also possible to be the company of two element internals
Logical, can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, for those of ordinary skill in the art
Speech, can understand the concrete meaning of above-mentioned term as the case may be.
The control method of the sweeping robot proposed according to embodiments of the present invention, machine of sweeping the floor are described with reference to the accompanying drawings
People controls device and has the sweeping robot of this control device.
Fig. 1 is the flow chart of the control method of the sweeping robot according to the embodiment of the present invention.As it is shown in figure 1, this is swept
The control method of floor-washing robot comprises the following steps:
S1, the amount of dust of the dust inlet of the round brush of detection sweeping robot, and detect the dirt box of sweeping robot
The amount of dust of dust inlet.
Wherein, the infrared sensor devices being such as arranged on round brush by the first amount of dust detection module detects round brush
The amount of dust of dust inlet, when smaller e.g., less than the first preset value of the amount of dust of the dust inlet of round brush,
Can determine whether that the dust inlet free from dust of round brush enters；When the amount of dust of the dust inlet of round brush is greater than more greatly
During equal to the first preset value, can determine whether that the dust inlet of round brush has dust to enter.Further, examined by the second amount of dust
The infrared sensor devices that survey module is such as arranged on dirt box, to detect the amount of dust of the dust inlet of dirt box, works as dirt
During smaller e.g., less than second preset value of amount of dust of the dust inlet of box, can determine whether the dust inlet of dirt box without
Dust enters；When the amount of dust of the dust inlet of dirt box is greater than more greatly equal to the second preset value, can determine whether
The dust inlet of dirt box has dust to enter.
S2, controls to sweep the floor machine according to the amount of dust of the dust inlet of the round brush being continuously detected in the first Preset Time
The switching of the mode of operation of people, wherein, mode of operation includes common cleaning modes and low noise cleaning modes, and is sweeping
When floor-washing robot enters low noise cleaning modes, according to the dust inlet of the dirt box being continuously detected in the second Preset Time
The rotating speed of the dust sucting motor of sweeping robot is controlled by the amount of dust at place.
According to one embodiment of present invention, when the dust inlet of the round brush that is continuously detected in the first Preset Time
When amount of dust is less than the first preset value, controls sweeping robot and enter described low noise cleaning modes, wherein, when second
When the amount of dust of the dust inlet of the described dirt box being continuously detected in Preset Time is less than the second preset value, control institute
The rotating speed of the round brush motor and dust sucting motor of stating sweeping robot reduces.
It is to say, be continuously detected the amount of dust of the dust inlet of round brush within a certain period of time less than the first preset value
When i.e. the dust inlet free from dust of round brush enters, control sweeping robot and enter low noise cleaning modes, and send language
Sound is pointed out, and the prompting current sweeping robot of user enters low noise cleaning modes, controls round brush motor simultaneously and reduces rotating speed
Such as the 70% of the rotating speed of the round brush motor that the rotating speed of control round brush motor is reduced under common cleaning modes, thus reduce
The performance of round brush, reduces environmental noise.And after sweeping robot enters low noise cleaning modes, if in a timing
In be continuously detected dirt box dust inlet amount of dust less than the second preset value i.e. dust inlet of dirt box ashless
When dirt enters, also control dust sucting motor and reduce rotating speed and such as control the rotating speed of dust sucting motor and be reduced under common cleaning modes
Dust sucting motor rotating speed 70%, thus reduce the performance of dust sucting motor, reduce environmental noise further.
Therefore say, in an embodiment of the present invention, by the ash of the amount of dust of the dust inlet of detection round brush with dirt box
The amount of dust of dirt porch has detected whether that dust enters, and when free from dust enters, can reduce dust sucting motor and rolling
The rotating speed of brush motor reduces environmental noise.If dust sucting motor reduces by 30% with the rotating speed of round brush motor, then can drop
Low 4db, can make environmental noise significantly reduce, and improves the comfort level of user.
According to one embodiment of present invention, when the dust inlet of the described round brush being continuously detected in the first Preset Time
When the amount of dust at place has dust to enter more than or equal to the dust inlet of the described i.e. round brush of first preset value, sweep described in control
Floor-washing robot enters described common cleaning modes, and sweeping robot is operated with common cleaning modes.
Further, according to one embodiment of present invention, described mode of operation also includes powerful cleaning modes, above-mentioned
The control method of sweeping robot also include: detect the perceptibility signal of the gyroscope of described sweeping robot, and examine
Survey the running parameter of the round brush of described sweeping robot.Wherein, the running parameter of round brush includes the rotating speed of round brush, round brush
The operating current controlling pulse or round brush in any one or several.Furthermore, it is desirable to explanation, commonly clean
Pattern refers to that sweeping robot is to be operated with normal cleaning modes, and powerful cleaning modes refers to sweeping robot
Round brush motor and dust sucting motor all with bigger rotating speed and Power operation.
Wherein, when the perceptibility signal of described gyroscope and the running parameter of described round brush are in normal condition, control
Make described sweeping robot to be operated with described common cleaning modes；When the perceptibility signal of described gyroscope and described
When the running parameter of round brush is in abnormality, controls described sweeping robot and carry out work with described powerful cleaning modes
Make；It is in described different when the perceptibility signal of described gyroscope is in the running parameter of described normal condition and described round brush
Often during state, control described sweeping robot and be operated with described common cleaning modes, and machine of sweeping the floor described in control
People sends round brush and abnormal information occurs；When the perceptibility signal of described gyroscope is in described abnormality and institute
State the running parameter of round brush when being in described normal condition, control described sweeping robot and enter with described powerful cleaning modes
Row work.
According to one embodiment of present invention, can be according on the basis of the operation time of described sweeping robot or described
Judge on the basis of the travel distance of sweeping robot that the perceptibility signal of described gyroscope and the running parameter of described round brush are
No it is in described normal condition.
Specifically, when judging with the operation time reference of sweeping robot, if be detected that described gyroscope
Perceptibility be constantly in default perceptibility interval and maintain normal scope the most always, can determine whether the sense of described gyroscope
Degree of knowing signal is in described normal condition, and if be detected that the perceptibility of described gyroscope be not in presetting perceptibility
Interval i.e. maintains certain time at non-normal range, then can determine whether that the perceptibility signal of described gyroscope is in described exception
State；If be detected that the control pulse of the rotating speed of described round brush, the operating current of described round brush or described round brush
Maintain normal scope Deng running parameter always, then can determine whether that the running parameter of described round brush is in described normal condition,
If be detected that the work such as the control pulse of the rotating speed of described round brush, the operating current of described round brush or described round brush
Parameter maintains certain time at non-normal range, then can determine whether that the running parameter of described round brush is in described abnormality.
When judging on the basis of the travel distance of sweeping robot, if be detected that the perceptibility of described gyroscope
It is constantly in default perceptibility interval and maintains normal scope the most always, can determine whether the perceptibility signal of described gyroscope
Be in described normal condition, and in sweeping robot has walked certain distance if be detected that the sense of described gyroscope
Degree of knowing always be not in preset perceptibility interval i.e. at non-normal range, then can determine whether the perceptibility signal of described gyroscope
It is in described abnormality；If be detected that the rotating speed of described round brush, the operating current of described round brush or described rolling
The running parameters such as the control pulse of brush maintain normal scope always, then can determine whether that the running parameter of described round brush is in
Described normal condition, and in sweeping robot has walked certain distance if be detected that the rotating speed of described round brush, institute
State the running parameter such as the operating current of round brush or the control pulse of described round brush always at non-normal range, then can determine whether
The running parameter of described round brush is in described abnormality.
Such as, as in figure 2 it is shown, in the travel distance of sweeping robot is I, if be detected that described gyroscope
Perceptibility always be not in preset perceptibility interval i.e. at non-normal range, and the rotating speed of the described round brush detected,
The running parameters such as the operating current of described round brush or the control pulse of described round brush always at non-normal range, then can be sentenced
Disconnected sweeping robot is currently walked on carpet, controls sweeping robot and opens powerful cleaning modes, with powerful cleaning mould
Formula is operated.As it is shown on figure 3, in the travel distance of sweeping robot is II, if be detected that described gyro
The perceptibility of instrument always be not in preset perceptibility interval i.e. at non-normal range, and the rotating speed of the described round brush detected,
The running parameters such as the operating current of described round brush or the control pulse of described round brush maintain normal scope, then always
Can determine whether that much more relatively sweeping robot currently walks in dust region, control sweeping robot and open powerful cleaning modes,
It is operated with powerful cleaning modes.
Therefore, the control method of the sweeping robot of the present embodiment is by joining the perceptibility of gyroscope and the work of round brush
It is currently to walk in ground or carpet (or the district that dust is relatively more that the double check of number distinguishes sweeping robot
Territory) such that it is able to make sweeping robot accurately select suitable mode of operation, fully meet the demand of user.
In sum, the control method of the sweeping robot of the embodiment of the present invention can be by detecting the dust inlet of round brush
With the amount of dust of the dust inlet of dirt box, the amount of dust at place has detected whether that dust enters, when free from dust enters,
Sweeping robot can be controlled and enter low noise cleaning modes, be dropped by the rotating speed of reduction dust sucting motor with round brush motor
Low environment noise, when there being dust to enter, such as sweeping robot walking has dust area on ground, control to sweep the floor machine
People enters common cleaning modes, and when sweeping robot walking is on floor-dust much more relatively regions or carpet,
Control sweeping robot and enter powerful cleaning modes.Therefore, the control method energy of the sweeping robot of the embodiment of the present invention
Enough according to clean environment automatically control the mode of operation of sweeping robot low noise cleaning modes, common cleaning modes and
Switch between powerful cleaning modes, fully meet the demand of user.
The control method of sweeping robot according to embodiments of the present invention, by the amount of dust of the dust inlet to round brush
Detection control the mode of operation of sweeping robot and switch between common cleaning modes and low noise cleaning modes, and
And control sweeping robot when the smaller i.e. floor-dust amount of the amount of dust of the dust inlet of round brush is fewer and be switched to
Low noise cleaning modes, and when sweeping robot enters low noise cleaning modes, according to the ash of the dirt box detected
The rotating speed of the dust sucting motor of sweeping robot is controlled by the amount of dust of dirt porch, therefore, and the embodiment of the present invention
The control method of sweeping robot can be effectively reduced environmental noise, improves the comfort level of user.Additionally, the present invention is real
The control method of the sweeping robot executing example can also dual by the running parameter to the perceptibility of gyroscope and round brush
Detection controls the mode of operation of sweeping robot and switches between common cleaning modes and powerful cleaning modes, the most logical
The double check of the running parameter crossing the perceptibility to gyroscope and round brush can be accurately judged to current sweeping robot row
Control sweeping robot when walking on carpet or be in floor-dust much more relatively regions and carry out work with powerful cleaning modes
Make, be not only greatly improved judging nicety rate, it is to avoid sweeping robot misoperation, moreover it is possible to ensure cleaning effect, the fullest
The demand of foot user.
Fig. 4 is the block diagram controlling device of the sweeping robot according to the embodiment of the present invention.As shown in Figure 4,
The control device of this sweeping robot includes first amount of dust detection module the 10, second amount of dust detection module 20 and controls
Module 30.
Wherein, the first amount of dust detection module 10 is for detecting the ash of the dust inlet of the round brush of described sweeping robot
Dust quantity, the second amount of dust detection module 20 is for detecting the amount of dust of the dust inlet of the dirt box of described sweeping robot；
Control module 30 controls institute according to the amount of dust of the dust inlet of the described round brush being continuously detected in the first Preset Time
Stating the switching of the mode of operation of sweeping robot, wherein, described mode of operation includes that common cleaning modes and low noise are clear
Sweep pattern, and when described sweeping robot enters described low noise cleaning modes, control module 30 is preset according to second
The amount of dust of the dust inlet of the described dirt box being continuously detected in the time is to the dust sucting motor of described sweeping robot
Rotating speed is controlled.
In an embodiment of the present invention, the infrared sensing on round brush such as it is arranged on by the first amount of dust detection module 10
Device device detects the amount of dust of the dust inlet of round brush, when the amount of dust of the dust inlet of round brush is smaller such as
During less than the first preset value, can determine whether that the dust inlet free from dust of round brush enters；Ash when the dust inlet of round brush
When dust quantity is greater than more greatly equal to the first preset value, can determine whether that the dust inlet of round brush has dust to enter.Further,
The infrared sensor devices being such as arranged on dirt box by the second amount of dust detection module 20 detects the dust of dirt box and enters
Amount of dust at Kou, when smaller e.g., less than the second preset value of the amount of dust of the dust inlet of dirt box, can determine whether
The dust inlet free from dust of dirt box enters；When the amount of dust of the dust inlet of dirt box is greater than more greatly equal to
During two preset values, can determine whether that the dust inlet of dirt box has dust to enter.
According to one embodiment of present invention, when the dust inlet of the described round brush being continuously detected in the first Preset Time
When the amount of dust at place is less than the first preset value, control module 30 controls described sweeping robot and enters the cleaning of described low noise
Pattern, wherein, when the amount of dust of dust inlet of the described dirt box being continuously detected in the second Preset Time is less than the
During two preset values, the rotating speed of round brush motor and dust sucting motor that control module 30 controls described sweeping robot reduces.
It is to say, be continuously detected the amount of dust of the dust inlet of round brush within a certain period of time less than the first preset value
When i.e. the dust inlet free from dust of round brush enters, control module 30 controls sweeping robot and enters low noise cleaning modes,
And sending voice message, the prompting current sweeping robot of user enters low noise cleaning modes, controls round brush motor simultaneously
Reduce that rotating speed such as controls the rotating speed of the round brush motor that the rotating speed of round brush motor is reduced under common cleaning modes 70%,
Thus reduce the performance of round brush, reduce environmental noise.And after sweeping robot enters low noise cleaning modes, if
The amount of dust of the dust inlet being continuously detected dirt box within a certain period of time enters less than the second preset value i.e. dust of dirt box
When at Kou, free from dust enters, control module 30 also controls dust sucting motor reduction rotating speed and such as controls the rotating speed fall of dust sucting motor
The 70% of the rotating speed of low dust sucting motor under common cleaning modes, thus reduce the performance of dust sucting motor, drop further
Low environment noise.
According to one embodiment of present invention, when the dust inlet of the described round brush being continuously detected in the first Preset Time
When the amount of dust at place is more than or equal to described first preset value, control module 30 controls described sweeping robot and enters described general
Logical cleaning modes.
Further, according to one embodiment of present invention, described mode of operation also includes powerful cleaning modes, such as Fig. 5
Shown in, described control device also includes first detection module 40 and the second detection module 50, and first detection module 40 is used
In the perceptibility signal of the gyroscope detecting described sweeping robot, the second detection module 50 is used for detecting described sweeper
The running parameter of the round brush of device people.Wherein, the running parameter of round brush include the rotating speed of round brush, the control pulse of round brush or
In the operating current of round brush any one or several.Furthermore, it is desirable to explanation, common cleaning modes refers to sweep the floor
Robot is to be operated with normal cleaning modes, and powerful cleaning modes refer to sweeping robot round brush motor and
Dust sucting motor is all with bigger rotating speed and Power operation.
Wherein, when the perceptibility signal of described gyroscope and the running parameter of described round brush are in normal condition, control
Molding block 30 controls described sweeping robot and is operated with described common cleaning modes；Perceptibility when described gyroscope
When the running parameter of signal and described round brush is in abnormality, control module 30 controls described sweeping robot with institute
State powerful cleaning modes to be operated；When the perceptibility signal of described gyroscope is in described normal condition and described round brush
Running parameter when being in described abnormality, control module 30 controls described sweeping robot with described common cleaning mould
Formula is operated, and controls described sweeping robot and send round brush and abnormal information occur；When described gyroscope
Perceptibility signal is in the running parameter of described abnormality and described round brush when being in described normal condition, control module
30 control described sweeping robot is operated with described powerful cleaning modes.
According to one embodiment of present invention, on the basis of control module 30 can be according to the operation time of described sweeping robot
Or judge perceptibility signal and the work of described round brush of described gyroscope on the basis of the travel distance of described sweeping robot
Make whether parameter is in described normal condition.
Therefore, the device that controls of the sweeping robot of the present embodiment can also be by the perceptibility of gyroscope and round brush
It is currently to walk at ground or carpet that (or dust is the most that the double check of running parameter distinguishes sweeping robot
Region) such that it is able to make sweeping robot accurately select suitable mode of operation, fully meet the demand of user.
The control device of sweeping robot according to embodiments of the present invention, by the first amount of dust detection module detection round brush
The amount of dust of dust inlet control the mode of operation of sweeping robot and clean mould in common cleaning modes and low noise
Switch between formula, and in the smaller i.e. floor-dust amount fewer time control molding of amount of dust of the dust inlet of round brush
Block controls sweeping robot and is switched to low noise cleaning modes, and when sweeping robot enters low noise cleaning modes,
The amount of dust of the dust inlet of the dirt box that control module detects according to the second amount of dust detection module is to sweeping robot
The rotating speed of dust sucting motor be controlled, therefore, the control device of the sweeping robot of the embodiment of the present invention can be effectively
Reduce environmental noise, improve the comfort level of user.Additionally, the control device of the sweeping robot of the embodiment of the present invention is also
Can be swept by the perceptibility signal of the gyroscope of first detection module detection sweeping robot and the detection of the second detection module
The running parameter of the round brush of floor-washing robot, thus realize the dual inspection of the running parameter of the perceptibility to gyroscope and round brush
Surveying, control module controls sweeping robot according to the double check of the running parameter to the perceptibility of gyroscope and round brush
Mode of operation switch between common cleaning modes and powerful cleaning modes, such as by the perceptibility of gyroscope and
The double check of the running parameter of round brush can be accurately judged to the walking of current sweeping robot and or be in ground on carpet
Control sweeping robot during face dust much more relatively regions to be operated with powerful cleaning modes, be not only greatly improved judgement
Accuracy rate, it is to avoid sweeping robot misoperation, moreover it is possible to ensure cleaning effect, fully meet the demand of user.
Additionally, embodiments of the invention also proposed a kind of sweeping robot, it includes the control of above-mentioned sweeping robot
Device processed.
The sweeping robot of the embodiment of the present invention can be by controlling the detection of the amount of dust of the dust inlet of round brush
Mode of operation switches between common cleaning modes and low noise cleaning modes, and the ash of the dust inlet at round brush
The smaller i.e. floor-dust amount of dust quantity is switched to low noise cleaning modes time fewer, and cleans mould entering low noise
During formula, it is possible to the rotating speed controlling dust sucting motor when the amount of dust of the dust inlet of dirt box is smaller reduces, therefore,
The sweeping robot of the embodiment of the present invention can be effectively reduced environmental noise, improves the comfort level of user.Additionally, this
The sweeping robot of bright embodiment can also carry out double check to the running parameter of the perceptibility of gyroscope and round brush, and
Double check according to the running parameter to the perceptibility of gyroscope and round brush controls mode of operation in common cleaning modes
Switch between powerful cleaning modes, such as by the double check energy of the running parameter to the perceptibility of gyroscope and round brush
Enough be accurately judged to be currently walking on carpet or when being in the relatively many region of floor-dust with powerful cleaning mould
Formula is operated, and can not only improve judging nicety rate, it is to avoid misoperation occur, moreover it is possible to ensure cleaning effect, fully
Meet the demand of user.
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
Example " or the description of " some examples " etc. means to combine this embodiment or example describes specific features, structure, material or
Person's feature is contained at least one embodiment or the example of the present invention.In this manual, the signal to above-mentioned term
Property statement be not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or
Feature can combine in any one or more embodiments or example in an appropriate manner.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, permissible
Understand these embodiments can be carried out without departing from the principles and spirit of the present invention multiple change, amendment,
Replacing and modification, the scope of the present invention is limited by claims and equivalent thereof.
Claims (11)
1. the control method of a sweeping robot, it is characterised in that comprise the following steps:
Detect the amount of dust of the dust inlet of the round brush of described sweeping robot, and detect the dirt of described sweeping robot
The amount of dust of the dust inlet of box；
The amount of dust of the dust inlet according to the described round brush being continuously detected in the first Preset Time is swept the floor described in controlling
The switching of the mode of operation of robot, wherein, described mode of operation includes common cleaning modes and low noise cleaning modes,
And when described sweeping robot enters described low noise cleaning modes, according to be continuously detected in the second Preset Time
The rotating speed of the dust sucting motor of described sweeping robot is controlled by the amount of dust of the dust inlet of described dirt box.
2. the control method of sweeping robot as claimed in claim 1, it is characterised in that when in the first Preset Time
When the amount of dust of the dust inlet of the described round brush being continuously detected is less than the first preset value, machine of sweeping the floor described in control
People enters described low noise cleaning modes, wherein,
When the amount of dust of the dust inlet of the described dirt box being continuously detected in the second Preset Time is less than the second preset value
Time, the rotating speed of the round brush motor and dust sucting motor that control described sweeping robot reduces.
3. the control method of sweeping robot as claimed in claim 2, it is characterised in that when in the first Preset Time
When the amount of dust of the dust inlet of the described round brush being continuously detected is more than or equal to described first preset value, control described
Sweeping robot enters described common cleaning modes.
4. the control method of sweeping robot as claimed in claim 3, it is characterised in that described mode of operation is also wrapped
Including powerful cleaning modes, described control method also includes:
Detect the perceptibility signal of the gyroscope of described sweeping robot, and detect the work of the round brush of described sweeping robot
Make parameter, wherein,
When the perceptibility signal of described gyroscope and the running parameter of described round brush are in normal condition, control described
Sweeping robot is operated with described common cleaning modes；
When the perceptibility signal of described gyroscope and the running parameter of described round brush are in abnormality, control described
Sweeping robot is operated with described powerful cleaning modes；
It is in described different when the perceptibility signal of described gyroscope is in the running parameter of described normal condition and described round brush
Often during state, control described sweeping robot and be operated with described common cleaning modes, and machine of sweeping the floor described in control
People sends round brush and abnormal information occurs；
When the perceptibility signal of described gyroscope be in the running parameter of described abnormality and described round brush be in described just
Often during state, control described sweeping robot and be operated with described powerful cleaning modes.
5. the control method of sweeping robot as claimed in claim 4, it is characterised in that according to described machine of sweeping the floor
On the basis of the operation time of people or judge the perceptibility of described gyroscope on the basis of the travel distance of described sweeping robot
Whether the running parameter of signal and described round brush is in described normal condition.
6. the control device of a sweeping robot, it is characterised in that including:
First amount of dust detection module, for detecting the amount of dust of the dust inlet of the round brush of described sweeping robot；
Second amount of dust detection module, for detecting the amount of dust of the dust inlet of the dirt box of described sweeping robot；
Control module, described control module is according to the dust inlet of the described round brush being continuously detected in the first Preset Time
The amount of dust at place controls the switching of the mode of operation of described sweeping robot, and wherein, described mode of operation includes common clear
Sweep pattern and low noise cleaning modes, and when described sweeping robot enters described low noise cleaning modes, described control
Molding tuber is swept the floor to described according to the amount of dust of the dust inlet of the described dirt box being continuously detected in the second Preset Time
The rotating speed of the dust sucting motor of robot is controlled.
7. the control device of the sweeping robot as described in right 6, it is characterised in that when continuing in the first Preset Time
When the amount of dust of the dust inlet of the described round brush detected is less than the first preset value, described control module controls described
The sweeping robot described low noise cleaning modes of entrance, wherein,
When the amount of dust of the dust inlet of the described dirt box being continuously detected in the second Preset Time is less than the second preset value
Time, the rotating speed of round brush motor and dust sucting motor that described control module controls described sweeping robot reduces.
8. the control device of the sweeping robot as described in right 7, it is characterised in that when continuing in the first Preset Time
When the amount of dust of the dust inlet of the described round brush detected is more than or equal to described first preset value, described control module
Control described sweeping robot and enter described common cleaning modes.
9. the control device of the sweeping robot as described in right 8, it is characterised in that described mode of operation also includes by force
Strength cleaning modes, described control device also includes first detection module and the second detection module, described first detection module
For detecting the perceptibility signal of the gyroscope of described sweeping robot, described second detection module be used for detecting described in sweep
The running parameter of the round brush of floor-washing robot, wherein,
When the perceptibility signal of described gyroscope and the running parameter of described round brush are in normal condition, described control
Module controls described sweeping robot and is operated with described common cleaning modes；
When the perceptibility signal of described gyroscope and the running parameter of described round brush are in abnormality, described control
Module controls described sweeping robot and is operated with described powerful cleaning modes；
It is in described different when the perceptibility signal of described gyroscope is in the running parameter of described normal condition and described round brush
Often during state, described control module controls described sweeping robot and is operated with described common cleaning modes, and controls
Described sweeping robot sends round brush and abnormal information occurs；
When the perceptibility signal of described gyroscope be in the running parameter of described abnormality and described round brush be in described just
Often during state, described control module controls described sweeping robot and is operated with described powerful cleaning modes.
10. the control device of sweeping robot as claimed in claim 9, it is characterised in that described control module root
Described according to judging on the basis of the operation time of described sweeping robot or on the basis of the travel distance of described sweeping robot
Whether the perceptibility signal of gyroscope and the running parameter of described round brush are in described normal condition.
11. 1 kinds of sweeping robots, it is characterised in that include the sweeper as according to any one of claim 6-10
The control device of device people.
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| CN2014108177122 | 2014-12-24 | ||
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