CN109124487A - A kind of sweeping robot and its control method - Google Patents
A kind of sweeping robot and its control method Download PDFInfo
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- CN109124487A CN109124487A CN201810248808.XA CN201810248808A CN109124487A CN 109124487 A CN109124487 A CN 109124487A CN 201810248808 A CN201810248808 A CN 201810248808A CN 109124487 A CN109124487 A CN 109124487A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000000428 dust Substances 0.000 claims abstract description 30
- 238000001914 filtration Methods 0.000 claims abstract description 13
- 238000006243 chemical reaction Methods 0.000 claims description 19
- 239000011521 glass Substances 0.000 claims description 15
- 239000002245 particle Substances 0.000 claims description 10
- 239000013618 particulate matter Substances 0.000 claims description 7
- 238000009825 accumulation Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 4
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 229920000742 Cotton Polymers 0.000 claims description 2
- 238000007664 blowing Methods 0.000 claims description 2
- 239000004744 fabric Substances 0.000 claims description 2
- 238000005286 illumination Methods 0.000 claims description 2
- 229910001220 stainless steel Inorganic materials 0.000 claims description 2
- 239000010935 stainless steel Substances 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000004458 analytical method Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 108010063955 thrombin receptor peptide (42-47) Proteins 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000571 coke Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000005357 flat glass Substances 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012538 light obscuration Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4027—Filtering or separating contaminants or debris
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Filtering Of Dispersed Particles In Gases (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The present invention relates to a kind of sweeping robot and its control methods, belong to sweeping robot technical field.Whether sweeping robot provided by the invention can suck bulky grain sundries with real time on-line monitoring, and bulky grain sundries feeding coarse strainer is filtered removal, it is avoided directly to hit accurate strainer；Meanwhile in the presence of no bulky grain sundries, gas only passes through accurate strainer and is filtered, and can effectively keep lesser filtration resistance；Also, the operation of internal electro-optical system not will receive the influence of inner air disorder, can effectively avoid electro-optical system camera lens from not being infected with dust.
Description
Technical field
The present invention relates to a kind of sweeping robot and its control methods, belong to sweeping robot technical field.
Background technique
Sweeping robot is a kind of radio equipment, and usual moulding is collar plate shape.Its fuselage is often a kind of automatic technology
Movable fixture, a kind of internal then be cleaning vacuum plant for having dust-collecting box, device when sweeping robot is in starting
The fuselage of robot can be cooperated to set set path, and then the walking on ground indoors repeatedly, sweep-out pattern
The various rubbish of upper appearance.And sweeping robot often also has the function of automatic turning, either hinders when touching wall
When hindering object, its energy automatic turning walks different routes and carries out cleaning works.
The inner workings of sweeping robot are mainly made of air flue, air draft equipment, strainer etc..Air draft equipment is from gas
The air that ground is sucked in road, brings dust and sundries into, machine is discharged after filtering out by strainer.The air band being discharged in order to prevent
There is dust that room air is made to become dirty, needs to improve the filtering accuracy of strainer.
Usually in the work of sweeping robot, if after the biggish particulate matter for encountering ground is inhaled into, due to larger
Particle can have impact force, it by secondary filter net retain after, can to the surface topography of filter screen generate impact injury, for a long time
After use, the filtering accuracy rapid decrease of secondary filter net will lead to, the rejection effect of the dust in air can be reduced constantly,
Constantly increase the amount of dust in the exhaust outlet of sweeping robot, causes the space in room dirty.If directly filtered in precision
It is mounted directly coarse filtration net before net, and sweeping robot can be made to there is a problem that filtration resistance is excessively high in gas filtration.
Summary of the invention
The object of the present invention is to provide a kind of sweeping robots, can carry out particle with air of the real-time online to entrance
The analysis of diameter size, avoids shock of the bulky grain sundries to accurate strainer；Meanwhile, it is capable to avoid the camera lens of photoelectric sensing unit by gas
Dust in road blocks, and improves machine operation stability.
The first aspect of the invention:
A kind of sweeping robot includes shell, offers air inlet in the bottom of shell, for defeated to sweeping robot inside
Enter to be located at the air of ground side；Air inlet is connected with the air flue of enclosure interior；It is additionally provided on shell and is connected with air flue
Logical air outlet；Dust accumulation tank cover plate is provided on shell, for being removed and placed into dust trap；
The side of air flue is provided with light source, and the air flue other side on the direction of illumination of light source is provided with photoelectric conversion unit,
Photoelectric conversion unit surface is equipped with glass plate and protects to camera lens；With glass plate the air flue of the same side updrift side,
It is provided with rotating wheel, the outside of rotating wheel is provided with the first deflector of arc, and rotating wheel after rotation can be by air from
Gap between one deflector and rotating wheel is discharged into air flue；The downstream direction of photoelectric conversion unit air flue it is another
Side, is provided with gas tip, and injection direction is connect towards air flue, gas tip with pressure air reservoir；In the downstream of glass plate
The second deflector of arc is provided on the air flue in direction；The gas discharge direction of first deflector towards the second deflector
Upper surface, and the gas emission direction of gas tip towards the lower surface of the second deflector；In the downstream side of the second deflector
It is additionally provided with air flow channel, air flow channel is used to accommodate the gas of the second deflector tangentially flowed out；In air flow channel, also set
It is equipped with coarse strainer, the other end of air flow channel is connected with the gap formed between rotating wheel and the first deflector；Air flue
End is connected to air outlet by blower；
It further include having central control unit, the feelings of the granular size to get into the air for analyzing photoelectric conversion unit acquisition
Condition, when the partial size of particulate matter is greater than threshold value, identification has bulky grain sundries to enter air flue, at this point, central control unit sending refers to
Order opens solenoid valve, and the high pressure gas in pressure air reservoir is sprayed from gas tip.
The lower section of coarse strainer and accurate strainer is all connected to dust trap.
It further include having force (forcing) pump, the input end of force (forcing) pump is connected to the downstream side air flue of accurate strainer, the outlet of force (forcing) pump
End is connected to pressure air reservoir；Pressure sensor is set in pressure air reservoir, pressure sensor is connect with central control unit,
When central control unit detects the pressure in pressure air reservoir lower than first threshold, central control unit order force (forcing) pump is opened
Beginning work makes on the pressure recovery to second threshold in pressure air reservoir；Second threshold is greater than first threshold.
The material of coarse strainer is stainless steel cloth；The material of accurate strainer is PP cotton filter element.
The second aspect of the invention:
A kind of control method of sweeping robot, includes the following steps:
I) air draught is carried out from the bottom of sweeping robot, the dust on ground is sucked into air flue；
Ii) gas that sucks in air flue is filtered using accurate strainer, and will filtration gas from being arranged in air outlet on shell
Out；
Iii online granular size detection) is carried out to the gas of sucking by light source and photoelectric conversion unit in air flue, works as particle
When the average grain diameter of object is greater than threshold value, particulate matter is blown off air flue by air flue lateral blowing, and is filtered by coarse strainer
Except large particle, the gas after filter returns to air flue；
Iv the air generated after) rotating wheel is rotated is tangentially flowed out from the first deflector, tangential direction the second deflector of direction
Side, the emission direction of gas tip is towards the other side of the second deflector；
V) gas pressure in the pressure air reservoir being connected with gas tip is monitored, when hypotony, precision is filtered
The air pressurized of net filtration is injected into pressure air reservoir, to maintain the pressure in pressure air reservoir.
After sweeping robot works, dust accumulation tank cover plate is opened, removes dust from dust trap.
Beneficial effect
Whether sweeping robot provided by the invention can suck bulky grain sundries with real time on-line monitoring, and bulky grain sundries is sent
Enter coarse strainer and be filtered removal, it is avoided directly to hit accurate strainer；Meanwhile in the presence of no bulky grain sundries, gas
It is only filtered by accurate strainer, lesser filtration resistance can be effectively kept；Also, the operation of internal electro-optical system is not
It will receive the influence of inner air disorder, can effectively avoid electro-optical system camera lens from not being infected with dust.
Detailed description of the invention
Fig. 1 is the overall structure figure of sweeping robot provided by the invention；
Fig. 2 is the air passage portion structure chart of sweeping robot provided by the invention.
Wherein, 1, shell；2, air inlet；3, air flue；4, dust accumulation tank cover plate；5, air outlet；6, dust trap；7, light source；8,
Glass plate；9, photoelectric conversion unit；10, gas tip；11, solenoid valve；12, pressure air reservoir；13, force (forcing) pump；14, blower；
15, accurate strainer；16, the second deflector；17, the first deflector；18, air flow channel；19, coarse strainer；20, rotating wheel.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.In this hair
In bright description, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", "upper",
"lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " clockwise ", " counterclockwise " etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.In addition, the ordinal number used in the claims and specification is for example
" first ", " second ", " third " etc., it is any preferential, formerly or one due to itself containing for modifying claim
The sequence of claim is before another claim or executes the time sequencing of method and step.But as just mark
Label use with distinguish such as element of the claim with specific names and another have same names element (without
It is belonging to for succession), to distinguish the element of claim.Define " first " as a result, the feature of " second " can be bright
Show or implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or two
More than a, unless otherwise specifically defined.It should be understood that " being connect " when an element is mentioned with another element
When, it can be connected directly with other elements or be indirectly connected with other elements, and inserted with element between them.Unless there are
Opposite explanation is specified, it includes listed element that otherwise term " includes " and " having ", which are interpreted as statement, and non-excluded
Meaning other elements.Word "include", "comprise" used herein, " having " or its any other variant are intended to cover nonexclusive
Property includes.E.g., including technique, method, article or the equipment for listing element are not necessarily limited by those elements, but can be with
This technique, method, article or the intrinsic element of equipment are not explicitly listed or belonged to including other.
In the present invention, term " upstream " and similar term refer to the gas source direction of sweeping robot air-breathing；It is similar
Ground, " downstream " and similar term, refer to the direction of gas discharge.
The structure of sweeping robot provided by the present invention is opened up in the bottom of shell 1 as shown in Figure 1, include shell 1
There is air inlet 2, for being located at the air of ground side to input inside sweeping robot；Air flue inside air inlet 2 and shell 1
3 are connected；The air outlet being connected with air flue 3 is additionally provided on shell 1；It is provided with dust accumulation tank cover plate 4 on shell 1, is used for
It is removed and placed into dust trap 6.
The inside air passage structure of sweeping robot is as shown in Fig. 2, the side of air flue 3 is provided with light source 7, in the photograph of light source 7
3 other side of air flue penetrated on direction is provided with photoelectric conversion unit 9, is equipped with glass plate 8 to camera lens on 9 surface of photoelectric conversion unit
It is protected；, in the updrift side of the air flue 3 of the same side, it is being provided with rotating wheel 20, the outside of rotating wheel 20 is set with glass plate 8
It is equipped with the first deflector 17 of arc, rotating wheel 20 after rotation can be by air between the first deflector 17 and rotating wheel 20
Gap be discharged into air flue 3；In the other side of the air flue 3 of the downstream direction of photoelectric conversion unit 9, it is provided with gas tip
10, injection direction is connect towards air flue 3, gas tip 10 with pressure air reservoir 12；In the air flue of the downstream direction of glass plate 8
The second deflector 16 of arc is provided on 3；The gas discharge direction of first deflector 17 towards the upper of the second deflector 16
Surface, and the gas emission direction of gas tip 10 towards the lower surface of the second deflector 16；Under the second deflector 16
Trip side is additionally provided with air flow channel 18, and air flow channel 18 is used to accommodate the gas of the second deflector 16 tangentially flowed out；In air
In runner 18, it is additionally provided with coarse strainer 19, the other end of air flow channel 18 and the shape between rotating wheel 20 and the first deflector 17
At gap be connected；The end of air flue 3 is connected to air outlet by blower 14.
The sweeping robot at work, is aspirated by blower 14 first, so that being located at sweeping robot front end bottom
The air inlet 2 in face carries out earth's surface air draught, and sundries is sucked in air flue 3, can be intercepted by the accurate strainer 15 in air flue 3, filtration
Machine is discharged from exhaust outlet 5 in air.
The light that light source 7 is issued to photoelectric conversion unit 9 simultaneously, photoelectric conversion unit 9 carry out on-line analysis to light, obtain
Obtain grain diameter size；Further include having circuit control module in sweeping robot: central control unit, for analyzing photoelectric conversion
The case where granular size to get into the air that unit 9 acquires, when the partial size of particulate matter is greater than threshold value, identification has bulky grain miscellaneous
Object enters air flue, opens solenoid valve 11 at this point, central control unit issues instruction, the high pressure gas in pressure air reservoir 12 from
It sprays, bulky grain is blown off the direction of motion of air flue 3, due to being additionally provided in terms of the downstream of glass plate 8 in gas tip 10
Air flow channel 18, bulky grain sundries can be intercepted after entering air flow channel 18 by coarse strainer 19, without knocking accurate strainer 15.
It is to be changed to the variation of optical signal for being detected to the signal that light source emits beam used herein of photoelectric conversion unit 9
The numerical value of grain diameter, can be refering to existing technical literature used herein of the optical means of online granular size
CN104390897A、CN106198325A、CN102410974A、CN105424557A、CN106018197A、
CN101029863A, CN101509931A, CN105334147A, " online granule detecting systematic research and exploitation " (Zhejiang
University's master thesis, Cui Zengzhu, 2004), " Light Extinction of particle size on-line measurement " (" optical instrument " 1998
01 phase of year；Liu Tieying, Zhang Zhiwei, Zheng Gang, Cai little Shu).Its cardinal principle is: laser is loaded with directional light directive after processing
The air flue of grain, the candidate particles group in measurement zone generate the scattering of light under the irradiation of laser, scatter intensity and its space of light
Distribution is related with the size of tested particle swarm and concentration, and the scattering light of particle swarm is received by fourier transform lens, in the rear coke of lens
The scattering spectra for receiving particle swarm on face with annular photodetector, is converted to current signal, send after signal processing and AD conversion
Enter SCM system, single-chip microcontroller by analysis and calculates collected data, carries out data according to Fraunhofer diffraction theory
After processing, the statistical data and distribution curve of granular size are shown.
Since in use, the air that the air that gas tip 10 sprays will lead to 8 front end of glass plate generates flow-disturbing,
The air relative motion normally entered in the air and air flue of ejection can be such that internal dust diffuses, and some dusts can be attached to
On glass plate 8, the sensitivity of optoelectronic induction system and accuracy is caused to decline.Therefore, pass through the rotation of rotating wheel 20, meeting
Streak air before glass plate 8 by formation air curtain after the current stabilization of first tour guide's plate 17, without making the disorder in air flue 3
The dust of air be attached on glass plate 8；As shown in Fig. 2, at the same time, after installing the second deflector 16, due to from the
The air that one deflector 17 tangentially flows out flows directly into the upper surface of the second deflector 16, and the sky sprayed in air nozzle 10
Gas is the lower surface for spraying to the second deflector 16, this two strands of air cannot directly intersect, and is just further avoided inside air flue
Air mutually clashes, and reduces the case where sheet glass is contaminated by dust.
Again due to air flow channel 18 be with the other end and the gap that is formed between rotating wheel 20 and the first deflector 17
It is connected, after the outflow of the first deflector 17, continuation is filtered the air after coarse strainer 19 from accurate strainer 15.
In one embodiment, the lower section of coarse strainer 19 and accurate strainer 15 is all connected to dust trap 6.Can be convenient will
Dust takes out.
It in one embodiment, further include having force (forcing) pump 13, the input end of force (forcing) pump 13 and flowing down for precision strainer 15
The connection of side air flue, the outlet end of force (forcing) pump 13 is connected to pressure air reservoir 12；Pressure sensor is set in pressure air reservoir 12,
Pressure sensor is connect with central control unit, when central control unit detects the pressure in pressure air reservoir 12 lower than first
When threshold value, central control unit order force (forcing) pump 13 is started to work, and makes pressure recovery in pressure air reservoir 12 to second threshold
On.
Claims (6)
1. a kind of sweeping robot includes shell (1), air inlet (2) are offered in the bottom of shell (1), for sweeping the floor
Robot interior input is located at the air of ground side；Air inlet (2) air flue (3) internal with shell (1) is connected；In shell
(1) air outlet being connected with air flue (3) is additionally provided on；Dust accumulation tank cover plate (4) are provided on shell (1), for take out and
It is put into dust trap (6)；It is characterized in that, the side of air flue (3) is provided with light source (7), the gas on the direction of illumination of light source (7)
Road (3) other side is provided with photoelectric conversion unit (9), is equipped with glass plate (8) on photoelectric conversion unit (9) surface and carries out to camera lens
Protection；It in the updrift side of the air flue (3) of the same side, is provided with rotating wheel (20) with glass plate (8), outside rotating wheel (20)
Portion is provided with the first deflector (17) of arc, and rotating wheel (20) from the first deflector (17) and can revolve air after rotation
Gap discharge into air flue (3) between runner (20)；The downstream direction of photoelectric conversion unit (9) air flue (3) it is another
Side is provided with gas tip (10), and injection direction is connect towards air flue (3), gas tip (10) with pressure air reservoir (12)；
The second deflector (16) of arc is provided on the air flue (3) of the downstream direction of glass plate (8)；The gas of first deflector (17)
Body discharge direction towards the upper surface of the second deflector (16), and the gas emission direction of gas tip (10) towards second
The lower surface of deflector (16)；It is additionally provided with air flow channel (18) in the downstream side of the second deflector (16), air flow channel (18)
For accommodating the gas of the second deflector (16) tangentially flowed out；In air flow channel (18), it is additionally provided with coarse strainer (19), it is empty
The other end of flow channel (18) is connected with the gap formed between rotating wheel (20) and the first deflector (17)；Air flue (3)
End be connected to air outlet by blower (14)；Further include having central control unit, is adopted for analyzing photoelectric conversion unit (9)
The case where granular size of collection to get into the air, when the partial size of particulate matter is greater than threshold value, identification has the entrance of bulky grain sundries
Air flue opens solenoid valve (11) at this point, central control unit issues instruction, and the high pressure gas in pressure air reservoir (12) is from gas
It is sprayed in body spray head (10).
2. sweeping robot according to claim 1, which is characterized in that the lower section of coarse strainer (19) and accurate strainer (15)
All it is connected to dust trap (6).
3. sweeping robot according to claim 2, which is characterized in that it further include having force (forcing) pump (13), force (forcing) pump (13)
Input end be connected to the downstream side air flue of accurate strainer (15), the outlet end of force (forcing) pump (13) and pressure air reservoir (12) company
It is logical；Pressure sensor is set in pressure air reservoir (12), and pressure sensor is connect with central control unit, and when center, control is single
When member detects the pressure in pressure air reservoir (12) lower than first threshold, central control unit order force (forcing) pump (13) starts work
Make, makes on the pressure recovery to second threshold in pressure air reservoir (12)；Second threshold is greater than first threshold.
4. sweeping robot according to claim 1, which is characterized in that the material of coarse strainer (19) is stainless steel cloth；
The material of accurate strainer (15) is PP cotton filter element.
5. the control method based on sweeping robot as claimed in claim 3, which comprises the steps of:
I) air draught is carried out from the bottom of sweeping robot, the dust on ground is sucked into air flue (3)；
Ii) gas sucked in air flue (3) is filtered using accurate strainer (15), and by filtration gas from shell (1)
Discharge in air outlet (5)；
Iii online granular size inspection) is carried out to the gas of sucking by light source (7) and photoelectric conversion unit (9) in air flue (3)
It surveys, when the average grain diameter of particulate matter is greater than threshold value, particulate matter is blown off air flue by air flue (3) lateral blowing, and passes through
Coarse strainer (15) carries out filtering out large particle, and the gas after filter returns to air flue (3)；
Iv) air that rotating wheel (20) generates after being rotated tangentially is flowed out from the first deflector (17), and tangential direction is towards the
The side of two deflectors (16), the other side of the emission direction direction the second deflector (16) of gas tip (10)；
V) gas pressure in the pressure air reservoir (12) being connected with gas tip (10) is monitored, when hypotony,
The air pressurized that accurate strainer (15) filter is injected into pressure air reservoir (12), to maintain in pressure air reservoir (12)
Pressure.
6. the control method of sweeping robot according to claim 5, which is characterized in that sweeping robot work terminates
Afterwards, dust accumulation tank cover plate (4) are opened, removes dust from dust trap (6).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017104606090 | 2017-06-18 | ||
| CN201710460609.0A CN107126157A (en) | 2017-06-18 | 2017-06-18 | A kind of sweeping robot and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109124487A true CN109124487A (en) | 2019-01-04 |
| CN109124487B CN109124487B (en) | 2020-08-18 |
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|---|---|---|---|
| CN201710460609.0A Withdrawn CN107126157A (en) | 2017-06-18 | 2017-06-18 | A kind of sweeping robot and its control method |
| CN201810248808.XA Active CN109124487B (en) | 2017-06-18 | 2018-03-25 | Floor sweeping robot and control method thereof |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201710460609.0A Withdrawn CN107126157A (en) | 2017-06-18 | 2017-06-18 | A kind of sweeping robot and its control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113287982A (en) * | 2021-05-14 | 2021-08-24 | 深圳市普渡科技有限公司 | Robot main brush device, control method and sweeping robot |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108031202A (en) * | 2017-11-08 | 2018-05-15 | 天津东方奇运汽车制造有限公司 | Road cleaning vehicle Winter-summer dual purpose filtration apparatus |
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| CN113287982A (en) * | 2021-05-14 | 2021-08-24 | 深圳市普渡科技有限公司 | Robot main brush device, control method and sweeping robot |
| CN113287982B (en) * | 2021-05-14 | 2022-12-30 | 深圳市普渡科技有限公司 | Robot main brush device, control method and sweeping robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109124487B (en) | 2020-08-18 |
| CN107126157A (en) | 2017-09-05 |
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