CN106137043B - The control method and control device of sweeping robot and sweeping robot - Google Patents
The control method and control device of sweeping robot and sweeping robot Download PDFInfo
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- CN106137043B CN106137043B CN201510128462.6A CN201510128462A CN106137043B CN 106137043 B CN106137043 B CN 106137043B CN 201510128462 A CN201510128462 A CN 201510128462A CN 106137043 B CN106137043 B CN 106137043B
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Abstract
The invention discloses a kind of control methods of sweeping robot comprising following steps：The amount of dust of the dust inlet of the round brush of sweeping robot is detected, and detects the amount of dust of the dust inlet of the dirt box of sweeping robot；The switching of the operating mode of sweeping robot is controlled according to the amount of dust of the dust inlet for the round brush being continuously detected in the first preset time, wherein, the operating mode includes common cleaning modes and low noise cleaning modes, and when sweeping robot enters low noise cleaning modes, the rotating speed of the dust sucting motor of the sweeping robot is controlled according to the amount of dust of the dust inlet for the dirt box being continuously detected in the second preset time.The control method of the sweeping robot can control sweeping robot when floor-dust amount is less and be switched to low noise cleaning modes, be effectively reduced environmental noise, meet the needs of users.The invention also discloses a kind of control devices of sweeping robot and a kind of sweeping robot.
Description
Technical field
The present invention relates to Intelligent life technical field of electric appliances, more particularly to a kind of control method of sweeping robot, one kind
The control device of sweeping robot and a kind of sweeping robot with the control device.
Background technology
With the high speed development of science and technology, more and more Intelligent life electric appliances enter huge numbers of families, greatly improve people
Life comfort and convenience.
Currently, dust catcher such as sweeping robot has obtained the favor of users, however current sweeping robot exists
It is all worked using maximum power always in cleaning process, will produce larger noise, influence the use of user.
Invention content
The purpose of the present invention aims to solve at least above-mentioned technological deficiency.
For this purpose, first purpose of the present invention is to propose a kind of control method of sweeping robot, it can be in ground ash
Sweeping robot is controlled when dust quantity is less and is switched to low noise cleaning modes, is effectively reduced environmental noise, is met user
Demand.
Second object of the present invention is to propose a kind of control device of sweeping robot.Third object of the present invention
It is to propose a kind of sweeping robot.
In order to achieve the above objectives, a kind of control method for sweeping robot that first aspect present invention embodiment proposes, packet
Include following steps：The amount of dust of the dust inlet of the round brush of the sweeping robot is detected, and detects the sweeping robot
Dirt box dust inlet amount of dust；According to the dust inlet for the round brush being continuously detected in the first preset time
Amount of dust control the sweeping robot operating mode switching, wherein the operating mode includes common cleaning modes
With low noise cleaning modes, and the sweeping robot enter the low noise cleaning modes when, according to the second preset time
The amount of dust of the dust inlet for the dirt box being inside continuously detected to the rotating speed of the dust sucting motor of the sweeping robot into
Row control.
The control method of sweeping robot according to the ... of the embodiment of the present invention passes through the amount of dust of the dust inlet to round brush
Detection switch between common cleaning modes and low noise cleaning modes to control the operating mode of sweeping robot, and
The smaller i.e. floor-dust amount of amount of dust of the dust inlet of round brush controls sweeping robot when fewer and is switched to low noise
Cleaning modes, and when sweeping robot enters low noise cleaning modes, according to the ash of the dust inlet of the dirt box detected
Dust quantity controls the rotating speed of the dust sucting motor of sweeping robot, therefore, the control of the sweeping robot of the embodiment of the present invention
Method can not only be effectively reduced environmental noise, improve the comfort level of user, moreover it is possible to ensure cleaning effect, fully meet user's
Demand.
According to one embodiment of present invention, when the dust inlet for the round brush being continuously detected in the first preset time
When the amount of dust at place is less than the first preset value, controls the sweeping robot and enter the low noise cleaning modes, wherein when the
When the amount of dust of the dust inlet for the dirt box being continuously detected in two preset times is less than the second preset value, described in control
The round brush motor of sweeping robot and the rotating speed of dust sucting motor reduce.
According to one embodiment of present invention, when the dust inlet for the round brush being continuously detected in the first preset time
When the amount of dust at place is more than or equal to first preset value, controls the sweeping robot and enter the common cleaning modes.
According to one embodiment of present invention, the operating mode further includes powerful cleaning modes, and the control method is also
Including：The perceptibility signal of the gyroscope of the sweeping robot is detected, and detects the work of the round brush of the sweeping robot
Parameter, wherein when the running parameter of the perceptibility signal of the gyroscope and the round brush is in normal condition, control institute
Sweeping robot is stated to work with the common cleaning modes；When the work of the perceptibility signal and the round brush of the gyroscope
When being in abnormality as parameter, controls the sweeping robot and worked with the powerful cleaning modes；When the top
When the running parameter that the perceptibility signal of spiral shell instrument is in the normal condition and the round brush is in the abnormality, institute is controlled
It states sweeping robot to work with the common cleaning modes, and controls the sweeping robot and send out round brush appearance exception
Prompt message；When the running parameter that the perceptibility signal of the gyroscope is in the abnormality and the round brush is in described
When normal condition, controls the sweeping robot and worked with the powerful cleaning modes.
According to one embodiment of present invention, according on the basis of the run time of the sweeping robot or described sweeping the floor
Whether the running parameter of perceptibility signal and the round brush that the gyroscope is judged on the basis of the travel distance of robot is in
The normal condition.
In order to achieve the above objectives, a kind of control device for sweeping robot that second aspect of the present invention embodiment proposes, packet
It includes：First amount of dust detection module, the amount of dust of the dust inlet of the round brush for detecting the sweeping robot；Second ash
Dust quantity detection module, the amount of dust of the dust inlet of the dirt box for detecting the sweeping robot；Control module, the control
It sweeps the floor described in amount of dust control of the molding root tuber according to the dust inlet for the round brush being continuously detected in the first preset time
The switching of the operating mode of robot, wherein the operating mode includes common cleaning modes and low noise cleaning modes, and
When the sweeping robot enters the low noise cleaning modes, the control module in the second preset time according to persistently detecting
To the amount of dust of dust inlet of the dirt box rotating speed of the dust sucting motor of the sweeping robot is controlled.
The control device of sweeping robot according to the ... of the embodiment of the present invention detects round brush by the first amount of dust detection module
The amount of dust of dust inlet control the operating mode of sweeping robot in common cleaning modes and low noise cleaning modes
Between switch, and the dust inlet in round brush amount of dust it is smaller i.e. floor-dust amount it is fewer when control module control
Sweeping robot is switched to low noise cleaning modes, and when sweeping robot enters low noise cleaning modes, control module root
The amount of dust of the dust inlet of the dirt box detected according to the second amount of dust detection module is to the dust sucting motor of sweeping robot
Rotating speed is controlled, and therefore, the control device of the sweeping robot of the embodiment of the present invention can not only be effectively reduced environmental noise,
Improve the comfort level of user, moreover it is possible to ensure cleaning effect, fully meet the needs of users.
According to one embodiment of present invention, when the dust inlet for the round brush being continuously detected in the first preset time
When the amount of dust at place is less than the first preset value, the control module controls the sweeping robot and enters low noise cleaning mould
Formula, wherein preset when the amount of dust of the dust inlet for the dirt box being continuously detected in the second preset time is less than second
When value, the rotating speed of round brush motor and dust sucting motor that the control module controls the sweeping robot reduces.
According to one embodiment of present invention, when the dust inlet for the round brush being continuously detected in the first preset time
When the amount of dust at place is more than or equal to first preset value, the control module control sweeping robot enters described common
Cleaning modes.
According to one embodiment of present invention, the operating mode further includes powerful cleaning modes, and the control device is also
Including first detection module and the second detection module, the first detection module is used to detect the gyroscope of the sweeping robot
Perceptibility signal, second detection module be used for detect the sweeping robot round brush running parameter, wherein work as institute
When the running parameter of the perceptibility signal and the round brush of stating gyroscope is in normal condition, described in the control module control
Sweeping robot is worked with the common cleaning modes；When the work of the perceptibility signal and the round brush of the gyroscope
When parameter is in abnormality, the control module controls the sweeping robot and carries out work with the powerful cleaning modes
Make；When the running parameter that the perceptibility signal of the gyroscope is in the normal condition and the round brush is in the abnormal shape
When state, the control module is controlled the sweeping robot and is worked with the common cleaning modes, and is swept the floor described in control
Robot sends out round brush and abnormal prompt message occurs；When the perceptibility signal of the gyroscope is in the abnormality and institute
When stating the running parameter of round brush and being in the normal condition, the control module controls the sweeping robot with described powerful clear
The pattern of sweeping works.
According to one embodiment of present invention, on the basis of run time of the control module according to the sweeping robot
Or the work of the perceptibility signal and the round brush of the gyroscope is judged on the basis of the travel distance of the sweeping robot
Whether parameter is in the normal condition.
In addition, the embodiment of the present invention also proposed a kind of sweeping robot comprising the control of above-mentioned sweeping robot
Device processed.
The sweeping robot of the embodiment of the present invention can be controlled by the detection of the amount of dust of the dust inlet to round brush
Operating mode processed switches between common cleaning modes and low noise cleaning modes, and the dust of the dust inlet in round brush
Measure smaller i.e. floor-dust amount it is fewer when be switched to low noise cleaning modes, and when entering low noise cleaning modes,
The rotating speed of dust sucting motor can be controlled when the amount of dust of the dust inlet of dirt box is smaller to be reduced, and therefore, the present invention is implemented
The sweeping robot of example can be effectively reduced environmental noise, improve the comfort level of user.In addition, the sweeper of the embodiment of the present invention
Device people can also carry out double check to the perceptibility of gyroscope and the running parameter of round brush, and according to the perceptibility to gyroscope
And the double check of the running parameter of round brush switches to control operating mode between the powerful cleaning modes of common cleaning modes, example
As the double check of the running parameter by perceptibility and round brush to gyroscope can be accurately judged to be currently walking
It is worked with powerful cleaning modes on blanket or when region more in floor-dust, it is accurate that judgement can not only be improved
True rate avoids the occurrence of malfunction, moreover it is possible to ensure cleaning effect, fully meet the needs of users.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the flow chart according to the control method of the sweeping robot of the embodiment of the present invention；
Fig. 2 is the schematic diagram for judging sweeping robot and walking on carpet according to one embodiment of the invention；
Fig. 3 is to judge sweeping robot in the more region walking of floor-dust according to one embodiment of the invention
Schematic diagram；
Fig. 4 is the block diagram according to the control device of the sweeping robot of the embodiment of the present invention；And
Fig. 5 is the block diagram according to the control device of the sweeping robot of one embodiment of the invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.For letter
Change disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
It is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or letter.It is this heavy
It is for purposes of simplicity and clarity, itself not indicate the relationship between discussed various embodiments and/or setting again.This
Outside, the present invention provides various specific techniques and material example, but those of ordinary skill in the art may realize that
The applicable property of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it
The structure of "upper" may include the embodiment that the first and second features are formed as being in direct contact, and can also include other feature shape
At the embodiment between the first and second features, such first and second feature may not be to be in direct contact.
In the description of the present invention, it should be noted that unless otherwise specified and limited, term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, can also be the connection inside two elements, it can
, can also indirectly connected through an intermediary, for the ordinary skill in the art to be to be connected directly, it can basis
Concrete condition understands the concrete meaning of above-mentioned term.
The control method of the sweeping robot proposed according to embodiments of the present invention, machine of sweeping the floor described with reference to the accompanying drawings
The control device of people and sweeping robot with the control device.
Fig. 1 is the flow chart according to the control method of the sweeping robot of the embodiment of the present invention.As shown in Figure 1, this is swept the floor
The control method of robot includes the following steps：
S1, detects the amount of dust of the dust inlet of the round brush of sweeping robot, and detect the dirt box of sweeping robot
The amount of dust of dust inlet.
Wherein, the infrared sensor devices on round brush are for example arranged by the first amount of dust detection module to detect round brush
The amount of dust of dust inlet can when the amount of dust of the dust inlet of round brush is smaller is, for example, less than the first preset value
Judge that the dust inlet free from dust of round brush enters；It is greater than equal to when the amount of dust of the dust inlet of round brush is bigger
When one preset value, it can determine whether that the dust inlet of round brush has dust entrance.Also, it is for example set by the second amount of dust detection module
The infrared sensor devices on dirt box are set to detect the amount of dust of the dust inlet of dirt box, when the dust inlet of dirt box
Amount of dust is smaller when being, for example, less than the second preset value, can determine whether that the dust inlet free from dust of dirt box enters；When the ash of dirt box
The amount of dust of dirt inlet is bigger when being greater than equal to the second preset value, can determine whether the dust inlet of dirt box have dust into
Enter.
S2 controls machine of sweeping the floor according to the amount of dust of the dust inlet for the round brush being continuously detected in the first preset time
The switching of the operating mode of people, wherein operating mode includes common cleaning modes and low noise cleaning modes, and in machine of sweeping the floor
When people enters low noise cleaning modes, according to the amount of dust of the dust inlet for the dirt box being continuously detected in the second preset time
The rotating speed of the dust sucting motor of sweeping robot is controlled.
According to one embodiment of present invention, when the dust inlet for the round brush being continuously detected in the first preset time
When amount of dust is less than the first preset value, control sweeping robot enters the low noise cleaning modes, wherein when second is default
When the amount of dust of the dust inlet of the interior dirt box being continuously detected is less than the second preset value, machine of sweeping the floor described in control
The round brush motor of people and the rotating speed of dust sucting motor reduce.
That is, the amount of dust for being continuously detected the dust inlet of round brush within a certain period of time is less than the first preset value
That is for the dust inlet free from dust of round brush into fashionable, control sweeping robot enters low noise cleaning modes, and sends out voice and carry
Show, the current sweeping robot of user is prompted to enter low noise cleaning modes, while controlling round brush motor reduction rotating speed and for example controlling
The rotating speed of round brush motor is reduced to the 70% of the rotating speed of the round brush motor under common cleaning modes, to reduce the performance of round brush,
Reduce environmental noise.And after sweeping robot enters low noise cleaning modes, if being continuously detected dirt within a certain period of time
The amount of dust of the dust inlet of box is less than the dust inlet free from dust of the second preset value, that is, dirt box into fashionable, also controls dust suction
Motor reduce rotating speed for example control dust sucting motor rotating speed be reduced to dust sucting motor under common cleaning modes rotating speed 70%,
To reduce the performance of dust sucting motor, environmental noise is further decreased.
Therefore it says, in an embodiment of the present invention, the ash of the amount of dust and dirt box of the dust inlet by detecting round brush
The amount of dust of dirt inlet has detected whether dust entrance, in free from dust into fashionable, can reduce dust sucting motor and round brush electricity
The rotating speed of machine reduces environmental noise.If the rotating speed of dust sucting motor and round brush motor reduces by 30%, 4db can be reduced, it can
So that environmental noise is significantly reduced, improves the comfort level of user.
According to one embodiment of present invention, when the dust inlet for the round brush being continuously detected in the first preset time
The dust inlet that the amount of dust at place is more than or equal to first preset value, that is, round brush has dust into fashionable, controls the sweeper
Device people enters the common cleaning modes, and sweeping robot is worked with common cleaning modes.
Further, according to one embodiment of present invention, the operating mode further includes powerful cleaning modes, above-mentioned
The control method of sweeping robot further includes：The perceptibility signal of the gyroscope of the sweeping robot is detected, and described in detection
The running parameter of the round brush of sweeping robot.Wherein, the running parameter of round brush include the rotating speed of round brush, round brush control pulse or
In the operating current of round brush any one or it is several.Furthermore, it is desirable to explanation, common cleaning modes refer to sweeping robot
Be worked with normal cleaning modes, and powerful cleaning modes refer to sweeping robot round brush motor and dust sucting motor it is equal
With bigger rotating speed and Power operation.
Wherein, when the running parameter of the perceptibility signal of the gyroscope and the round brush is in normal condition, control
The sweeping robot is made to work with the common cleaning modes；Perceptibility signal when the gyroscope and the round brush
Running parameter when being in abnormality, control the sweeping robot and worked with the powerful cleaning modes；Work as institute
When stating the perceptibility signal of gyroscope and being in the running parameter of the normal condition and the round brush and be in the abnormality, control
The sweeping robot is made to work with the common cleaning modes, and control the sweeping robot send out round brush occur it is different
Normal prompt message；When the running parameter that the perceptibility signal of the gyroscope is in the abnormality and the round brush is in
When the normal condition, controls the sweeping robot and worked with the powerful cleaning modes.
It according to one embodiment of present invention, can be according on the basis of the run time of the sweeping robot or described
Judge on the basis of the travel distance of sweeping robot the gyroscope perceptibility signal and the round brush running parameter whether
In the normal condition.
Specifically, when the run time benchmark with sweeping robot is judged, if the gyroscope detected
Perceptibility be constantly in default perceptibility section and maintain normal range always, can determine whether the perceptibility of the gyroscope
Signal is in the normal condition, and if the perceptibility of the gyroscope detected is not in default perceptibility section and exists
Non-normal range maintains certain time, then can determine whether that the perceptibility signal of the gyroscope is in the abnormality；If inspection
The running parameters such as the control pulse of the rotating speed of the round brush measured, the operating current of the round brush or the round brush are tieed up always
It holds and then can determine whether that the running parameter of the round brush is in the normal condition in normal range, if the rolling detected
The running parameters such as the control pulse of the rotating speed of brush, the operating current of the round brush or the round brush maintain one in non-normal range
It fixes time, then can determine whether that the running parameter of the round brush is in the abnormality.
When being judged on the basis of the travel distance of sweeping robot, if the perceptibility of the gyroscope detected
It is constantly in default perceptibility section and maintains normal range always, can determine whether that the perceptibility signal of the gyroscope is in
The normal condition, and sweeping robot walked in certain distance if the perceptibility of the gyroscope detected always
Default perceptibility section is not in i.e. in non-normal range, then can determine whether that the perceptibility signal of the gyroscope is in the exception
State；If works such as the control pulses of operating current or the round brush of the rotating speed of the round brush detected, the round brush
Make parameter and maintain normal range always, then can determine whether that the running parameter of the round brush is in the normal condition, and is sweeping
The rotating speed of the round brush detected in certain distance if floor-washing robot has been walked, the operating current or described of the round brush
The running parameters such as the control pulse of round brush then can determine whether that the running parameter of the round brush is in described different always in non-normal range
Normal state.
For example, as shown in Fig. 2, the travel distance in sweeping robot is in I, if the sense of the gyroscope detected
Degree of knowing is not in always default perceptibility section i.e. in non-normal range, and the rotating speed of the round brush detected, the round brush
Operating current or the round brush the running parameters such as control pulse always in non-normal range, then can determine whether sweeping robot
On carpet, control sweeping robot opens powerful cleaning modes, is worked with powerful cleaning modes for current walking.Such as Fig. 3
It is shown, sweeping robot travel distance be II in, if the perceptibility of the gyroscope detected be not in always it is pre-
If perceptibility section is i.e. in non-normal range, and the rotating speed of the round brush detected, the operating current of the round brush or institute
It states the running parameters such as the control pulse of round brush and maintains normal range always, then can determine whether sweeping robot currently walking in ash
The more region of dirt, control sweeping robot are opened powerful cleaning modes, are worked with powerful cleaning modes.
Therefore, the control method of the sweeping robot of the present embodiment is joined by the work of perceptibility and round brush to gyroscope
Several double checks is walking distinguishing sweeping robot currently in ground or carpet (or the more region of dust), from
And sweeping robot is enabled to accurately to select suitable operating mode, fully meet the needs of users.
In conclusion the control method of the sweeping robot of the embodiment of the present invention can pass through the dust inlet of detection round brush
The amount of dust of the amount of dust at place and the dust inlet of dirt box has detected whether dust entrance, can be in free from dust into fashionable
Control sweeping robot enters low noise cleaning modes, and the rotating speed by reducing dust sucting motor and round brush motor is made an uproar to reduce environment
Sound is having dust to enter such as sweeping robot walking when there is dust area on ground, and control sweeping robot enters common clear
Sweep pattern, and in sweeping robot walking when on the more region of floor-dust or carpet, control sweeping robot into
Enter powerful cleaning modes.Therefore, the control method of the sweeping robot of the embodiment of the present invention can automatically be controlled according to environment is cleaned
The operating mode of sweeping robot processed switches between low noise cleaning modes, common cleaning modes and powerful cleaning modes, fills
Divide and meets the needs of users.
The control method of sweeping robot according to the ... of the embodiment of the present invention passes through the amount of dust of the dust inlet to round brush
Detection switch between common cleaning modes and low noise cleaning modes to control the operating mode of sweeping robot, and
The smaller i.e. floor-dust amount of amount of dust of the dust inlet of round brush controls sweeping robot when fewer and is switched to low noise
Cleaning modes, and when sweeping robot enters low noise cleaning modes, according to the dust inlet of the dirt box detected
Amount of dust controls the rotating speed of the dust sucting motor of sweeping robot, therefore, the control of the sweeping robot of the embodiment of the present invention
Method processed can be effectively reduced environmental noise, improve the comfort level of user.In addition, the control of the sweeping robot of the embodiment of the present invention
Method processed can also control sweeping robot by the double check of the running parameter of perceptibility and round brush to gyroscope
Operating mode switches between common cleaning modes and powerful cleaning modes, such as passes through perceptibility to gyroscope and round brush
The double check of running parameter can be accurately judged to current sweeping robot walking on carpet or in floor-dust ratio
Control sweeping robot is worked with powerful cleaning modes when more region, is not only greatly improved judging nicety rate, is avoided
Sweeping robot malfunctions, moreover it is possible to ensure cleaning effect, fully meet the needs of users.
Fig. 4 is the block diagram according to the control device of the sweeping robot of the embodiment of the present invention.As shown in figure 4, should
The control device of sweeping robot includes the first amount of dust detection module 10, the second amount of dust detection module 20 and control module
30。
Wherein, the first amount of dust detection module 10 is used to detect the ash of the dust inlet of the round brush of the sweeping robot
Dust quantity, the second amount of dust detection module 20 are used to detect the amount of dust of the dust inlet of the dirt box of the sweeping robot；Control
Molding block 30 is swept according to described in the control of the amount of dust of the dust inlet for the round brush being continuously detected in the first preset time
The switching of the operating mode of floor-washing robot, wherein the operating mode includes common cleaning modes and low noise cleaning modes, and
When the sweeping robot enters the low noise cleaning modes, control module 30 in the second preset time according to persistently detecting
To the amount of dust of dust inlet of the dirt box rotating speed of the dust sucting motor of the sweeping robot is controlled.
In an embodiment of the present invention, the infrared sensing on round brush is for example arranged 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 is, for example, less than
When the first preset value, it 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 compares
When being greater than equal to the first preset value greatly, it can determine whether that the dust inlet of round brush has dust entrance.Also, pass through the second dust
The infrared sensor devices on dirt box are for example arranged to detect the amount of dust of the dust inlet of dirt box in amount detection module 20, when
The amount of dust of the dust inlet of dirt box is smaller when being, for example, less than the second preset value, can determine whether that the dust inlet of dirt box is ashless
Dirt enters；When the amount of dust of the dust inlet of dirt box is bigger to be greater than equal to the second preset value, dirt box can determine whether
Dust inlet has dust entrance.
According to one embodiment of present invention, when the dust inlet for the 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 the sweeping robot and cleans mould into the low noise
Formula, wherein preset when the amount of dust of the dust inlet for the dirt box being continuously detected in the second preset time is less than second
When value, the rotating speed of round brush motor and dust sucting motor that control module 30 controls the sweeping robot reduces.
That is, the amount of dust for being continuously detected the dust inlet of round brush within a certain period of time is less than the first preset value
That is into fashionable, control module 30 controls sweeping robot and enters low noise cleaning modes the dust inlet free from dust of round brush, and
Voice prompt is sent out, the current sweeping robot of user is prompted to enter low noise cleaning modes, while controlling round brush motor and reducing and turning
The rotating speed of speed such as control round brush motor is reduced to the 70% of the rotating speed of the round brush motor under common cleaning modes, to reduce rolling
The performance of brush reduces environmental noise.And after sweeping robot enters low noise cleaning modes, if continued within a certain period of time
Detect that the amount of dust of the dust inlet of dirt box is less than the second preset value i.e. dust inlet free from dust of dirt box into fashionable, control
Molding block 30, which also controls dust sucting motor, to be reduced rotating speed and for example controls the rotating speed of dust sucting motor and be reduced to suction under common cleaning modes
The 70% of the rotating speed of dirt motor further decreases environmental noise to reduce the performance of dust sucting motor.
According to one embodiment of present invention, when the dust inlet for the round brush being continuously detected in the first preset time
When the amount of dust at place is more than or equal to first preset value, control module 30 control the sweeping robot enter it is described common clear
Sweep pattern.
Further, according to one embodiment of present invention, the operating mode further includes powerful cleaning modes, such as Fig. 5
Shown, the control device further includes first detection module 40 and the second detection module 50, and first detection module 40 is for detecting
The perceptibility signal of the gyroscope of the sweeping robot, the second detection module 50 are used to detect the round brush of the sweeping robot
Running parameter.Wherein, the running parameter of round brush include the rotating speed of round brush, round brush control pulse or round brush operating current in
Any one or it is several.Furthermore, it is desirable to explanation, common cleaning modes refer to that sweeping robot is normally to clean mould
Formula works, and powerful cleaning modes refer to sweeping robot round brush motor and dust sucting motor with bigger rotating speed and
Power operation.
Wherein, when the running parameter of the perceptibility signal of the gyroscope and the round brush is in normal condition, control
Molding block 30 is controlled the sweeping robot and is worked with the common cleaning modes；When the perceptibility signal of the gyroscope
When being in abnormality with the running parameter of the round brush, control module 30 controls the sweeping robot with described powerful clear
The pattern of sweeping works；When the perceptibility signal of the gyroscope is at the running parameter of the normal condition and the round brush
When the abnormality, control module 30 is controlled the sweeping robot and is worked with the common cleaning modes, and is controlled
It makes the sweeping robot and sends out the prompt message that exception occurs in round brush；When the perceptibility signal of the gyroscope is in described different
When the running parameter of normal state and the round brush is in the normal condition, control module 30 controls the sweeping robot with institute
Powerful cleaning modes are stated to work.
According to one embodiment of present invention, control module 30 can be on the basis of the run time according to the sweeping robot
Or the work of the perceptibility signal and the round brush of the gyroscope is judged on the basis of the travel distance of the sweeping robot
Whether parameter is in the normal condition.
Therefore, the control device of the sweeping robot of the present embodiment can also pass through perceptibility to gyroscope and round brush
The double check of running parameter is walking distinguishing sweeping robot currently in ground or carpet (or the more area of dust
Domain) so that sweeping robot accurately selects suitable operating mode, fully meet the needs of users.
The control device of sweeping robot according to the ... of the embodiment of the present invention detects round brush by the first amount of dust detection module
The amount of dust of dust inlet control the operating mode of sweeping robot in common cleaning modes and low noise cleaning modes
Between switch, and the dust inlet in round brush amount of dust it is smaller i.e. floor-dust amount it is fewer when control module control
Sweeping robot is switched to low noise cleaning modes, and when sweeping robot enters low noise cleaning modes, control module root
The amount of dust of the dust inlet of the dirt box detected according to the second amount of dust detection module is to the dust sucting motor of sweeping robot
Rotating speed is controlled, and therefore, the control device of the sweeping robot of the embodiment of the present invention can be effectively reduced environmental noise, is improved
The comfort level of user.In addition, the control device of the sweeping robot of the embodiment of the present invention can also be examined by first detection module
The running parameter of the perceptibility signal of the gyroscope of sweeping robot and the round brush of the second detection module detection sweeping robot is surveyed,
To realize the double check of the running parameter to the perceptibility and round brush of gyroscope, control module is according to the perception to gyroscope
The double check of the running parameter of degree and round brush controls the operating mode of sweeping robot in common cleaning modes and powerful clear
It sweeps and switches between pattern, such as being capable of accurate judgement by the double check of the running parameter of perceptibility and round brush to gyroscope
Go out current sweeping robot walking and controls sweeping robot on carpet or region more in floor-dust with strong
Strength cleaning modes work, and not only greatly improve judging nicety rate, and sweeping robot is avoided to malfunction, moreover it is possible to ensure cleaning effect
Fruit fully meets the needs of users.
In addition, the embodiment of the present invention also proposed a kind of sweeping robot comprising the control of above-mentioned sweeping robot
Device processed.
The sweeping robot of the embodiment of the present invention can be controlled by the detection of the amount of dust of the dust inlet to round brush
Operating mode processed switches between common cleaning modes and low noise cleaning modes, and the dust of the dust inlet in round brush
Measure smaller i.e. floor-dust amount it is fewer when be switched to low noise cleaning modes, and when entering low noise cleaning modes,
The rotating speed of dust sucting motor can be controlled when the amount of dust of the dust inlet of dirt box is smaller to be reduced, and therefore, the present invention is implemented
The sweeping robot of example can be effectively reduced environmental noise, improve the comfort level of user.In addition, the sweeper of the embodiment of the present invention
Device people can also carry out double check to the perceptibility of gyroscope and the running parameter of round brush, and according to the perceptibility to gyroscope
And the double check of the running parameter of round brush switches to control operating mode between the powerful cleaning modes of common cleaning modes, example
As the double check of the running parameter by perceptibility and round brush to gyroscope can be accurately judged to be currently walking
It is worked with powerful cleaning modes on blanket or when region more in floor-dust, it is accurate that judgement can not only be improved
True rate avoids the occurrence of malfunction, moreover it is possible to ensure cleaning effect, fully meet the needs of users.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in can be combined in any suitable manner.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is by appended claims and its equivalent limits.
Claims (10)
1. a kind of control method of sweeping robot, which is characterized in that include the following steps：
The amount of dust of the dust inlet of the round brush of the sweeping robot is detected, and detect the dirt box of the sweeping robot
The amount of dust of dust inlet；
The sweeper is controlled according to the amount of dust of the dust inlet for the round brush being continuously detected in the first preset time
The switching of the operating mode of device people, wherein the operating mode includes common cleaning modes and low noise cleaning modes, and in institute
When stating sweeping robot into the low noise cleaning modes, according to the dirt box being continuously detected in the second preset time
The amount of dust of dust inlet controls the rotating speed of the dust sucting motor of the sweeping robot；
Wherein, the operating mode further includes powerful cleaning modes, and the control method further includes：
The perceptibility signal of the gyroscope of the sweeping robot is detected, and detects the work ginseng of the round brush of the sweeping robot
Number, wherein
When the running parameter of the perceptibility signal of the gyroscope and the round brush is in normal condition, sweep the floor described in control
Robot is worked with the common cleaning modes；
When the running parameter of the perceptibility signal of the gyroscope and the round brush is in abnormality, sweep the floor described in control
Robot is worked with the powerful cleaning modes；
When the running parameter that the perceptibility signal of the gyroscope is in the normal condition and the round brush is in the exception
When state, controls the sweeping robot and worked with the common cleaning modes, and control the sweeping robot and send out
There is abnormal prompt message in round brush；
When the running parameter that the perceptibility signal of the gyroscope is in the abnormality and the round brush is in described normal
When state, controls the sweeping robot and worked with the powerful cleaning modes.
2. the control method of sweeping robot as described in claim 1, which is characterized in that when persistently being examined in the first preset time
When the amount of dust of the dust inlet of the round brush measured is less than the first preset value, control described in the sweeping robot entrance
Low noise cleaning modes, wherein
When the amount of dust of the dust inlet for the 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 the sweeping robot reduces.
3. the control method of sweeping robot as claimed in claim 2, which is characterized in that when persistently being examined in the first preset time
When the amount of dust of the dust inlet of the round brush measured is more than or equal to first preset value, the sweeping robot is controlled
Into the common cleaning modes.
4. the control method of sweeping robot as described in claim 1, which is characterized in that according to the fortune of the sweeping robot
Perceptibility signal and the institute of the gyroscope are judged on the basis of the row time or on the basis of the travel distance of the sweeping robot
Whether the running parameter for stating round brush is in the normal condition.
5. a kind of control device of sweeping robot, which is characterized in that including：
First amount of dust detection module, the amount of dust of the dust inlet of the round brush for detecting the sweeping robot；
Second amount of dust detection module, the amount of dust of the dust inlet of the dirt box for detecting the sweeping robot；
Control module, the control module is according to the dust inlet of the round brush being continuously detected in the first preset time
Amount of dust controls the switching of the operating mode of the sweeping robot, wherein the operating mode include common cleaning modes and
Low noise cleaning modes, and when the sweeping robot enters the low noise cleaning modes, the control module is according to the
Dust suction electricity of the amount of dust of the dust inlet for the dirt box being continuously detected in two preset times to the sweeping robot
The rotating speed of machine is controlled；
Wherein, the operating mode further includes powerful cleaning modes, and the control device further includes first detection module and second
Detection module, the perceptibility signal of gyroscope of the first detection module for detecting the sweeping robot, described second
Detection module is used to detect the running parameter of the round brush of the sweeping robot, wherein
When the running parameter of the perceptibility signal of the gyroscope and the round brush is in normal condition, the control module
The sweeping robot is controlled to work with the common cleaning modes；
When the running parameter of the perceptibility signal of the gyroscope and the round brush is in abnormality, the control module
The sweeping robot is controlled to work with the powerful cleaning modes.
6. the control device of sweeping robot as claimed in claim 5, which is characterized in that when lasting in the first preset time
When the amount of dust of the dust inlet of the round brush detected is less than the first preset value, sweep the floor described in the control module control
Robot enters the low noise cleaning modes, wherein
When the amount of dust of the dust inlet for the dirt box being continuously detected in the second preset time is less than the second preset value,
The rotating speed for the round brush motor and dust sucting motor that the control module controls the sweeping robot reduces.
7. the control device of sweeping robot as claimed in claim 6, which is characterized in that when lasting in the first preset time
When the amount of dust of the dust inlet of the round brush detected is more than or equal to first preset value, the control module control
The sweeping robot enters the common cleaning modes.
8. the control device of the sweeping robot as described in any in claim 5 to 7, which is characterized in that the control module
It is additionally operable to：
When the running parameter that the perceptibility signal of the gyroscope is in the normal condition and the round brush is in the exception
When state, the control module is controlled the sweeping robot and is worked with the common cleaning modes, and is swept described in control
Floor-washing robot sends out round brush and abnormal prompt message occurs；
When the running parameter that the perceptibility signal of the gyroscope is in the abnormality and the round brush is in described normal
When state, the control module is controlled the sweeping robot and is worked with the powerful cleaning modes.
9. the control device of sweeping robot as claimed in claim 5, which is characterized in that the control module is swept according to
The sense of the gyroscope is judged on the basis of the run time of floor-washing robot or on the basis of the travel distance of the sweeping robot
Whether the running parameter of degree of knowing signal and the round brush is in the normal condition.
10. a kind of sweeping robot, which is characterized in that including the sweeping robot as described in any one of claim 5-9
Control device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2014108177122 | 2014-12-24 | ||
| CN201410817712 | 2014-12-24 |
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| CN106137043B true CN106137043B (en) | 2018-09-11 |
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| CN201510128462.6A Active CN106137043B (en) | 2014-12-24 | 2015-03-23 | The control method and control device of sweeping robot and sweeping robot |
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| CN107041716B (en) * | 2017-04-18 | 2020-03-20 | 江苏美的清洁电器股份有限公司 | Dust collector and noise reduction method thereof |
| CN109837852B (en) * | 2017-11-29 | 2024-04-19 | 宇通客车股份有限公司 | Sanitation vehicle self-adaptive cleaning control method, new energy sanitation vehicle and cleaning system thereof |
| CN108594692A (en) * | 2017-12-18 | 2018-09-28 | 深圳市奇虎智能科技有限公司 | A kind of cleaning equipment control method, device, computer equipment and storage medium |
| CN110946524B (en) * | 2018-09-26 | 2021-11-12 | 添可智能科技有限公司 | Surface cleaning machine and self-cleaning method thereof |
| CN110946510B (en) * | 2018-09-27 | 2021-08-10 | 佛山市顺德区美的电热电器制造有限公司 | Switching method and switching device for working modes of sweeping robot |
| CN109760043B (en) * | 2018-12-05 | 2021-07-20 | 北京百度网讯科技有限公司 | Mobile robot control method, device, equipment and storage medium |
| CN110179398A (en) * | 2019-06-13 | 2019-08-30 | 小狗电器互联网科技（北京）股份有限公司 | A kind of dust catcher control method, device and dust catcher |
| CN110226899A (en) * | 2019-06-13 | 2019-09-13 | 小狗电器互联网科技（北京）股份有限公司 | A kind of dust catcher control method, device and dust catcher |
| CN112022024B (en) * | 2020-07-16 | 2022-10-04 | 美智纵横科技有限责任公司 | Self-moving cleaning device and self-moving cleaning device control method |
| CN115474873A (en) * | 2021-06-16 | 2022-12-16 | 苏州瑞久智能科技有限公司 | Control method for self-cleaning of floor cleaning machine and floor cleaning system |
| CN113633223B (en) * | 2021-08-03 | 2022-12-06 | 杭州华橙软件技术有限公司 | Cleaning method, cleaning device, storage medium and electronic device |
| CN115868856A (en) * | 2021-09-28 | 2023-03-31 | 苏州乐图智能科技有限公司 | Cleaning robot and control method thereof |
| CN114052602B (en) * | 2021-12-17 | 2024-03-12 | 珠海格力电器股份有限公司 | Separating device, dirt treatment device, cleaning apparatus and control method thereof |
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