CN106406300A - Cleaning device and control method thereof - Google Patents
Cleaning device and control method thereof Download PDFInfo
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- CN106406300A CN106406300A CN201510451288.9A CN201510451288A CN106406300A CN 106406300 A CN106406300 A CN 106406300A CN 201510451288 A CN201510451288 A CN 201510451288A CN 106406300 A CN106406300 A CN 106406300A
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Abstract
The invention provides a cleaning device and a control method thereof. The cleaning device includes an environmental sensor, a moving module and a processing unit. The environmental sensor is used for detecting an object. The moving module is used for driving the cleaning device to move. The processing unit is coupled to the environmental sensor and the moving module. The processing unit detects a trigger event while the cleaning device is in a moving mode. When the processing unit detects a trigger event, the cleaning device is driven by the moving module to a resident site. Furthermore, the processing unit determines whether an object cannot be detected based on a distance threshold at the resident site through the environmental sensor so as to determine to stay at the resident site through the moving module. The invention prevents the cleaning device from staying in areas where the cleaning device is hard to find.
Description
Technical field
The present invention relates to a kind of cleaning device, more particularly, to a kind of packaged type cleaning device and its controlling party
Method.
Background technology
With scientific and technological progress, all types of automatons has gradually replaced manpower.Controlled by automatic
Accurate, quick, high efficiency etc. that device processed can provide operate, and then for people bring many conveniences and
Human risks can be reduced.It was only capable of the automations such as the robotic arm or the robot that see in factory in the past
Control device, with factors such as the market demand, material cost reduction and technology maturations, these automation controls
System gradually transfers the development of conventional domestic electrical equipment to.Such as intelligent air-conditioning system, intelligent cooking machine, intelligent refrigerator
Deng controlling intelligent household appliances, by detecting internal or external information and executing its possessed work(in an automated manner
Energy.
Cleaning device (for example, sweep the floor, mop floor or dust-collecting robot etc.) is also controlling intelligent household appliances now
Sell fast product item one of them.The cleaning such as needed to be swept the floor by manpower in the past, mopped floor,
Nowadays many intelligent cleaning devices can also complete aforementioned operation.These packaged type cleaning devices can be on ground
Automatically advance on face, to execute the cleaning function that it possesses.In general, portable cleaning device is led to
Often can possess battery component or module, so that cleaning device can be wirelessly and freely in various environment
Advance.However, mechanical disorder or cannot search within the scheduled time (for example, 30,50 minutes etc.)
The problems such as cradle, all may allow cleaning device can not return cradle in time and be charged.In some feelings
In border, cleaning device possibly even can rest on the indiscoverable region of people.In this, offer in need
A kind of control method is avoiding foregoing problems.
Content of the invention
The present invention provides a kind of cleaning device and its control method, and it can avoid cleaning device to rest on people
Indiscoverable region.
The present invention provides a kind of control method of cleaning device, and this control method comprises the following steps.Clear
Clean device is under Move Mode, detects trigger event.When a triggered event is detected, go to residently
Point.Judge according to whether can't detect object apart from threshold values on resident place, to determine that stopping here stays
Stay place.
In an embodiment of the present invention, whether above-mentioned judgement foundation on resident place detects not apart from threshold values
Comprise the following steps to object.If according to object is detected apart from threshold values in detection site, forbid into
Enter detection site.
In an embodiment of the present invention, above-mentioned cleaning device includes environmental sensor.And judge resident
On place, foundation comprises the following steps apart from whether threshold values can't detect object.Judged by environmental sensor
First detects on direction and whether object is detected in threshold values.
In an embodiment of the present invention, the first above-mentioned detection direction includes described cleaning device direct of travel
The second detection direction in addition, and judge whether foundation can't detect object apart from threshold values on resident place
Comprise the following steps.If in detection site according to apart from threshold values and the second detection angle detecting to described
Object, then be prohibited from entering detection site.
The present invention provides a kind of cleaning device, and this cleaning device includes environmental sensor, mobile module and place
Reason unit.Environmental sensor is in order to detection object.Mobile module moves in order to drive cleaning device.Process
Unit couples environmental sensor and mobile module.And under cleaning device is in Move Mode, processing unit
Detection trigger event.When processing unit detects trigger event, cleaning device is driven by mobile module
Go to resident place.And, processing unit is judged on resident place according to distance by environmental sensor
Whether threshold values can't detect object, to determine to rest on resident place by mobile module.
In an embodiment of the present invention, if foundation detects apart from threshold values in environmental sensor detection site
Object, then processing unit no thoroughfare mobile module enter detection site.
In an embodiment of the present invention, above-mentioned environmental sensor judges on the first detection direction and apart from valve
Whether object is detected in value.
In an embodiment of the present invention, the first above-mentioned detection direction is included beyond cleaning device direct of travel
Second detection direction.And if environmental sensor is according to apart from threshold values and the second detection in detection site
To object, then no thoroughfare that mobile module enters detection site for processing unit for angle detecting.
In an embodiment of the present invention, above-mentioned trigger event includes receiving trigger, mistake is detected
One of generation, abnormity of power supply and entrance return pattern or a combination thereof.
Based on above-mentioned, cleaning device and its control method that the embodiment of the present invention is proposed, it passes through environment
Whether object is detected, there not to be the resident of object in threshold values in sensor judging distance threshold values
Stop on point.Thereby, people just need not worry that cleaning device rests on the furniture bottoms such as sofa, bed cabinet
Inferior indiscoverable position, and people can be easier to look for cleaning device.
It is that the features described above of the present invention and advantage can be become apparent, special embodiment below, and coordinate
Accompanying drawing is described in detail below.
Brief description
Fig. 1 is the assembly block diagram of the cleaning device according to one embodiment of the invention；
Fig. 2 is, according to one embodiment of the invention, a kind of control method flow chart is described；
Fig. 3 A～Fig. 3 C is the traveling example of cleaning device.
Description of reference numerals：
100、300：Cleaning device；
110：Environmental sensor；
130：Mobile module；
150：Processing unit；
S210～S250：Step；
310：Wardrobe；
350：Cradle.
Specific embodiment
Packaged type cleaning device (for example, sweeping robot, floor-mopping robot, automatically suction on the market
Dirt device etc.) mainly divide into have return charge function and do not have return two kinds of specifications of charge function.Right
For there is no the cleaning device returning charge function, it is possible to stop after cleaning terminates
In the region (for example, under the furniture bottom such as sofa, bed cabinet) allowing people to be difficult to look for.And for having
For returning the cleaning device of charge function, the problems such as looking for less than cradle or mechanical disorder, also may be used
These cleaning devices can be caused to rest on the aforementioned region being difficult to and looking for.Because aforementioned areas are typically in spy
Determine in scope (for example, 10,15 centimetres etc.), there is object or barrier (for example, sofa, bed cabinet etc.),
Therefore the embodiment of the present invention is (for example, to start and return charge mode, machine event in many trigger events
Barrier etc.) be triggered in the case of, by mobile for cleaning device to apart from (for example, 8,10,13 lis of threshold values
Rice etc.) in all there is no the place of object.Thereby, people just can not have object etc. easily to be sent out in surrounding
Cleaning device is looked in existing place.Multiple embodiments of the spirit meeting the present invention set forth below, application
The present embodiment person can carry out appropriateness adjustment according to its demand to these embodiments, is not limited solely to described below
In content.
Fig. 1 is the assembly block diagram of the cleaning device according to one embodiment of the invention.Refer to Fig. 1, clearly
Clean device 100 includes environmental sensor 110, mobile module 130 and processing unit 150.Cleaning device
100 can be the movable electronic device such as sweeping robot, floor-mopping robot, automatic cleaner, this
Invention does not limit its application mode.
Environmental sensor 110 can be imageing sensor, infrared inductor, laser sensor, ultrasonic
Wave sensor or electromagnetic sensor etc. pass through one or more sensing technology and detect external object or barrier
The sensor of (for example, furniture, the mankind, animal, wall etc.).For example, imageing sensor can obtain
Image, and judge cleaning device 100 in 15 centimetres and here by processing unit 150 analysis of the image
Whether there is object in image sensor visual scope (for example, 120 degree, 80 degree etc.).In another model
In example, infrared inductor is configured at the surface of cleaning device 100, to detect the detection with respect to ground
Whether deposit in 12 centimetres of direction (for example, on ground level with 80 degree of ground angle in the range of 100)
In object.
It should be noted that, according to different designs demand, application embodiment of the present invention person can be by environmental sensor
110 are configured at cleaning device 100 appearance or each position of inside (for example, is configured at cleaning device 100
On the surface of direct of travel, horizontal plane and overhead surface perpendicular to the ground etc.), and each environment
Sensor 110 may be configured to different sensing configuration (for example, distance sensing, detection direction, biographies
Sense scope etc.), the present invention is not any limitation as.
Mobile module 130 e.g. includes but are not limited to motor, tire etc. and can drive cleaning device 100
The component of the dynamic behaviours such as mobile, rotation.
Processing unit 150 can be central processing unit (Central Processing Unit；Hereinafter referred to as CPU)
There is chipset, microprocessor or microcontroller (the micro control unit of calculation function；Hereinafter referred to as
MCU).In embodiments of the present invention, processing unit 150 controls all runnings of cleaning device 100.
It should be noted that, according to different designs demand, cleaning device 100 can also be configured dust exhaust apparatus, hair
, in order to control the component to be cleaned by processing unit 150, the present invention is not limited for brush, glue brush etc.
System.
To facilitate understanding of the present embodiment of the invention operating process, below will describe this in detail for embodiment
The control method of bright cleaning device 100.Fig. 2 is, according to one embodiment of the invention, a kind of control method is described
Flow chart.Refer to Fig. 2, the method for the present embodiment is applied to the cleaning device 100 of Fig. 1.Hereinafter,
Every assembly in collocation cleaning device 100 is illustrated the control method described in the embodiment of the present invention.We
Each flow process of method can adjust therewith according to implementation situation, and is not limited to that.
In step S210, it is under Move Mode in cleaning device 100, processing unit 150 detection is touched
The event of sending out.In the present embodiment, trigger event includes receiving trigger, mistake generation, electricity is detected
Source is abnormal and enters one of return pattern or a combination thereof.
Specifically, Move Mode is, for example, and includes independence Move Mode, return charge mode etc. to move
Module 130 is just driving the pattern of cleaning device 100 movement.And trigger may be by artificial or from
Move startup and produce.For example, artificial startup is probably that cleaning device 100 receives user by remote control
The control signal that device sends.Automatic is probably processing unit 150 in (for example, the night scheduled time
10 points, 12 noon etc.), state (for example, cleaning terminate, scheduled time scope (for example,
15th, 30 minutes) in do not march to cradle or enter standby mode before (for example, 1,3 points of the scheduled time
Clock etc.) etc.) when, automatic trigger event.Cradle refers to provide cleaning device 100
The device of power supply.
Additionally, the problems such as motor failure, fan are motionless all may allow processing unit 150 mistake is detected
Occur, for example, cleaning device 100 separately configures warning system, can be different for motor rotary speed exception, fan
The abnormality such as normal is detected, and abnormality is reported to processing unit 150.And abnormity of power supply can
Can be cell voltage in cleaning device 100 be less than threshold voltage (for example, 15 volts, 5 volts etc.),
Electricity is less than percentage threshold values (for example, 10,15 etc.) or battery damage of Full Charge Capacity etc..
Additionally, the pattern of return is, for example, to return to cradle or any predetermined region or position, set according to difference
Meter demand can adjust and returns to place.
It should be noted that, according to different designs demand, trigger event possibly includes aforementioned one or more
The event of example is it is also possible to apply the trigger event that embodiment of the present invention person sets, the embodiment of the present invention
Do not limit trigger event.
In other words, processing unit 150 can first judge whether mobile module 130 is just driving cleaning device 100
To move, when cleaning device 100 is also during movement, to continue to determine whether trigger event is detected.
In step S230, when processing unit 150 detects trigger event, by mobile module 130
Cleaning device 100 is driven to go to resident place.Specifically, when processing unit 150 detects step S210
Described in one of them or a combination thereof of various trigger events when, processing unit 150 reacts on triggering thing
Part and control cleaning device to continue to move to by mobile module 130, and go to resident place.Wherein, stay
Stay place in lower section meeting elaborate.
In step s 250, processing unit 150 by environmental sensor 110 judge on resident place according to
Whether can't detect object according to apart from threshold values, to determine to rest on resident place by mobile module 130.
In the present embodiment, during cleaning device 100 goes to resident place, if in environmental sensor 110
According to object is detected apart from threshold values in detection site, then processing unit 150 no thoroughfare mobile module 110
Enter detection site.
In other words, during advancing, processing unit 150 can pass through environmentally sensitive to cleaning device 100
Device 110 continues or according to specific period (for example, every 3 seconds, 15 seconds, one minute etc.) thing to external world
Whether body is detected, and judge may be used in (for example, 15,20 centimetres etc.) apart from threshold values set in advance
Object is detected.And, when when being all not detected by object apart from threshold values environment sensor 110,
Processing unit 150 will control mobile module 130 to stop moving.Wherein, cleaning device 100 goes to and stays
Stay in the route in place, carry out detecting that present position is referred to as detection site instantly by environmental sensor 110.
In one embodiment, environmental sensor 110 judges at least one first detection direction and apart from valve
Whether object is detected in value.Specifically, according to the type of environmental sensor 110, detection configuration etc.
Different factors, environmental sensor 110 may with different detection directions, visual angle, detection range etc. externally
Boundary is detected.Possibly parallel with the cleaning device 100 direct of travel direction in this first detection direction,
Direction perpendicular to the ground or become (for example, 70 degree, 80 degree or wait of predetermined angle with ground on ground level
90 degree) become the direction of (70～100 degree or 60～130 degree etc.) predetermined angular range Nei with ground wherein
One or a combination set of.In some examples, processing unit 150 also can determine whether imageing sensor institute
In the image frame obtaining, whether certain objects (for example, sofa, cabinet for TV, wall etc.) occur, and
Judge the relative distance of the object in image frame and cleaning device 100 by depth information, to confirm this
Whether relative distance is within threshold values, and then judges whether object is detected.
In another embodiment, the first detection direction includes beyond cleaning device 100 direct of travel second
Detection direction.For example, (for example, direction perpendicular to the ground on ground level becomes predetermined angle with ground
60 degree, 85 degree or wait 90 degree) become with ground (60～90 degree or 70～120 degree in predetermined angular range
Deng) direction.And if environmental sensor 110 is according to apart from threshold values and the second detection in detection site
To object, then no thoroughfare that mobile module 130 enters detection site for processing unit 150 for angle detecting.Mat
This, the embodiment of the present invention is just avoided that cleaning device 100 enters the short furniture such as sofa, bed cabinet
Beneath.
It should be noted that, processing unit 150 can directly pass through environmentally sensitive when trigger event is detected
Device 110 judges whether object is detected.If environmental sensor 110 detects object, processing unit 150
Control mobile module 130 to leave current location immediately, and forbid that cleaning device 100 is again introduced into afterwards
This region.On the other hand, if environmental sensor 110 is not detected by object, processing unit 150 will
Control cleaning device 100 during follow-up traveling, being prohibited from entering environmental sensor can be in threshold values
The region of object is detected.
Additionally, the mode that processing unit 150 no thoroughfare mobile module 130 enters detection site is, for example,
By mobile module 130 rotate the predetermined anglec of rotation (for example, 180 degree, 60 degree, 90 degree etc.) or with
Machine rotation after continue to advance forward, or directly toward previous direct of travel predetermined direction of advance (for example,
Differ with previous direct of travel 180 degree, 720 degree, 90 degree etc.) continue on, as long as sanitizer cartridge can be made
Put 100 not detection object in threshold values any move mode, the embodiment of the present invention is not any limitation as.
Additionally, according to different designs demand, processing unit 150 be probably the scheduled time (for example, 3 minutes,
15 minutes, after 20 minutes etc.), cell voltage or electricity be less than pre-set threshold value (for example, voltage be less than
12 volts, electricity be less than percent 5 of Full Charge Capacity etc.) or (for example, 10 meters, 15 meters of travel distance
Deng) all judge to be not detected by object in the case of, just control mobile module 130 to stop moving, and work as
Lower present position is then referred to as resident place.Or, in some examples, cradle is also set to stay
Stay place.
Fig. 3 A～Fig. 3 C is the traveling example of cleaning device.Please also refer to Fig. 3 A, shown by Fig. 3 A
Cleaning device 300, wardrobe 310 and cradle 350 etc. be all only for example explanation, and and be not used to
The limitation embodiment of the present invention.Cleaning device 300 is likely to be of identical in the cleaning device 100 of Fig. 1 or phase
As assembly and module.There is wardrobe 310 in the travel path returning cradle 350 in cleaning device 300.
Continue referring to Fig. 3 B, cleaning device 300 is e.g. had been received by user and launched by remote control
The control signal going out, and cleaning device 300 is detected by the infrared inductor on the side of being configured thereon that surface
There is object to difference apart from D (for example, 10 centimetres) place, and differ apart from D less than apart from threshold values 15
Centimetre.Please referring next to Fig. 3 C, cleaning device 300 leaves wardrobe 310 after ratating 90 degrees to the right.
In order to help understand the detailed process of the present embodiment, it is directed to individually below faced by cleaning device 100 institute
Different situations enumerate many embodiments to illustrate.It should be noted that, environment that following examples are applied,
Parameter or setting etc. are only that exemplary applications are described, but are not used to limit to the embodiment of the present invention.
In a situation, cleaning device 100 receives user to be believed by the control that remote control is launched
Number, and processing unit 150 starts and top object perpendicular to the ground is examined according to this control signal
The infrared inductor surveyed.Then, processing unit 150 controls cleaning device 100 to forbid entering short (example
As with ground at a distance of less than 13 centimetres) wardrobe under.
In another situation, when cleaning device 100 detects mistake generation, cleaning device 100 can be directly
The mobile region to cradle, and stop moving.
In another situation, cleaning device 100 is before cleaning terminates, if not detecting during cleaning
To cradle, then cleaning device 100 will not start return pattern, but enters standby mode.Entering
Before standby mode 3 minutes, cleaning device 100 can automatic imageing sensor, wherein this image biography
Sensor can get with ground angle 80 to 150 degree in the range of image.And enter back into before standby mode 3
In minute, cleaning device 100 judges whether deposit in 12 centimetres according to the image accessed by imageing sensor
In object, to avoid enter into the region that there is object in the range of image sensor visual.
In another situation, during cleaning in, due to cell voltage too low (for example, less than 15 volts
Special), cleaning device 100 can enter return charge mode to look for cradle.And if cleaning pattern
During, cleaning device 100 is not detected by cradle, then cleaning device 100 may only be allowed into
Enter return pattern 1 minute.Cleaning device 100 Yi Dan enter return pattern after, will automatic infrared
Line inductor, to carry out object detection to becoming with ground in 80～100 degree of angular range on ground level, and
Forbid after object is detected in 12 centimetres being again introduced into the region of this object presence.
In another situation, under returning charge mode, it is low that cleaning device 100 judges whether it is located at immediately
Under the furniture cabinet of short (for example, with ground at a distance of less than 8～13 centimetres).Cleaning device 100 is once
Leave or natively stay out tool cabinet residing for region, will automatic ultrasonic sensor, with detect
Become with ground on ground level and whether there is object in 14 centimetres on the direction of 80 degree of angles, and prohibit according to this
Only enter the region that object exists.
In another situation, the fan motor fault of cleaning device 100, it can enter return charge mode,
And automatically turn on laser sensor, become with ground on ground level in 85 degree of angle aspects at 10 lis with detecting
Rice in whether there is object, with forbid cleaning device 100 enter in moving process short (for example, with
Ground is at a distance of less than 10 centimetres) furniture cabinet under.Additionally, moving to cradle when cleaning device 100 moves
After moving to cradle (for example, at a distance of 15 centimetres), just stop mobile and enter standby mode.
In sum, the cleaning device of the embodiment of the present invention and its control method, detect in cleaning device
When user's remote control startup, mistake occur, cleaning pattern such as terminates at the trigger event, automatically before
Toward resident place.Additionally, during cleaning device marches to resident place, if detecting apart from model
Enclose interior there is object, then forbid that cleaning device enters region residing for this object.And if environmental sensor configuration
In cleaning device overhead surface, then also it is avoided that cleaning device movement to furniture such as sofa, wardrobes
Lower section.Thereby, the cleaning device of the embodiment of the present invention is applicable to have return charge function and does not have
Return two kinds of specifications of charge function, and allow user to be easier to look for cleaning device.
Finally it should be noted that：Various embodiments above is only in order to illustrating technical scheme rather than right
It limits；Although being described in detail to the present invention with reference to foregoing embodiments, this area common
Technical staff should be understood：It still can be modified to the technical scheme described in foregoing embodiments,
Or equivalent is carried out to wherein some or all of technical characteristic；And these modifications or replacement, and
Do not make the scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.
Claims (10)
1. a kind of control method of cleaning device is it is characterised in that include：
It is under Move Mode in described cleaning device, detect trigger event；
When described trigger event is detected, go to resident place；And
Judge according to whether can't detect object apart from threshold values on described resident place, to determine to rest on
Described resident place.
2. control method according to claim 1 is it is characterised in that judge in described resident place
On include according to the described step that whether can't detect described object apart from threshold values：
If described object is detected according to described apart from threshold values in detection site, forbid entering described inspection
Geodetic point.
3. control method according to claim 1 is it is characterised in that described cleaning device includes ring
Border sensor, and judge whether can't detect described thing according to described apart from threshold values on described resident place
The step of body includes：
Judged at least one first detection direction by described environmental sensor and described in threshold values whether
Described object is detected.
4. control method according to claim 3 is it is characterised in that described first detection direction is wrapped
Include the second detection direction beyond described cleaning device direct of travel, and judge on described resident place according to
Include according to the described step that whether can't detect described object apart from threshold values：
If in detection site according to described apart from threshold values and described second detection angle detecting to described thing
Body, then forbid entering described detection site.
5. control method according to claim 1 is it is characterised in that described trigger event includes connecing
Receive trigger, mistake generation, abnormity of power supply is detected and enter one of return pattern or a combination thereof.
6. a kind of cleaning device is it is characterised in that include：
Environmental sensor, in order to detection object；
Mobile module, in order to drive described cleaning device to move；And
Processing unit, is coupled to described environmental sensor and described mobile module, wherein in described sanitizer cartridge
Put and be under Move Mode, described processing unit detects trigger event, when described processing unit detects institute
When stating trigger event, described cleaning device is driven to go to resident place by described mobile module, and described
By described environmental sensor, processing unit judges whether foundation detects apart from threshold values on described resident place
Less than object, to determine to rest on described resident place by mobile module.
If 7. cleaning device according to claim 6 is it is characterised in that in described environmental sensor
Described object is detected according to described apart from threshold values, then described processing unit no thoroughfare institute in detection site
State mobile module and enter described detection site.
8. cleaning device according to claim 6 is it is characterised in that described environmental sensor judges
On at least one first detection direction and described described object whether is detected in threshold values.
9. cleaning device according to claim 8 is it is characterised in that described first detection direction is wrapped
Include the second detection direction beyond described cleaning device direct of travel, and if in detection site described environment
Sensor according to described apart from threshold values and described second detection angle detecting to described object, then described place
No thoroughfare that described mobile module enters described detection site for reason unit.
10. cleaning device according to claim 6 is it is characterised in that described trigger event includes
Receive trigger, mistake generation, abnormity of power supply is detected and enter one of return pattern or its group
Close.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510451288.9A CN106406300B (en) | 2015-07-28 | 2015-07-28 | Cleaning device and control method thereof |
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|---|---|---|---|
| CN201510451288.9A CN106406300B (en) | 2015-07-28 | 2015-07-28 | Cleaning device and control method thereof |
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Cited By (1)
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| CN108628303A (en) * | 2017-03-24 | 2018-10-09 | 卡西欧计算机株式会社 | Self-discipline mobile device, self-discipline moving method and program recorded medium |
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