CN109083058A - Automatic suction and blowing device - Google Patents
Automatic suction and blowing device Download PDFInfo
- Publication number
- CN109083058A CN109083058A CN201710448683.0A CN201710448683A CN109083058A CN 109083058 A CN109083058 A CN 109083058A CN 201710448683 A CN201710448683 A CN 201710448683A CN 109083058 A CN109083058 A CN 109083058A
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- Prior art keywords
- vaccum
- pressure
- blowing device
- automatic suction
- controller
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of automatic suction and blowing device includes pressure-vaccum main body；Walking component, is set to the pressure-vaccum bottom part body；Pressure-vaccum attachment is coupled in the pressure-vaccum main body；Driving assembly is set in the pressure-vaccum main body and connect with the walking component and the pressure-vaccum accessory drive；And controller, it drives the walking component to walk in working region and the pressure-vaccum attachment is driven to execute pressure-vaccum for controlling the driving component and work.In automatic suction and blowing device of the invention, intelligent control is carried out to driving assembly by controller, to realize autonomous and pressure-vaccum work of the pressure-vaccum main body in working region, so that automatic suction and blowing device is during carrying out cleaning work, without using person's real-time operation or monitoring, the effectively both hands of liberation people, and greatly improve cleaning convenience.
Description
Technical field
The present invention relates to electric garden tool more particularly to a kind of automatic suction and blowing devices.
Background technique
Blower as it is a kind of cleaning garden, street, eaves outdoor garden tool set, pass through blower blow out air-flow
Cleaning target is cleared up, is had a wide range of applications in daily life.Wherein, clear up eaves groove when, need by
Blower extends in groove, and operator operates hair dryer main body to groove or gap progress by the extension rod on blower
Cleaning.Therefore, in entire scale removal process, user needs real-time operation blower main body and blower is followed to advance, and can not solve
It puts the both hands of people and brings great inconvenience for cleaning.
Summary of the invention
Based on this, it is necessary to which cleaning work can be automatically performed and operate or monitor automatic without using person by providing one kind
Suction and blowing device.
A kind of automatic suction and blowing device comprising:
Pressure-vaccum main body；
Walking component, is set to the pressure-vaccum bottom part body；
Pressure-vaccum attachment is coupled in the pressure-vaccum main body；
Driving assembly is set in the pressure-vaccum main body and connect with the walking component and the pressure-vaccum accessory drive；
And
Controller drives the walking component to walk in working region and described in driving for controlling the driving component
Pressure-vaccum attachment executes pressure-vaccum work.
The automatic suction and blowing device includes gyroscope balance module in one of the embodiments, the gyroscope balance
Module is set in the pressure-vaccum main body and connect with the controller.
The periphery of the working region is provided with work boundary in one of the embodiments, and the controller is for working as
The automatic suction and blowing device controls the automatic suction and blowing device and changes direction of travel when running to the work boundary.
The work boundary is provided with the virtual boundary for issuing virtual boundary signal in one of the embodiments,
The automatic suction and blowing device includes the virtual boundary signal detector being connect with the controller for detecting the virtual boundary；
The controller is used to detect the institute of the virtual boundary output in pre-determined distance when the virtual boundary signal detector
When stating virtual boundary signal, controls the automatic suction and blowing device and change direction of travel.
The work boundary is provided with physical boundary in one of the embodiments, the automatic suction and blowing device include with
The physical boundary signal generator and physical boundary signal receiver of the controller connection, the physical boundary signal generator
For emitting physics sideband signal, the physical boundary receiver judges whether according to the reflected physical boundary signal
There are the physical boundary, the controller is used for when the automatic suction and blowing device runs to the physical boundary described in control
Automatic suction and blowing device changes direction of travel.
In one of the embodiments, the driving component include with it is described walking component transmission connection movable motor and
The overturning motor connecting with the pressure-vaccum accessory drive, the working region include turnaround section, and the automatic suction and blowing device includes
It is set to the rotation direction sensor of the working region turnaround section, the controller is used to be triggered time control in the rotation direction sensor
It makes the movable motor and the overturning motor corresponding driving walking component and the pressure-vaccum attachment synchronizes steering.
In one of the embodiments, the automatic suction and blowing device be provided with the first pressure-vaccum mode and with first pressure-vaccum
The second different pressure-vaccum mode of mode, the automatic suction and blowing device include being set to the intracorporal image collector of pressure-vaccum master
It sets, described image acquisition device is connect with the controller, for acquiring the load chart in the working region；The control
Device is based on image processing techniques and extracts and identify fisrt feature load and second feature load in the load chart, and described
There are opening the first pressure-vaccum mode when fisrt feature load in load chart, and also there are second feature in the load chart
The second pressure-vaccum mode is opened when load；Wherein the pressure-vaccum power of the second pressure-vaccum mode and/or pressure-vaccum frequency are greater than described the
One pressure-vaccum mode.
The controller controls the driving component driving in the second pressure-vaccum mode in one of the embodiments,
The walking component is back and forth walked.
The fisrt feature load includes leaf in one of the embodiments, and the second feature load includes branch
And/or stone.
It is automatic to be also used to interior control the driving component after subscription time for the controller in one of the embodiments,
It starts to work.
In automatic suction and blowing device of the invention, intelligent control is carried out to driving assembly by controller, to realize pressure-vaccum master
Autonomous and pressure-vaccum work of the body in working region, so that suction and blowing device is during carrying out cleaning work automatically, nothing
User's real-time operation or monitoring are needed, the both hands of people are effectively liberated, and greatly improves cleaning convenience.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the automatic suction and blowing device of the present invention；
Fig. 2 is the module map of automatic suction and blowing device in one embodiment of the invention；
Fig. 3 is the module map of automatic suction and blowing device in another embodiment of the present invention；
Fig. 4 is the structural schematic diagram after automatic suction and blowing device overturning shown in Fig. 1.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give presently preferred embodiments of the present invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more thorough
Comprehensively.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
Please refer to Fig. 1 and Fig. 2, in present pre-ferred embodiments, automatic suction and blowing device 100 includes pressure-vaccum main body 10, walking
Component 20, pressure-vaccum attachment 30, driving assembly 40 and controller 50.Wherein, pressure-vaccum main body 10 is the machine of automatic suction and blowing device 100
Body, walking component 20 are set to 10 bottom of pressure-vaccum main body, driving assembly 40 be set in pressure-vaccum main body 10 and with walking component 20
It is sequentially connected with pressure-vaccum attachment 30, controller 50 drives walking component 20 to walk in working region for controlling driving assembly 40
And pressure-vaccum attachment 30 is driven to execute pressure-vaccum work.Wherein, working region is that automatic suction and blowing device 100 can when carrying out pressure-vaccum work
With movable range.
In this embodiment, automatic suction and blowing device 100 is used to walk along corresponding rails with respect to eaves, and on eaves
Groove cleared up.Wherein, the guide rail for the walking of automatic suction and blowing device 100 is directly the edge of eaves itself, while eaves
Interior grooves recess is formed in the middle part of eaves for collecting the junks such as leaf, branch, stone.Pressure-vaccum attachment 30 is to be coupled to pressure-vaccum
Blower in main body 10, automatic suction and blowing device 100 is by walking component 20 in walking on guide rail and simultaneously by pressure-vaccum attachment
30 carry out cleaning work for groove.It is to be appreciated that guide rail also can be layed in eaves side to be independent in some other embodiment
For the structure of automatic suction and blowing device 100 walking on edge, it is not limited thereto.Meanwhile automatic suction and blowing device 100 can be used for being other
Position carries out cleaning work, for example, garden, street etc., accordingly, working region be the hedge of garden periphery, fence, enclosure wall or
Physical obstacles such as the wall in person house etc., are not limited thereto.
Wherein, the periphery of working region is provided with the work boundary for limiting automatic 100 scope of activities of suction and blowing device, control
Device 50 processed is directly changed walking side for controlling automatic suction and blowing device 100 when automatic suction and blowing device 100 runs to work boundary
To or walking pre-determined distance after change direction of travel.
Continuing with reference to Fig. 2, the boundary that works in one of the embodiments, can be to be set to working region periphery for sending out
The virtual boundary of virtual boundary signal out, automatic suction and blowing device 100 include being connect with controller 50 for detecting visual boundary
Virtual boundary signal detector 60, controller 50 are used to detect virtual boundary output when virtual boundary signal detector 60
When virtual boundary signal, controls automatic suction and blowing device 100 and change direction of travel.
More specifically, virtual boundary is to be set to working region periphery for emitting the RF cable of radiofrequency signal, virtually
For sideband signal detector 60 after receiving the radiofrequency signal by RF cable output, controller 50 judges automatic suction and blowing device
100 reach the boundary of working region.At this point, controller 50 can control automatic suction and blowing device 100 to change direction of travel, avoid walking out
Working region.It is to be appreciated that virtual boundary can also be for for generating current signal, voltage letter in some other embodiment
Number or pulse signal cable, virtual boundary signal detector 60 is not limited herein for detecting the detector to induction signal
It is fixed.
Fig. 3 is please referred to, in wherein another embodiment, work boundary can be the physics side for being set to working region periphery
Boundary, automatic suction and blowing device 100 include that the physical boundary signal generator 71 connecting with controller 50 and physical boundary signal receive
Device 73.Physical boundary signal generator 71 is for emitting physics sideband signal, and physical boundary receiver 73 is according to reflected
Physical boundary signal judges whether there is physical boundary, and controller 50 is used to run to physical boundary when automatic suction and blowing device 100
When control automatic suction and blowing device 100 and change direction of travel.
More specifically, physical boundary is the baffle that protrusion is set to working region periphery, physical boundary signal generator 71
For emitting physics sideband signal, physical boundary signal reflects after reaching physical boundary, and physical boundary signal receives at this time
Device 73 receives reflected physical boundary signal, controller 50 according to reflected physical boundary signal be calculated from
When dynamic the distance between suction and blowing device 100 and physical boundary value is greater than predetermined steering distance value, automatic suction and blowing device 100 is kept
Direction of travel；And value is less than or equal to predetermined turn at a distance from the automatic suction and blowing device 100 being calculated is between physical boundary
When to distance value, judge automatic suction and blowing device 100 close to physical boundary and control automatic suction and blowing device 100 and turn to, with prevent from
Dynamic suction and blowing device 100 hits physical boundary, and automatic suction and blowing device 100 is worked in working region always.Wherein, it turns to
Distance value can sets itself according to the needs of users, be pre-stored in controller 50.For example, preset it is predetermined turn to away from
It is 1m from value, the distance between the automatic suction and blowing device 100 obtained when controller 50 and physical boundary value are that 2m (is greater than and makes a reservation for turn
When to distance value 1m), automatic suction and blowing device 100 keeps existing direction of travel；When the automatic suction and blowing device 100 that controller 50 obtains
When the distance between physical boundary value is 0.5m (being less than predetermined steering distance value 1m), controls automatic suction and blowing device 100 and turn to.
Wherein, physical boundary signal generator 71 is ultrasonic transmitter, and physical boundary signal receiver 73 is ultrasonic receiver, control
Device 50 processed according to transmitting and received ultrasonic signal time difference calculate between automatic suction and blowing device 100 and physical boundary away from
From；Or physical boundary signal generator 71 is laser emitter, physical boundary signal receiver 73 is laser pickoff, control
Device 50 calculates the distance between automatic suction and blowing device 100 and physical boundary with the time difference for receiving laser signal according to transmitting；More
Or physical boundary signal generator 71 is infrared transmitter, physical boundary signal receiver 73 is infrared remote receiver, herein
It is not construed as limiting.
It is to be appreciated that being only arranged one in physical boundary and virtual boundary in order to prevent in one of the embodiments,
Because failure causes automatic suction and blowing device 100 to the judgement failure on boundary when person, and cause automatic suction and blowing device 100 because crossing work
Boundary and appearance situations such as fall, can be arranged both physical boundary and virtual boundary simultaneously.Meanwhile in automatic suction and blowing device 100
In simultaneously both physical boundary and virtual boundary are set, also advantageously improve the accuracy for controlling automatic suction and blowing device 100.
Please together referring to Fig. 1 and Fig. 4, driving assembly 40 include with walking component 20 be sequentially connected movable motor 41 and with
The overturning motor 43 that pressure-vaccum attachment 30 is sequentially connected, wherein movable motor 41 overturns motor for driving walking component 20 to walk
43 for driving pressure-vaccum attachment 30 to realize overturning (as shown in Figure 4) after automatic suction and blowing device 100 changes direction of travel, to realize
Junk in different directions groove is cleared up.
Specifically, working region includes straight trip section and turnaround section, and automatic suction and blowing device 100 includes being set to working region to turn
The rotation direction sensor of curved segment.When automatic suction and blowing device 100 walks in straight trip section, drive of the walking component 20 in movable motor 41
Dynamic lower straight trip, the pressure-vaccum mouth of pressure-vaccum attachment 30 is towards straight trip section internal channel and generates under the driving of overturning motor 43 and blows groove
The air-flow of interior junk.When automatic suction and blowing device 100 runs to turnaround section by straight trip section, it is set to the rotation direction sensor of turnaround section
It is triggered, controller 50 is used to control movable motor 41 and the corresponding driving walking of overturning motor 43 when rotation direction sensor is triggered
Component 20 and pressure-vaccum attachment 30 synchronize steering, to realize that the whole of automatic suction and blowing device 100 turns to and 30 turns of pressure-vaccum attachment
It moves to parallel with turnaround section internal channel, continues to execute and cleaning work is carried out to turnaround section groove.
In addition, controller 50, which is also used to control driving assembly 40 after subscription time, automatically begins to work, so that blowing automatically
Inhaling device 100 can automatically turn on after the predetermined time set by user, and execute pressure-vaccum work, according to the demand of user reality
Existing reservation function, to carry out periodic cleaning to eaves.
Further, in order to guarantee that the smoothness of automatic 100 steering procedure of suction and blowing device, walking component 20 include being set to
At least one universal wheel of 10 bottom of pressure-vaccum main body.In this embodiment, component 20 of walking in automatic suction and blowing device 100 wraps
The front wheels and rear wheels for being set to 10 bottom of pressure-vaccum main body are included, and front-wheel and/or rear-wheel are universal wheel.Movable motor 41 includes difference
Two to be sequentially connected with front wheels and rear wheels, for independently driving corresponding front wheels and rear wheels.
Further, automatic suction and blowing device 100 is provided with the first pressure-vaccum mode and different from the first pressure-vaccum mode
Second pressure-vaccum mode, and the image collecting device 80 including being set in pressure-vaccum main body 10, image collecting device 80 and controller
50 connections, for the load chart in collecting work region.Specifically, image collecting device 80 is to be set in pressure-vaccum main body 10
The camera being connect with controller 50, for in the groove that the pressure-vaccums attachmentes 30 such as automatic 100 front of suction and blowing device are cleared up
The case where junk, is taken pictures or is imaged.
Controller 50 is based on image processing techniques and extracts and identify that fisrt feature load and second feature are negative in load chart
It carries, and opens the first pressure-vaccum mode, and also there are second in load chart there are when fisrt feature load in load chart
The second pressure-vaccum mode is opened when characteristic load.
Specifically, due in groove junk include the various loaded articles such as leaf, withered grass, branch, stone, wherein will tree
The lesser light loaded article of leaf, withered grass isodensity is defined as fisrt feature and loads, and the biggish heavy burden loading of branch, stone isodensity
It is defined as second feature load.In order to guarantee cleaning completeness, set automatic suction and blowing device 100 in the second pressure-vaccum mode,
Pressure-vaccum pressure-vaccum power and/or pressure-vaccum frequency are greater than the first pressure-vaccum mode, with to the biggish heavy burden loading of density carry out it is high-power and
High-frequency cleans.
Further, in order to reinforce cleaning effect, the controller controls driving assembly in the second pressure-vaccum mode
40 driving walking components 20 are back and forth walked, to carry out multiple pressure-vaccum to junk in groove.
Further, the understanding for the ease of user to junk in groove and cleaning better off, automatic pressure-vaccum dress
Setting 100 includes communication module, is communicatively coupled with realizing with the external mobile terminal of user.Controller 50 is also used to pass through
The load chart that image collecting device 80 acquires is sent to external mobile terminal and shown by communication module.Wherein, it blows automatically
The communication mode inhaled between device 100 and external mobile terminal can be wireless communication and/or wired communication mode.When using nothing
When line communication mode, in order to ensure not will receive the interference of other wireless signals, automatic suction and blowing device 100 and external mobile terminal into
When row communication, the modes such as software handshake, verification also can be used and verified.
Further, eaves rail shapes change or when Changes in weather (strong wind) in order to prevent, automatic suction and blowing device 100 from
Fall on eaves, automatic suction and blowing device 100 includes gyroscope balance module, and gyroscope balance module is set in pressure-vaccum main body 10
And connect with controller 50, for realizing self-balancing.In addition, automatic suction and blowing device 100 falls in order to prevent, automatic pressure-vaccum is filled
Set position of the heavy parts such as driving assembly 40 in 100 (movable motor 41 and overturning motor 43) and battery pack with respect to pressure-vaccum main body 10
It moves down, makes the decentralization of automatic suction and blowing device 100, increase the stability of automatic suction and blowing device 100.
In automatic suction and blowing device 100 of the invention, intelligent control is carried out to driving assembly 40 by controller 50, to realize
Autonomous and pressure-vaccum work of the pressure-vaccum main body 10 in working region, so that automatic suction and blowing device is in the mistake for carrying out cleaning work
Cheng Zhong effectively liberates the both hands of people without using person's real-time operation or monitoring, and greatly improves cleaning convenience.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of automatic suction and blowing device characterized by comprising
Pressure-vaccum main body；
Walking component, is set to the pressure-vaccum bottom part body；
Pressure-vaccum attachment is coupled in the pressure-vaccum main body；
Driving assembly is set in the pressure-vaccum main body and connect with the walking component and the pressure-vaccum accessory drive；And
Controller drives the walking component to walk in working region and drives the pressure-vaccum for controlling the driving component
Attachment executes pressure-vaccum work.
2. automatic suction and blowing device as described in claim 1, it is characterised in that: the automatic suction and blowing device includes gyroscope balance
Module, the gyroscope balance module are set in the pressure-vaccum main body and connect with the controller.
3. automatic suction and blowing device as described in claim 1, it is characterised in that: the periphery of the working region is provided with working edge
Boundary, the controller change for controlling the automatic suction and blowing device when the automatic suction and blowing device runs to the work boundary
Become direction of travel.
4. automatic suction and blowing device as claimed in claim 3, it is characterised in that: the work boundary is provided with virtual for issuing
The virtual boundary generator of sideband signal, the automatic suction and blowing device include connect with the controller it is described virtual for detecting
The virtual boundary signal detector on boundary；The controller is used to detect the void when the virtual boundary signal detector
When the virtual boundary signal of quasi- boundary output, controls the automatic suction and blowing device and change direction of travel.
5. automatic suction and blowing device as claimed in claim 3, it is characterised in that: the work boundary is provided with physical boundary, institute
Stating automatic suction and blowing device includes the physical boundary signal generator and physical boundary signal receiver connecting with the controller, institute
Physical boundary signal generator is stated for emitting physics sideband signal, the physical boundary receiver is according to reflected described
Physical boundary signal judges whether there is the physical boundary, and the controller is used to run to institute when the automatic suction and blowing device
The automatic suction and blowing device is controlled when stating physical boundary changes direction of travel.
6. automatic suction and blowing device as described in claim 1, it is characterised in that: the driving component includes and the walking component
The movable motor of transmission connection and the overturning motor connecting with the pressure-vaccum accessory drive, the working region include turnaround section,
The automatic suction and blowing device includes the rotation direction sensor for being set to the working region turnaround section, and the controller is used for described
Control that the movable motor and the overturning motor are corresponding to be driven the walking component and described blow when rotation direction sensor is triggered
Adsorption piece synchronizes steering and overturning.
7. automatic suction and blowing device as described in claim 1, it is characterised in that: the automatic suction and blowing device is provided with the first pressure-vaccum
Mode and the second pressure-vaccum mode different from the first pressure-vaccum mode, the automatic suction and blowing device include being set to the pressure-vaccum
Main intracorporal image collecting device, described image acquisition device is connect with the controller, for acquiring in the working region
Load chart；The controller is based on image processing techniques and extracts and identify in the load chart fisrt feature load and the
Two characteristic loads, and there are opening the first pressure-vaccum mode when fisrt feature load in the load chart, and also described negative
There are the second pressure-vaccum mode is opened when second feature load in load image；Wherein the pressure-vaccum power of the second pressure-vaccum mode and/
Or pressure-vaccum frequency is greater than the first pressure-vaccum mode.
8. automatic suction and blowing device as claimed in claim 7, it is characterised in that: the controller is in the second pressure-vaccum mode
Control the driving component drives the walking component back and forth to be walked.
9. automatic suction and blowing device as claimed in claim 7, it is characterised in that: the fisrt feature load includes leaf, described
Second feature load includes branch and/or stone.
10. automatic suction and blowing device as described in claim 1, it is characterised in that: the controller is also used to after subscription time
Interior control the driving component automatically begins to work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710448683.0A CN109083058B (en) | 2017-06-14 | 2017-06-14 | Automatic blowing and sucking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710448683.0A CN109083058B (en) | 2017-06-14 | 2017-06-14 | Automatic blowing and sucking device |
Publications (2)
| Publication Number | Publication Date |
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| CN109083058A true CN109083058A (en) | 2018-12-25 |
| CN109083058B CN109083058B (en) | 2020-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710448683.0A Active CN109083058B (en) | 2017-06-14 | 2017-06-14 | Automatic blowing and sucking device |
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| JP2012041883A (en) * | 2010-08-20 | 2012-03-01 | Nippon Densan Corp | Centrifugal fan and self-traveling robot loaded with the same |
| CN103324192A (en) * | 2012-03-23 | 2013-09-25 | 苏州宝时得电动工具有限公司 | Boundary setting method and boundary setting system |
| CN104737698A (en) * | 2013-12-27 | 2015-07-01 | 苏州宝时得电动工具有限公司 | Automatic lawn mower |
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| Publication number | Publication date |
|---|---|
| CN109083058B (en) | 2020-07-14 |
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