CN109662652A - A kind of method that clean robot calculates quantity of refuse automatically - Google Patents
A kind of method that clean robot calculates quantity of refuse automatically Download PDFInfo
- Publication number
- CN109662652A CN109662652A CN201710954770.3A CN201710954770A CN109662652A CN 109662652 A CN109662652 A CN 109662652A CN 201710954770 A CN201710954770 A CN 201710954770A CN 109662652 A CN109662652 A CN 109662652A
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- CN
- China
- Prior art keywords
- refuse
- dustbin
- clean robot
- rubbish
- calculates
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
-
- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2842—Suction motors or blowers
Abstract
The invention discloses a kind of methods that clean robot calculates quantity of refuse automatically, belong to field of household appliances, solve the problems, such as that user can not intuitively understand the quantity of refuse in dustbin, the starting current of detection fan motor obtains stored quantity of refuse X in dustbin when the technical solution for solving the problems, such as this mainly includes clean robot starting；Then detection sucks the quantity of refuse Y of dustbin and calculates total quantity of refuse Z=X+Y in dustbin in clean robot cleaning process, finally exports the information that total quantity of refuse Z makes user know quantity of refuse in dustbin.Sweeping robot exports the information that total quantity of refuse Z makes user know quantity of refuse in dustbin in the present invention, is conducive to remind the timely empty litter case of user, avoids rubbish storage in dustbin from excessively weakening pick-up performance, guarantees the cleaning cleanliness of sweeping robot.
Description
Technical field
The present invention relates to field of household appliances, method that especially a kind of clean robot calculates quantity of refuse automatically.
Background technique
Automatic cleaning machine people includes the dustbin for collecting rubbish, for garbage collection of the prompt user in dustbin
Topple in time after full, rubbish sensing module is set generally in dustbin, after the garbage collection in dustbin is to a certain amount
The receiving end of rubbish sensing module is blocked, so that the receiving end signal of rubbish sensing module be made persistently to be greater than preset threshold value
When, automatic cleaning machine people determines that dustbin has been expired, thus prompt user clear the dustbin in rubbish, but above-mentioned automatic cleaning
Robot can not in visual perception dustbin rubbish accumulating amount, can only detect that dustbin has been expired by rubbish sensing module,
When the rubbish in dustbin is more than certain accumulation and has not up to expired state, the pick-up performance of sweeping robot gradually becomes
Difference affects the usage experience of user to reduce the cleannes of sweeping robot cleaning.
Summary of the invention
Present invention purpose to be achieved is just to provide a kind of method that clean robot calculates quantity of refuse automatically, facilitates use
Family understands the information of the quantity of refuse in dustbin so as to the timely empty litter case of user.
In order to achieve the above object, the present invention adopts the following technical scheme: a kind of clean robot calculates quantity of refuse automatically
Method, the clean robot start when detection fan motor starting current obtain dustbin in stored quantity of refuse X；
Then detection sucks the quantity of refuse Y of dustbin and calculates total quantity of refuse Z=X in dustbin in clean robot cleaning process
+ Y finally exports the information that total quantity of refuse Z makes user know quantity of refuse in dustbin.
Further, the clean robot includes interactive device, and clean robot calculates the method for quantity of refuse automatically
Implementation steps are as follows,
Step 1: starting clean robot, all quantity of refuse information are reset, and fan motor starts turning；
Step 2: if fan motor rotation time reaches preset time T 1, the starting current of fan motor is detected, according to wind
The starting current data for fanning motor calculate stored quantity of refuse X in dustbin；
Step 3: start the quantity of refuse of detection sucking, if the time of detection sucking quantity of refuse reaches preset time T 2, according to
The quantity of refuse information of sucking calculates the quantity of refuse Y of sucking dustbin in time T2；
Step 4: total rubbish in current dustbin is calculated according to the quantity of refuse Y of stored quantity of refuse X and sucking dustbin
Rubbish amount Z=X+Y, total quantity of refuse Z export the information for making user know quantity of refuse in dustbin by interactive device, by current rubbish
Stored quantity of refuse X is saved after being updated to total quantity of refuse Z in case, return step 3.
Further, in the step 1, if clean robot is detecting the quantity of refuse of sucking, current dustbin is obtained
Interior stored quantity of refuse X, enters step 3, otherwise, enters step 2.
Further, in the step 4, total quantity of refuse Z makes user know rubbish in dustbin by interactive device output
The information of amount include: the quantity of refuse grade of total quantity of refuse Z in dustbin is determined according to preset quantity of refuse grade threshold, and
Quantity of refuse grade is exported by interactive device.
Further, the quantity of refuse grade includes that no rubbish, quantity of refuse be few, quantity of refuse has mostly been expired with rubbish.
Further, in the step 2, clean robot calculates the vacuum degree in dustbin according to starting current data,
Stored quantity of refuse X in dustbin is calculated further according to vacuum degree.
Further, the preset time T 1 is 1s~5s.
Further, the clean robot further includes the rubbish of measure loop and the quantity of refuse for detecting sucking dustbin
Rubbish detection sensor, clean robot detect the starting current of fan motor by measure loop, and rubbish detection sensor is set to
In the dust absorption passage being connected to dustbin.
Further, the rubbish detection sensor includes infrared transmitting receiver, and rubbish detection sensor detects
The quantity of refuse information of sucking include the pulse that generates when rubbish passes through infrared transmitting receiver, will be infrared in the step 3
Pulse accumulation that line transceiver transmits in time T2 simultaneously obtains accumulated pulse number m, is calculated and is sucked according to accumulated pulse number m
The quantity of refuse Y of dustbin.
Further, the quantity of refuse X, quantity of refuse Y and total quantity of refuse Z are the volume of rubbish.
After adopting the above technical scheme, the present invention has the advantage that
1, sweeping robot exports the information that total quantity of refuse Z makes user quickly know quantity of refuse in dustbin, is conducive to user
Timely empty litter case avoids rubbish storage in dustbin from excessively weakening pick-up performance, guarantees that the cleaning of sweeping robot is clean
Cleanliness, meanwhile, total quantity of refuse in dustbin is constantly updated after sweeping robot starting, guarantees the quantity of refuse known to user
Information real-time with higher and reliability.
2, determine whether clean robot is detecting the quantity of refuse of sucking, when clean robot does not detect the rubbish of sucking
Amount determines that dustbin is reinstalled or entire sweeping robot is re-energised, i.e., the quantity of refuse in dustbin have an artificial action and
The variation for causing quantity of refuse, needs to recalculate at this time stored quantity of refuse X in dustbin, when clean robot is detecting
The quantity of refuse of sucking determines in dustbin stored quantity of refuse in the newest dustbin that saves for sweeping robot of quantity of refuse
X simplifies calculation amount, improves the reaction speed of sweeping robot.
3, so that user is known quantity of refuse grade by interactive device, facilitate user especially child and old man to quickly understand and work as
The size of dustbin space proportion shared by rubbish in preceding dustbin.
4, quantity of refuse grade includes that no rubbish, quantity of refuse be few, quantity of refuse has mostly been expired with rubbish, when interactive device is exported without rubbish
The information such as rubbish and quantity of refuse are few prompt user that can continue to use sweeping robot, when interactive device output quantity of refuse is more, mention
Show that user clears up as early as possible, otherwise influences the pick-up performance of subsequent sweeping robot, when exporting rubbish by interactive device has expired,
Prompt user's quantity of refuse has reached the upper limit, it is necessary to quickly clean in order to avoid influencing the normal operation of fan motor.
5, the starting current of the fan motor detected is smaller, and the vacuum degree in dustbin is smaller, i.e., storage in dustbin
Remaining space after rubbish is smaller, so that the occupied space of rubbish is big in dustbin, is detected by the starting current of fan motor
Determine the storage quantity of refuse in dustbin, not only reduces the detection difficulty and testing cost for having stored quantity of refuse, Er Qiebao
The accuracy in detection for having stored quantity of refuse has been demonstrate,proved, the operational situation that user diagnoses fan motor is also convenient for, has guaranteed fan motor just
Often operating.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings:
Calculate the flow chart of quantity of refuse in dustbin in Fig. 1 automatically for clean robot in embodiment one.
Specific embodiment
In the present invention, the information of quantity of refuse includes that the specific value of the weight or volume of rubbish and/or rubbish occupy rubbish
The state of box space.
Embodiment one:
The present embodiment provides a kind of method that clean robot calculates quantity of refuse automatically, clean robot detects wind when starting
The starting current for fanning motor obtains stored quantity of refuse X in dustbin；Then it detects and inhales in clean robot cleaning process
Enter the quantity of refuse Y of dustbin and calculate total quantity of refuse Z=X+Y in dustbin, finally exporting total quantity of refuse Z makes user know rubbish
The information of quantity of refuse in rubbish case.
Sweeping robot exports the information that total quantity of refuse Z makes user quickly know quantity of refuse in dustbin, be conducive to user and
When empty litter case, avoid in dustbin rubbish storage excessive and weaken pick-up performance, guarantee that the cleaning of sweeping robot is clean
Degree, meanwhile, total quantity of refuse in dustbin is constantly updated after sweeping robot starting, guarantees the quantity of refuse known to user
Information real-time with higher and reliability.
Clean robot includes controller, the interactive device for being connected to controller and starts electricity for detecting fan motor
The current detection circuit of stream, the information for the quantity of refuse that clean robot knows user in dustbin by interactive device, cleaning
There is the dust absorption passage for being connected to dustbin in robot, rubbish detection sensor, rubbish detection sensing are equipped in dust absorption passage
Device and current detection circuit are all connected to controller, as shown in Figure 1, the clean robot calculates quantity of refuse in dustbin automatically
Method include:
Step 1: starting clean robot, timer reset and start timing, and all quantity of refuse information are reset, fan motor
It starts turning；
Step 2: if timer reaches preset time T 1, current detection circuit detects the starting current of fan motor and transmitting
To controller, controller calculates stored quantity of refuse X in dustbin according to the starting current data of fan motor；
Step 3: timer starts timing after resetting, and controller control rubbish detection sensor starts the rubbish of detection sucking
Amount, rubbish detection sensor will test the quantity of refuse messaging controller of sucking；If timer reaches preset time T 2, control
Device processed calculates the quantity of refuse Y that dustbin is sucked in time T2 according to the quantity of refuse information of the sucking of rubbish sensor passes；
Step 4: controller calculates in current dustbin according to the quantity of refuse Y of stored quantity of refuse X and sucking dustbin
Total quantity of refuse Z=X+Y, total quantity of refuse Z export the information for making user know quantity of refuse in dustbin by interactive device, will be current
Stored quantity of refuse X is saved after being updated to total quantity of refuse Z in dustbin, return step 3.
In the present embodiment, timer in step 2 neutralization procedure 3 is a timer, can be in certain clean robot
Two timers are respectively set, a timer is used to rotate timing, the as timer in step 2 to fan motor, another
Quantity of refuse timing of a timer to sucking, the as timer in step 3.
In step 1, if clean robot is detecting the quantity of refuse of sucking, stored rubbish in current dustbin is obtained
X is measured, 3 is entered step, otherwise, enters step 2.The specific quantity of refuse for determining rubbish detection sensor and whether detecting sucking,
When rubbish detection sensor does not detect, judgement dustbin is reinstalled or entire sweeping robot is re-energised, i.e., in dustbin
Quantity of refuse have artificial action and cause the variation of quantity of refuse, need to recalculate stored quantity of refuse X in dustbin at this time,
When rubbish detection sensor is detecting the quantity of refuse of sucking, quantity of refuse saves newest in judgement dustbin for sweeping robot
Dustbin in stored quantity of refuse X, the calculation amount of simplified control device improves the reaction speed of sweeping robot.
In step 4, total quantity of refuse Z includes: by the information that interactive device output makes user know quantity of refuse in dustbin
Controller determines the quantity of refuse grade of quantity of refuse Z total in dustbin according to preset quantity of refuse grade threshold, and passes through interaction
Device makes user know quantity of refuse grade, and user especially child and old man is facilitated to quickly understand in current dustbin shared by rubbish
The size of dustbin space proportion, in the present embodiment, interactive device includes display and/or voice device, by quantity of refuse etc.
Grade is shown by display and is exported, intuitive cheer and bright, facilitates user quickly to check, voice device facilitates user to know at a distance
The number and state of quantity of refuse.
In the present embodiment, quantity of refuse grade includes that no rubbish, quantity of refuse be few, quantity of refuse has mostly been expired with rubbish, when interaction fills
Output is set without the information such as rubbish and quantity of refuse be few, prompts user that can continue to use sweeping robot, when interactive device exports rubbish
It when rubbish amount is more, prompts user to clear up as early as possible, otherwise influences the pick-up performance of subsequent sweeping robot, exported when by interactive device
When rubbish has been expired, user's quantity of refuse is prompted to have reached the upper limit, it is necessary to quickly clean in order to avoid influencing the normal operation of fan motor.When
So, the grade of quantity of refuse can divide more multi-grade according to the needs of users, and different grades of quantity of refuse can also export difference
Color and shape or different voices play the frequency and volume, further improve the efficiency that user knows rubbish grade, mention
The high usage experience of user.
In step 2, controller calculates the vacuum degree in dustbin according to starting current data, calculates rubbish further according to vacuum degree
Stored quantity of refuse X in rubbish case.The starting current for the fan motor that current detection circuit detects is smaller, true in dustbin
Reciprocal of duty cycle is smaller, i.e., the remaining space in dustbin after storage rubbish is smaller, so that the occupied space of rubbish is big in dustbin, passes through
The starting current detection of fan motor determines the storage quantity of refuse in dustbin, not only reduces the detection for having stored quantity of refuse
Difficulty and testing cost, and ensure that the accuracy in detection for having stored quantity of refuse, it is also convenient for the fortune that user diagnoses fan motor
Turn situation, guarantees that fan motor runs well.
Rubbish detection sensor includes the infrared transmitting receiver for being connected to controller, and rubbish detection sensor detects
The quantity of refuse information of sucking include the pulse that generates when rubbish passes through infrared transmitting receiver.In the step 3, controller
The pulse accumulation that transmit in time T2 to infrared transmitting receiver simultaneously obtains accumulated pulse number m, and according to accumulated pulse number m
Calculate the quantity of refuse Y of sucking.Rubbish blocks infrared ray when passing through the infrared ray in infrared transmitting receiver, infrared ray transmitting connects
The receiving end for receiving device can not receive infrared signal at this time and cause pulse, so that umber of pulse is identical as the quantity of rubbish, control
The accumulated pulse number m that device calculates in time T2, which is equivalent to calculate, sucks total granulated garbage number, conducive to subsequent sucking quantity of refuse Y's
It is accurate to calculate.In the present embodiment, dustbin is connected to the downstream of dust absorption passage, and rubbish detection sensor is installed on dust absorption passage
Middle reaches section, the quantity of the accurate rubbish for calculating sucking avoid the rubbish raised in the extraneous rubbish and dustbin not sucked from influencing
Suck the calculating of quantity of refuse Y.
Preset time T 1 is 1s~5s.In the present embodiment, preset time T 1 is 2.5s, when preset time T 1 is greater than 5s,
The current detecting overlong time of fan motor, extraneous rubbish largely sucks in dustbin also by dust absorption passage at this time, thus
The accurate detection for influencing stored quantity of refuse in dustbin, when preset time T 2 is less than 1s, fan motor just starts at this time,
It is also not up to the state of steady running, the current value that current detection circuit detects can not be accurately reflected in dustbin and stored
Quantity of refuse.
In the present embodiment, the quantity of refuse X, quantity of refuse Y and total quantity of refuse Z are the volume of rubbish.Volume more holds
Occupied space of the rubbish in dustbin is easily calculated, to be conducive to determine quantity of refuse grade.
In addition to above preferred embodiment, there are other embodiments of the invention, and those skilled in the art can be according to this
Invention makes various changes and modifications, and as long as it does not depart from the spirit of the invention, should belong to appended claims of the present invention and determines
The range of justice.
Claims (10)
1. a kind of method that clean robot calculates quantity of refuse automatically, which is characterized in that the clean robot detects when starting
The starting current of fan motor obtains stored quantity of refuse X in dustbin；Then it is detected in clean robot cleaning process
It sucks the quantity of refuse Y of dustbin and calculates total quantity of refuse Z=X+Y in dustbin, finally exporting total quantity of refuse Z knows user
The information of quantity of refuse in dustbin.
2. the method that clean robot according to claim 1 calculates quantity of refuse automatically, which is characterized in that the cleaner
Device people includes interactive device, and the implementation steps that clean robot calculates the method for quantity of refuse automatically are as follows,
Step 1: starting clean robot, all quantity of refuse information are reset, and fan motor starts turning；
Step 2: if fan motor rotation time reaches preset time T 1, the starting current of fan motor is detected, according to fan horse
The starting current data reached calculate stored quantity of refuse X in dustbin；
Step 3: starting the quantity of refuse of detection sucking, if the time of detection sucking quantity of refuse reaches preset time T 2, according to sucking
Quantity of refuse information calculate time T2 in sucking dustbin quantity of refuse Y；
Step 4: total quantity of refuse Z in current dustbin is calculated according to the quantity of refuse Y of stored quantity of refuse X and sucking dustbin
=X+Y, total quantity of refuse Z export the information for making user know quantity of refuse in dustbin by interactive device, will be in current dustbin
Stored quantity of refuse X is saved after being updated to total quantity of refuse Z, return step 3.
3. the method that clean robot according to claim 2 calculates quantity of refuse automatically, which is characterized in that the step 1
In, if clean robot is detecting the quantity of refuse of sucking, stored quantity of refuse X in current dustbin is obtained, is entered step
3, otherwise, enter step 2.
4. the method that clean robot according to claim 2 calculates quantity of refuse automatically, which is characterized in that the step 4
In, total quantity of refuse Z makes user know that the information of quantity of refuse in dustbin includes: according to preset rubbish by interactive device output
Grade threshold is measured, determines the quantity of refuse grade of total quantity of refuse Z in dustbin, and quantity of refuse grade is exported by interactive device.
5. the method that clean robot according to claim 4 calculates quantity of refuse automatically, which is characterized in that the quantity of refuse
Grade includes that no rubbish, quantity of refuse be few, quantity of refuse has mostly been expired with rubbish.
6. according to the method that clean robot described in claim 2 to 5 any one calculates quantity of refuse automatically, feature exists
In in the step 2, clean robot calculates the vacuum degree in dustbin according to starting current data, further according to vacuometer
Calculate stored quantity of refuse X in dustbin.
7. according to the method that clean robot described in claim 2 to 5 any one calculates quantity of refuse automatically, feature exists
In the preset time T 1 is 1s~5s.
8. according to the method that clean robot described in claim 2 to 5 any one calculates quantity of refuse automatically, feature exists
In, the clean robot further includes the rubbish detection sensor of measure loop and the quantity of refuse for detecting sucking dustbin,
Clean robot detects the starting current of fan motor by measure loop, and rubbish detection sensor is set to and is connected to dustbin
In dust absorption passage.
9. the method that clean robot according to claim 8 calculates quantity of refuse automatically, which is characterized in that the rubbish inspection
Surveying sensor includes infrared transmitting receiver, and the quantity of refuse information for the sucking that rubbish detection sensor detects includes that rubbish is worn
In the step 3, infrared transmitting receiver is transmitted in time T2 for the pulse generated when crossing infrared transmitting receiver
Pulse accumulation simultaneously obtains accumulated pulse number m, and the quantity of refuse Y of sucking dustbin is calculated according to accumulated pulse number m.
10. according to claim 1 to the method that 5 any one calculate quantity of refuse to the clean robot automatically, feature
It is, the quantity of refuse X, quantity of refuse Y and total quantity of refuse Z are the volume of rubbish.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710954770.3A CN109662652A (en) | 2017-10-13 | 2017-10-13 | A kind of method that clean robot calculates quantity of refuse automatically |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710954770.3A CN109662652A (en) | 2017-10-13 | 2017-10-13 | A kind of method that clean robot calculates quantity of refuse automatically |
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| Publication Number | Publication Date |
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| CN109662652A true CN109662652A (en) | 2019-04-23 |
Family
ID=66139088
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| CN201710954770.3A Pending CN109662652A (en) | 2017-10-13 | 2017-10-13 | A kind of method that clean robot calculates quantity of refuse automatically |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111150332A (en) * | 2019-12-31 | 2020-05-15 | 深圳飞科机器人有限公司 | Autonomous cleaning device and dust box monitoring method thereof |
| CN113576357A (en) * | 2020-04-30 | 2021-11-02 | 青岛塔波尔机器人技术股份有限公司 | Sweeping robot workstation and garbage recycling method thereof |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20210427 Address after: 310018 No.2, Songqiao street, Hangzhou Economic and Technological Development Zone, Hangzhou City, Zhejiang Province Applicant after: PANASONIC HOME APPLIANCES (CHINA) Co.,Ltd. Address before: Sonjo economic and Technological Development Zone Hangzhou city Zhejiang province 310018 Street No. 6 Building 3 -A Applicant before: PANASONIC HOME APPLIANCES R&D CENTER (HANGZHOU) Co.,Ltd. |
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Application publication date: 20190423 |
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