CN106612016A - Floor sweeping robot, intelligent floor sweeping robot system and control method thereof - Google Patents
Floor sweeping robot, intelligent floor sweeping robot system and control method thereof Download PDFInfo
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- CN106612016A CN106612016A CN201510689102.3A CN201510689102A CN106612016A CN 106612016 A CN106612016 A CN 106612016A CN 201510689102 A CN201510689102 A CN 201510689102A CN 106612016 A CN106612016 A CN 106612016A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 102
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 230000005611 electricity Effects 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 20
- 239000000428 dust Substances 0.000 claims description 13
- 230000008054 signal transmission Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 5
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 3
- 229910001416 lithium ion Inorganic materials 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000006698 induction Effects 0.000 abstract description 3
- 229910052751 metal Inorganic materials 0.000 abstract description 3
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- 210000001503 joint Anatomy 0.000 abstract 1
- 238000003032 molecular docking Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 241001062009 Indigofera Species 0.000 description 1
- 241001417527 Pempheridae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
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- 238000011835 investigation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- H02J5/005—
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- H02J7/025—
Abstract
The invention provides a floor sweeping robot which comprise a robot body and a wireless charging unit. The wireless charging unit charges a rechargeable battery in the robot body when the electric quantity of the rechargeable battery is too low. The invention also provides an intelligent floor sweeping robot system which comprises the floor sweeping robot and a wireless charger, and the floor sweeping robot and the wireless charger cooperate to realize wireless charging. In addition, the invention further provides a control method of the system. The floor sweeping robot uses wireless charging, is smaller in size, can control movement and induction positions automatically needless of butt joint of metal contacts, and is convenient, safe and reliable.
Description
Technical field
The present invention relates to a kind of household cleaning machine people, more particularly to a kind of it is capable of sweeping the floor for wireless charging
Robot.
Background technology
Nowadays, sweeping robot is the one kind popularized used in domestic robot the most.Functionally,
Sweeping robot is equivalent to the automatic cleaner with simple path planning and obstacle function.Its work(of sweeping the floor
Can be essentially identical with vacuum cleaner：Dust is gathered, is swept up to body dust suction area by the round brush and hairbrush of bottom
At the opening in domain, body afterbody has high-power fan to produce low pressure suction, and dust debris are sucked sweep-up pipe
Road.There is the tissue layer of densification between pipeline afterbody and fan, can stop that lower dust debris stay in stored ash box
In, and allow air to pass through.Therefore, with the motion of body, by the grey trifle in the world under body movement path
In thing inhalation machine body, filtration is remained in stored ash box.Sweeping robot is furnished with console model charging device,
When robot electric quantity is not enough, self-navigation to charging device completes dock charging.
Due to using in home environment, the dock of sweeping robot charges and has the disadvantage that：
1st, due to needing docking mechanism, volume is larger for dock charging device, takes larger domestic space.
And when docking, sweeping robot may clash into charging device so as to change in location, Jing
Often need manually to ajust charging device.
2nd, dock charging device needs exposed hard contact, and home environment is it is possible that liquid flies
Splash or situations such as child touches, be susceptible to danger.
3rd, when sweeping robot charges, it is necessary to be accurately aimed at the hard contact of charging device, send out sometimes
Raw alignment failure, it is impossible to the situation of charging.
The content of the invention
Present invention seek to address that at least one of the problems referred to above, there is provided it is a kind of take domestic space it is little,
During docking be not in Impact Problems, without the need for bare metal contact, it is safe and reliable and without the need for alignment gold
Category contact, be not in situation about cannot charge because of misalignment contact sweeping robot.
For achieving the above object, the present invention is employed the following technical solutions：
The invention provides a kind of sweeping robot, including robot body and wireless charging unit；Institute
Stating robot body includes rechargeable battery, motor drive module and dust extractor, and the rechargeable battery is
The robot body provides electric energy, and the motor drive module is for the rechargeable battery is provided
Electric energy is converted to mechanical energy, to drive the movement of sweeping robot and drive the dust extractor work；
The wireless charging unit includes electric power detection module, the first locating module, the first control module, nothing
Heat input receiver module and wireless signal transmission module；The electric power detection module is used to detect the electricity that charges
The information about power in pond；First locating module be used for detect the wireless energy receiver module relative to
The positional information of wireless charging device；First control module receives what electric power detection module transmission came
The positional information that information about power and the transmission of the first locating module come, and according to information about power and positional information
Controlling the motor drive module drives the sweeping robot to move to the wireless charging device；Institute
State wireless energy receiver module to be connected with the rechargeable battery, for wireless receiving wireless charging device
The alternating magnetic field is simultaneously converted to unidirectional current and is supplied to the rechargeable battery by the alternating magnetic field of output；It is described
Wireless signal transmission module receives positional information and the electric power detection module biography that the transmission of the first locating module comes
The information about power for coming is passed, and the positional information and information about power are passed to into wireless charging device, to control
Making the wireless charging device carries out wireless charging to the sweeping robot.
Preferably, the wireless signal transmission module is bluetooth module.
Further, the wireless energy receiver module includes energy acceptance circuit and the first rectification circuit；
The energy acceptance circuit is used for the alternating magnetic field for receiving charging device output and changes the alternating magnetic field
For alternating current；First rectification circuit is connected between the energy acceptance circuit and rechargeable battery,
The rechargeable battery is supplied to after the alternating current that energy acceptance circuit is produced is converted to directly electricity.
Preferably, the rechargeable battery is lithium ion battery.
Further, the wireless charging unit is located at the bottom of sweeping robot.
Additionally, on the basis of above-mentioned sweeping robot, the present invention is it is further proposed that a kind of intelligence
Sweeping robot system, including sweeping robot and wireless charging device, wherein, the machine of sweeping the floor
The sweeping robot that the artificial present invention is provided；
The wireless charging device includes wireless energy transmission module, reception of wireless signals module and second
Control module；
The wireless energy transmission module is electrically connected with city by power line, for civil power is changed and defeated
Go out alternating magnetic field；The reception of wireless signals module is used to receive the wireless signal transmission module transmission
The positional information for coming and information about power, and the positional information and information about power are passed to into the second control
Module；Second control module is used to receive the position letter that the reception of wireless signals module transmission comes
Breath and information about power, carry out wireless charging to the sweeping robot to control the wireless charging device.
Further, the wireless energy transmission module includes that energy radiating circuit, inverter and second are whole
Current circuit, second rectification circuit are connected between civil power and inverter, by commercial power rectification into direct current
Electricity is simultaneously exported to inverter；The inverter is connected between the second rectification circuit and energy radiating circuit,
By the second rectification circuit export DC inverter is into alternating current and exports to energy radiating circuit；It is described
The alternating current that inverter is exported is converted into alternating magnetic field and is exported by energy radiating circuit.
Further, present invention also offers a kind of control based on above-mentioned Intelligent robot for sweeping floor system
Method, including：
The electricity of detection rechargeable battery；
Positional information of the detection wireless energy receiver module relative to wireless charging device；
When the electricity of rechargeable battery is less than setting value, the first control module is according to the positional information control
Sweeping robot processed is moved to the wireless charging device；
When the positional information meets setting value, the second control module controls wireless charging device to sweeping
Floor-washing robot carries out wireless charging；
When the electricity of rechargeable battery is greater than or equal to setting value, the second control module control wireless charging
Device stops carrying out sweeping robot wireless charging, and the first control module control sweeping robot leaves
Wireless charging device.
The beneficial effects of the present invention is：Sweeping robot and Intelligent robot for sweeping floor that the present invention is provided
System, make use of the principle of wireless charging；By wireless charging unit is arranged on sweeping robot,
Which is coordinated with wireless charging device, realize the wireless charging to sweeping robot.In wireless charging
In electric process, as long as sweeping robot is moved in the range of the setting charge position on wireless charging device,
Wireless charging can be carried out；Sweeping robot and charging device need not be allowed to be docked, would not also be sent out
Raw collision, occurs so as to situation about manually ajusting is reduced or avoided.Meanwhile, wireless charging is without the need for arranging
Hard contact, one need not arrange exposed hard contact, will not cause danger；In addition, filling
In electric process, it is not required that carry out the alignment of hard contact, be reduced or avoided because sweeping robot with
Misalignment hard contact between charging device and lead to not charge situation occur.
Description of the drawings
Fig. 1 is the structured flowchart of the specific embodiment of the Intelligent robot for sweeping floor system that the present invention is provided.
Fig. 2 is the upward view of the sweeping robot that the present invention is provided.
Fig. 3 is the left view of the sweeping robot that the present invention is provided.
Fig. 4 is the combination schematic diagram of the sweeping robot that the present invention is provided and wireless charging device.
Reference：
Robot body 10；Rechargeable battery 12；Motor drive module 14；Dust extractor 16；Nothing
Line charhing unit 20；Electric power detection module 22；First locating module 24；First control module
26；Wireless energy receiver module 28；Energy acceptance circuit 282；First rectification circuit 284；
Wireless signal transmission module 200；Wireless charging device 30；Wireless energy transmission module 32；Energy
Amount radiating circuit 322；Inverter 324；Second rectification circuit 326；Reception of wireless signals module
34；Second control module 36.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, its
In from start to finish same or similar label represent same or similar element or have same or like work(
The element of energy.It is exemplary below with reference to the embodiment of Description of Drawings, it is intended to for explaining this
Invention, and be not considered as limiting the invention.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " length
Degree ", " width ", " thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " water
It is flat ", " top ", " bottom " " interior ", the orientation of the instruction such as " outward " or position relationship be based on side shown in the drawings
Position or position relationship, are for only for ease of the description present invention and simplify description, rather than indicate or imply
The device or element of indication must have specific orientation, with specific azimuth configuration and operation, therefore
It is not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying
Relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ",
The feature of " second " can be expressed or implicitly include one or more this feature.The present invention's
In description, " multiple " are meant that two or more, unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " setting ", " company
Connect ", the term such as " fixation " should be interpreted broadly, for example, it may be being fixedly connected, or removable
Connection is unloaded, or is integrally connected；Can be mechanically connected, or electrically connect；Can be direct
It is connected, it is also possible to be indirectly connected to by intermediary, can be the connection of two element internals.For
For one of ordinary skill in the art, above-mentioned term can be understood as the case may be in the present invention
Concrete meaning.
As shown in figure 1, the invention provides a kind of sweeping robot, including robot body 10 and nothing
Line charhing unit 20；As shown in Fig. 2 sweeping robot be one with chlamydate entirety, robot
Body 10 and wireless charging unit 20 are referred to positioned at the part of inside the shell；Wireless charging unit 20 can
According to specific wireless charging direction, to adjust its position on whole sweeping robot；For example,
For the ease of wireless charging is carried out from below sweeping robot, then the wireless charging unit 20 can set
Put in the lower section of whole sweeping robot.
Wherein, robot body 10 includes rechargeable battery 12, motor drive module 14 and dust extractor
16, rechargeable battery 12 provides energy for whole sweeping robot, that is, carries for robot body 10
For electric energy；Motor drive module 14 is one and the electric energy that rechargeable battery 12 is provided is converted to mechanical energy,
With the device for driving the movement of sweeping robot and driving the work of dust extractor 16, such as motor.Together
When, dust extractor 16 under the drive of motor drive module 14, the dust on cleaning ground automatically
And rubbish.
As shown in figure 1, above-mentioned wireless charging unit 20 includes the positioning mould of electric power detection module 22, first
Block 24, the first control module 26, wireless energy receiver module 28 and wireless signal transmission module 200.
Wherein, electric power detection module 22 is used for the information about power for detecting rechargeable battery 12；The electricity is examined
Module 22 is surveyed for a sensor that can detect 12 electricity of rechargeable battery, the electricity of induction charging battery 12
The voltage conversion for sensing simultaneously is exported by pressure for the signal of telecommunication.Referred to herein as information about power, can be with
It is electricity, or the other specification information of electricity can be converted into.
First locating module 24 is used to detect the wireless energy receiver module 28 relative to wireless charging
The positional information of device 30；Specifically, above-mentioned first locating module 24 is a position sensor,
By the position sensor induction wireless energy acceptance module 28 relative to wireless charging device 30 away from
From and orientation, that is, sensing sweeping robot and wireless charging device 30 between position relationship；
By the sensing of the position relationship, it is that the first control module 26 provides control foundation.More specifically, originally
In one specific embodiment of invention, above-mentioned first locating module 24 is a photoelectric sensor, by this
Photoelectric sensor, the first control module 26 can sense and judge sweeping robot and wireless charging device
30 position relationship；And it is possible to judge whether wireless charging unit 20 is located at wireless charging device
Correct position on 30, and then determine whether to be charged the sweeping robot.
Above-mentioned first control module 26 receives the information about power and first that the transmission of electric power detection module 22 comes
The positional information that the transmission of locating module 24 comes, and the motor is controlled according to information about power and positional information
Drive module 14 drives the sweeping robot to move to wireless charging device 30；Wireless energy is received
Module 28 is connected with rechargeable battery 12, for the alternation of the output of wireless receiving wireless charging device 30
The alternating magnetic field is simultaneously converted to unidirectional current and is supplied to the rechargeable battery 12 by magnetic field；Transmission of wireless signals
Module 200 receives the next positional information of the transmission of the first locating module 24 and electric power detection module 22 is transmitted
The information about power for coming, and the positional information and information about power are passed to into wireless charging device 30, to control
Wireless charging device processed 30 carries out wireless charging to sweeping robot.
Sweeping robot and Intelligent robot for sweeping floor system that the present invention is provided, make use of wireless charging
Principle；By wireless charging unit 20 is arranged on sweeping robot so as to wireless charging device 30
Coordinated, realized the wireless charging to sweeping robot.During wireless charging, machine of sweeping the floor
As long as people is moved in the range of the setting charge position on wireless charging device 30, you can carry out wireless charging
Electricity；Sweeping robot and charging device need not be allowed to be docked, would not also be collided, so as to subtract
Less or the situation that avoids manually ajusting occurs.Meanwhile, wireless charging need not arrange hard contact, one
Exposed hard contact need not be set, will not be caused danger；In addition, in charging process, also not
Need to carry out the alignment of hard contact, be reduced or avoided because between sweeping robot and charging device not
The situation for being directed at hard contact and leading to not charge occurs.
In one embodiment of the present of invention, above-mentioned wireless signal transmission module 200 can be bluetooth module,
By above-mentioned bluetooth module all being installed on sweeping robot and wireless charging device 30, realize sweeper
Communication between device people and wireless charging device 30, so as to realize data interaction and control.By the indigo plant
Tooth module, can not only realize communication, and can be charged identification, metal suspicious item investigation and charge
The functions such as power calibration.
As shown in figure 1, above-mentioned wireless energy receiver module 28 includes energy acceptance circuit 282 and first
Rectification circuit 284.Wherein, energy acceptance circuit 282 is used to receive the output of wireless charging device 30
The alternating magnetic field is simultaneously converted to alternating current by alternating magnetic field；By being connected to energy acceptance circuit 282
The rectification of the first rectification circuit 284 and rechargeable battery 12 between, energy acceptance circuit 282 is produced
Alternating current be converted to direct current after be supplied to rechargeable battery 12.Such as conventional wireless charging principle, receive
The alternating magnetic field that transmitting terminal is launched is converted to electric energy by a charge coil by end, that is to say exchange
Electricity；Again by rectification, the unidirectional current being changed into required for system.
In the present invention, above-mentioned rechargeable battery 12 is conventional secondary cell, such as lithium ion battery.
As shown in Figures 2 to 4, in one embodiment of the invention, in order to preferably with wireless charging Denso
Put 30 to be coordinated, the wireless charging unit 20 on sweeping robot is arranged on into sweeping robot
Bottom；Thus, the discharger on wireless charging device 30 be just arranged on it is as shown in Figure 4 positioned at sweeping
Horizontal component below floor-washing robot.This combination, can increase the wireless of sweeping robot as far as possible
Charging area after the combination of charhing unit 20 and wireless charging device 30, increases charge rate.
Certainly, in addition to the above, wireless charging unit 20 is arranged on before sweeping robot
End, vertically arranges wireless charging unit 20；Meanwhile, the transmitting terminal on wireless charging device 30
Vertical direction is also disposed at, the combination, it is also possible to realize the charging to the sweeping robot.
As shown in figure 1, present invention also offers a kind of Intelligent robot for sweeping floor system, which includes this
The sweeping robot of bright offer and wireless charging device corresponding with the sweeping robot 30.
Wherein, above-mentioned wireless charging device 30 includes wireless energy transmission module 32, reception of wireless signals
Module 34 and the second control module 36.
Wireless energy transmission module 32 is electrically connected with city by power line, for changing and exporting civil power
Alternating magnetic field；Reception of wireless signals module 34 is used to receive what wireless signal transmission module 200 sent
Positional information and information about power, and positional information and information about power are passed to into the second control module 36；
Second control module 36 is used to receive positional information and the electricity that the transmission of reception of wireless signals module 34 comes
Information, carries out wireless charging to sweeping robot to control the wireless charging device 30.
In an alternative embodiment of the invention, more specifically, above-mentioned wireless energy transmission module 32 includes
Energy radiating circuit 322, inverter 324 and the second rectification circuit 326, the second rectification circuit 326 connect
It is connected between civil power and inverter 324, by commercial power rectification is into unidirectional current and exports to inverter 324；It is inverse
Become device 324 to be connected between the second rectification circuit 326 and energy radiating circuit 322, by the second rectification
Circuit 326 output DC inverter is into alternating current and exports to energy radiating circuit 322；Energy is launched
The alternating current that inverter 324 is exported is converted into alternating magnetic field and is exported by circuit 322.
Meanwhile, present invention also offers a kind of control method based on above-mentioned Intelligent robot for sweeping floor system,
First, detect the information about power and wireless energy receiver module 28 of rechargeable battery 12 relative to wireless charging
The positional information of electric installation 30.The detection of above-mentioned information about power, is the electricity inspection provided by the present invention
Survey what module 22 was realized；And positional information, it is complete by the first locating module 24 of present invention offer
Into.
After detecting above- mentioned information, the first control module 26 receives above-mentioned information about power, when the electricity that charges
When the electricity in pond 12 is less than the first setting value, the first control module 26 is controlled according to above-mentioned positional information
Sweeping robot is moved to wireless charging device 30；That is, when the not enough power supply of rechargeable battery 12,
First control module, 26 controlled motor drive module 14 drives sweeping robot to wireless charging device 30
It is mobile, to carry out wireless charging.
During movement, the first locating module 24 continues test position information, and the information is passed
The second control module 36 is passed, when positional information meets setting value, i.e., wireless charging unit 20 is moved
To above wireless charging device 30, and when in the range of acceptable charging, the second control module 36
Control wireless charging device 30 carries out wireless charging to sweeping robot.
During wireless charging, electric power detection module 22 continues the electricity of detection rechargeable battery 12,
When the electricity of rechargeable battery 12 is greater than or equal to the second setting value, the control nothing of the second control module 36
Line charging device 30 stops carrying out wireless charging to sweeping robot, meanwhile, the first control module 26
Control sweeping robot leaves wireless charging device 30.
First setting value of above-mentioned electricity, be according to actual product setting 12 electricity of rechargeable battery it is too low,
The minimum that needs are charged；And after the second setting value of above-mentioned electricity is then full of for rechargeable battery 12
Charge value.
As shown in figure 4, the wireless charging device 30 that the present invention is provided is a L-shaped structure；Need
During charging, sweeping robot is moved in a line of L-shaped wireless charging device 30, then by inspection
After surveying relevant information, start wireless charging.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ",
" specific example ", or the description of " some examples " etc. mean the concrete spy described with reference to the embodiment or example
Levy, structure, material or feature are contained at least one embodiment or example of the present invention.At this
In description, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.
And, the specific features of description, structure, material or feature can be in one or more any realities
Combined in applying example or example in an appropriate manner.
Although embodiments of the invention have been shown and described above, it is to be understood that above-mentioned reality
It is exemplary to apply example, it is impossible to be interpreted as limitation of the present invention, and one of ordinary skill in the art exists
Within the scope of the invention can be to above-described embodiment in the case of without departing from principle of the invention and objective
It is changed, changes, replacing and modification.
Claims (8)
1. a kind of sweeping robot, it is characterised in that including robot body (10) and wireless charging
Unit (20)；The robot body (10) includes rechargeable battery (12), motor drive module (14)
With dust extractor (16), the rechargeable battery (12) be the robot body (10) provide electric energy,
The motor drive module (14) is for being converted to machine by the electric energy that the rechargeable battery (12) is provided
Tool energy, to drive the movement of sweeping robot and drive the dust extractor (16) to work；
The wireless charging unit (20) including electric power detection module (22), the first locating module (24),
First control module (26), wireless energy receiver module (28) and wireless signal transmission module (200)；
The electric power detection module (22) is for detecting the information about power of rechargeable battery (12)；Described first
Locating module (24) is for detecting the wireless energy receiver module (28) relative to wireless charging Denso
Put the positional information of (30)；First control module (26) receives electric power detection module (22)
The positional information that the information about power and the first locating module (24) transmission that transmission comes comes, and according to electricity
Information and positional information control the motor drive module (14) and drive the sweeping robot to described
Wireless charging device (30) is mobile；The wireless energy receiver module (28) and the rechargeable battery
(12) connect, the alternating magnetic field exported for wireless receiving wireless charging device (30) simultaneously should
Alternating magnetic field is converted to unidirectional current and is supplied to the rechargeable battery (12)；The wireless signal transmission module
(200) positional information and electric power detection module (22) that the first locating module (24) transmission comes are received
The information about power that transmission comes, and the positional information and information about power are passed to into wireless charging device (30),
Wireless charging is carried out to the sweeping robot to control the wireless charging device (30).
2. sweeping robot according to claim 1, it is characterised in that the wireless signal is passed
Defeated module (200) is bluetooth module.
3. sweeping robot according to claim 1, it is characterised in that the wireless energy connects
Module (28) is received including energy acceptance circuit (282) and the first rectification circuit (284)；The energy
Receiving circuit (282) is for receiving alternating magnetic field that wireless charging device (30) is exported and by the alternation
Magnetic field is converted to alternating current；First rectification circuit (284) is connected to the energy acceptance circuit
(282) and rechargeable battery (12) between, the alternating current that energy acceptance circuit (282) is produced turns
The rechargeable battery (12) is supplied to after being changed to unidirectional current.
4. sweeping robot according to claim 1, it is characterised in that the rechargeable battery (12)
For lithium ion battery.
5. sweeping robot according to claim 1, it is characterised in that the wireless charging list
First (20) are positioned at the bottom of sweeping robot.
6. a kind of Intelligent robot for sweeping floor system, it is characterised in that including sweeping robot and wireless charging
Electric installation (30), the sweeping robot are the sweeping robot described in claim 1-5 any one；
The wireless charging device (30) is including wireless energy transmission module (32), reception of wireless signals module
(34) and the second control module (36)；
The wireless energy transmission module (32) is electrically connected with city by power line, for civil power is turned
Change and export alternating magnetic field；The reception of wireless signals module (34) is for receiving the wireless signal
Positional information and information about power that transport module (200) sends, and by the positional information and electricity
Information transmission gives the second control module (36)；Second control module (36) is for receiving the nothing
Positional information and information about power that line signal receiving module (34) transmission comes, to control the wireless charging
Electric installation (30) carries out wireless charging to the sweeping robot.
7. Intelligent robot for sweeping floor system according to claim 6, it is characterised in that the nothing
Heat input transmitter module (32) is whole including energy radiating circuit (322), inverter (324) and second
Current circuit (326), second rectification circuit (326) be connected to civil power and inverter (324) it
Between, by commercial power rectification is into unidirectional current and exports to inverter (324)；Inverter (324) connection
Between the second rectification circuit (326) and energy radiating circuit (322), by the second rectification circuit (326)
The DC inverter of output is into alternating current and exports to energy radiating circuit (322)；The energy transmitting
The alternating current that inverter (324) is exported is converted into alternating magnetic field and is exported by circuit (322).
8. a kind of control method of the Intelligent robot for sweeping floor system based on described in claim 6 or 7,
Characterized in that, including：
The information about power of detection rechargeable battery (12)；
Positional information of detection wireless energy receiver module (28) relative to wireless charging device (30)；
When the electricity of rechargeable battery (12) is less than setting value, the first control module (26) is according to institute
State positional information sweeping robot is controlled to the wireless charging device (30) movement；
When the positional information meets the first setting value, the second control module (36) control wireless charging
Electric installation (30) carries out wireless charging to sweeping robot；
When the electricity of rechargeable battery (12) is greater than or equal to the second setting value, the second control module (36)
Control wireless charging device (30) stops carrying out sweeping robot wireless charging, the first control module
(26) control sweeping robot and leave wireless charging device (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510689102.3A CN106612016A (en) | 2015-10-22 | 2015-10-22 | Floor sweeping robot, intelligent floor sweeping robot system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510689102.3A CN106612016A (en) | 2015-10-22 | 2015-10-22 | Floor sweeping robot, intelligent floor sweeping robot system and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN106612016A true CN106612016A (en) | 2017-05-03 |
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ID=58610906
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510689102.3A Pending CN106612016A (en) | 2015-10-22 | 2015-10-22 | Floor sweeping robot, intelligent floor sweeping robot system and control method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107370246A (en) * | 2017-07-27 | 2017-11-21 | 无锡昊瑜节能环保设备有限公司 | A kind of energy-conservation sweeping robot based on wireless charging function |
| CN108156183A (en) * | 2018-02-13 | 2018-06-12 | 青岛厚科信息工程有限公司 | Wireless charging secrecy sensing module and its electric power storage and information transferring method |
| CN108649707A (en) * | 2018-03-09 | 2018-10-12 | 哈尔滨工业大学深圳研究生院 | Underwater full angle wireless charging robot and underwater wireless charging system |
| CN109217484A (en) * | 2017-06-29 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | A kind of wireless charging alignment device and system |
| CN109864670A (en) * | 2019-04-04 | 2019-06-11 | 佛山市顺德区盛熙电器制造有限公司 | The automatic ground steam cleaning appliance of heat storage type and its working method |
| CN110673043A (en) * | 2019-09-30 | 2020-01-10 | 安克创新科技股份有限公司 | Method for current electric quantity of battery of self-moving device, self-moving device and control method |
| CN112510788A (en) * | 2020-12-10 | 2021-03-16 | 贵州电网有限责任公司 | Wireless charging sharing floor sweeping device |
| CN114504269A (en) * | 2020-11-17 | 2022-05-17 | 东芝生活电器株式会社 | Electric vacuum cleaner |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109217484A (en) * | 2017-06-29 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | A kind of wireless charging alignment device and system |
| CN109217484B (en) * | 2017-06-29 | 2021-09-03 | 沈阳新松机器人自动化股份有限公司 | Wireless charging alignment device and system |
| CN107370246A (en) * | 2017-07-27 | 2017-11-21 | 无锡昊瑜节能环保设备有限公司 | A kind of energy-conservation sweeping robot based on wireless charging function |
| CN108156183A (en) * | 2018-02-13 | 2018-06-12 | 青岛厚科信息工程有限公司 | Wireless charging secrecy sensing module and its electric power storage and information transferring method |
| CN108156183B (en) * | 2018-02-13 | 2023-08-15 | 青岛厚科信息工程有限公司 | Wireless charging secret sensing module and electric storage and information transmission method thereof |
| CN108649707A (en) * | 2018-03-09 | 2018-10-12 | 哈尔滨工业大学深圳研究生院 | Underwater full angle wireless charging robot and underwater wireless charging system |
| CN108649707B (en) * | 2018-03-09 | 2022-07-22 | 哈尔滨工业大学深圳研究生院 | Underwater full-angle wireless charging robot and underwater wireless charging system |
| CN109864670A (en) * | 2019-04-04 | 2019-06-11 | 佛山市顺德区盛熙电器制造有限公司 | The automatic ground steam cleaning appliance of heat storage type and its working method |
| CN110673043A (en) * | 2019-09-30 | 2020-01-10 | 安克创新科技股份有限公司 | Method for current electric quantity of battery of self-moving device, self-moving device and control method |
| CN114504269A (en) * | 2020-11-17 | 2022-05-17 | 东芝生活电器株式会社 | Electric vacuum cleaner |
| CN112510788A (en) * | 2020-12-10 | 2021-03-16 | 贵州电网有限责任公司 | Wireless charging sharing floor sweeping device |
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