CN1778246A - Dust amount detector and method for automatic dust collector - Google Patents
Dust amount detector and method for automatic dust collector Download PDFInfo
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- CN1778246A CN1778246A CN 200410091636 CN200410091636A CN1778246A CN 1778246 A CN1778246 A CN 1778246A CN 200410091636 CN200410091636 CN 200410091636 CN 200410091636 A CN200410091636 A CN 200410091636A CN 1778246 A CN1778246 A CN 1778246A
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Abstract
A unit and method for detecting the quantity of the dust sucked in an automatic cleaner is disclosed. Said method features that a camera head is arranged on the inner surface of dust inlet for taking the image about the density and size of dust particles at intervals and then calculating the quantity of sucked dust. Said unit is composed of camera head and microcomputer.
Description
Technical field
The present invention relates to a kind of amount of dust sniffer and method of automatic cleaner, the wall that particularly relates to a kind of suction port is provided with camera, and according to its image that photographs, mark at set intervals, check out that dust accounts for the size of the area and the dust of whole pictures, thereby correctly find the amount of dust sniffer and the method for automatic cleaner of the amount of dust of suction
Background technology
Generally, automatic cleaner is meant unattended, and the dust and other impurities that sucks ground in certain zone of also can travelling is automatically finished the automatic dust absorption apparatus of sweeping purpose.
Above-mentioned automatic cleaner is according to built-in program, sets in advance to sweep route and finish by this route running and sweeps.As mentioned above, in order to travel automatically according to predefined route and to finish and sweep action, and detect the position of automatic cleaner and the barrier in driving path and the path, need to install a lot of sensors.
But, want to allow this automatic cleaner accurately travel be set sweep route the time, many high price sensors then need be set, therefore certainly exist problems such as internal structure complexity, manufacturing cost rising.
In order to address this is that, invented the automatic cleaner that a kind of meaning in office of travelling is swept route and carried out cleaning under stochastic model.
Fig. 1 is the component diagram that the running gear of the automatic cleaner of prior art is formed.
As shown in Figure 1, automatic cleaner is made up of following components: burst phenomenon takes place when keeping straight in certain field, and will be according to the barrier induction part 1 of the conflict detecting obstacles thing that takes place; Signal according to above-mentioned barrier induction part 1 spreads out of at first stops the operation of automatic cleaner, and generates angle at random with random fashion, then angle at random is converted into the anglec of rotation of automatic cleaner, finally makes automatic cleaner change the control part 2 of angle; According to the control signal that above-mentioned control part 2 spreads out of, revolver motor 5 is pressed the revolver motor driving part 3 of certain speed drive; According to the signal that above-mentioned control part 2 sends, right wheel motor 6 is pressed right wheel motor 6 drive divisions of certain speed drive.
Fig. 2 is the operational flowchart of the automatic cleaner operation method of prior art.
As shown in Figure 2, according to the order that the user begins, its operating process is as follows: the first step, and produce and sweep order, automatic cleaner is carried out, and simultaneously, whether the disturbance in judgement thing is detected SP1～SP3; In second step, above-mentioned judged result when promptly detecting barrier, stops automatic cleaner for being, and generates arbitrarily angle SP4 at random according to random fashion; In the 3rd step, the angle at random that generates in the said process is converted into the anglec of rotation, and makes dust catcher with this angle rotation SP5; In the 4th step, when above-mentioned postrotational automatic cleaner is kept straight on, judge cleaning end situation, when finishing SP7 out of service when sweeping.
At first, the user sends when sweeping order SP1, and control part 2 sends revolver motor 5 and the consistent control signal of right wheel motor 6 actuating speeds in order to allow automatic cleaner keep straight on.
Simultaneously, revolver motor driving part 3 drives revolver motor 5 according to the control signal that above-mentioned control part 2 sends, and 4 of right wheel motor drive divisions are to drive right wheel motor 6 according to the control signal that above-mentioned control part 2 sends.
At this moment, barrier induction part 1 is to collide the impact dynamics that any barrier takes place and come the detecting obstacles thing according to surveying automatic cleaner, and an obstacle detection signal that draws is transferred to above-mentioned control part 2.
On this basis, after above-mentioned control part 2 makes automatic cleaner out of service according to above-mentioned obstacle detection signal, under random fashion, generate arbitrarily angle SP4 at random, and output at random angle be converted into the control signal of the anglec of rotation of automatic cleaner.At this moment, 2 of above-mentioned control parts be automatic cleaner by direction of rotation, the control signal of the travel speed of revolver motor 5 and right wheel motor 6 is transported to revolver motor driving part 3 and right wheel motor drive division 4.
On this basis, above-mentioned revolver motor driving part 3 drives revolver motor 5 according to the control signal of above-mentioned control part 2; Right wheel motor drive division 4 drives right wheel motor 6 according to the control signal of above-mentioned control part 2; Simultaneously automatic cleaner is rotated to be arbitrarily angle SP5 at random.
Then, above-mentioned control part 2 judges whether that cleaning finishes when allowing automatic cleaner craspedodrome SP6, sweep if then stop.If cleaning is not finished, carry out above-mentioned action so repeatedly.
Above-mentioned automatic cleaner is in the past installed UV sensor in order to survey amount of dust at the suction port of above-mentioned automatic cleaner.When dust passes through suction inlet, judge amount of dust according to the light amount of measuring the UV sensor that changes.
But the time, the problem of the amount of dust detection method of above-mentioned automatic cleaner in the past is, it not only can not be surveyed and obtain whole amount of dust of passing through from suction port, can not measure the size of dust.
This shows that the amount of dust sniffer of above-mentioned existing automatic cleaner and method obviously still have inconvenience and defective, and demand urgently further being improved in structure, method and use.The problem that exists for the amount of dust sniffer that solves automatic cleaner and method, relevant manufacturer there's no one who doesn't or isn't seeks solution painstakingly, but do not see always that for a long time suitable design finished by development, and common product does not have appropriate structure to address the above problem, and this obviously is the problem that the anxious desire of relevant dealer solves.
Because the defective that the amount of dust sniffer of the automatic cleaner of above-mentioned prior art and method exist, the inventor is based on being engaged in this type of product design manufacturing abundant for many years practical experience and professional knowledge, and the utilization of cooperation scientific principle, actively studied innovation, in the hope of founding a kind of amount of dust sniffer and method of new automatic cleaner, can improve the amount of dust sniffer and the method for general existing automatic cleaner, make it have more practicality.Through constantly research, design, and after studying sample and improvement repeatedly, create the present invention who has practical value finally.
Summary of the invention
Main purpose of the present invention is, overcome the amount of dust sniffer of existing automatic cleaner and the defective that method exists, and provide a kind of amount of dust sniffer and method of new automatic cleaner, technical problem to be solved is to make it by the wall at suction port camera is set, the image of taking with camera, carry out mark at set intervals, and detect shared area and the dust size of dust in whole pictures, thereby the amount of dust that correct detection goes out to suck, thereby be suitable for practicality more.
The object of the invention to solve the technical problems realizes by the following technical solutions.The amount of dust sniffer of a kind of automatic cleaner that proposes according to the present invention, it comprises: be provided with at the suction port wall, carry out the camera of filming image; And, utilize labelling technique at set intervals the image that above-mentioned camera photographs, analyze the size and the area of dust, and detect the microcomputer of amount of dust according to analysis result.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
The amount of dust sniffer of aforesaid automatic cleaner, wherein said camera are when taking, and the contiguous position of this camera is provided with the lamp that illumination is provided.
The amount of dust sniffer of aforesaid automatic cleaner, wherein said microcomputer change the rotary speed of dust-absorbing motor according to amount of dust, thereby adjust the suction dynamics.
The object of the invention to solve the technical problems also adopts following technical scheme to realize.The amount of dust detection method of a kind of automatic cleaner that proposes according to the present invention, it may further comprise the steps: according to the pattern of sweeping that the user selects, travel in meeting the scope of order and clear away; Take the image of suction port with camera; By the regular hour, meet the part of dust in the above-mentioned image of mark; Handle image by above-mentioned mark, analyze shared area and the size of dust, and detect amount of dust according to analysis result; And, adjust the dust suction dynamics by the rotary speed that changes dust-absorbing motor according to the amount of dust of above-mentioned detection.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
The amount of dust detection method of aforesaid automatic cleaner also is included in the process of filmed image and comprises the process of lighting a lamp and illumination being provided.
Via as can be known above-mentioned, the invention relates to a kind of amount of dust sniffer and method of automatic cleaner, it is provided with camera at the wall of suction port, and according to its image that photographs, mark at set intervals, check out that dust accounts for the size of the area and the dust of whole pictures, thereby correctly find the amount of dust of suction., the present invention includes for this reason: camera and microcomputer, wherein, above-mentioned camera is arranged on the suction inlet wall, is used for filmed image; Above-mentioned microcomputer then is the image usage flag function that photographs, and analyzes the size and the area of dust at set intervals, and surveys amount of dust according to its analysis result.
By technique scheme, the amount of dust sniffer and the method for automatic cleaner of the present invention have following advantage at least:
The present invention is provided with camera at the suction port wall, the image that photographs according to camera, to the dust in this image that photographs, every between one period childhood, carry out mark, and find dust area occupied and dust size in all pictures, thereby detect correct suction amount of dust effectively by its result.
In sum, the amount of dust sniffer and the method for the automatic cleaner that the present invention is special, by wall camera is set at suction port, the image of taking with camera, every between one period childhood, carry out mark, and detect shared area and the dust size of dust in whole pictures, thereby the amount of dust that correct detection goes out to suck.It has above-mentioned many advantages and practical value, and in like product and method, do not see have similar structural design and method to publish or use and really genus innovation, no matter it all has bigger improvement on product structure, method or function, have large improvement technically, and produced handy and practical effect, and the amount of dust sniffer of more existing automatic cleaner and method have the multinomial effect of enhancement, thereby be suitable for practicality more, and have the extensive value of industry, really be a new and innovative, progressive, practical new design.
Above-mentioned explanation only is the general introduction of technical solution of the present invention, for can clearer understanding technological means of the present invention, and can be implemented according to the content of specification, below with preferred embodiment of the present invention and conjunction with figs. describe in detail as after.
Description of drawings
Fig. 1 is the component diagram that the running gear of the automatic cleaner of prior art is formed.
Fig. 2 is the operational flowchart of the automatic cleaner operation method of prior art.
Fig. 3 is the component diagram of the amount of dust sniffer structure of automatic cleaner of the present invention.
Fig. 4 is the operational flowchart of automatic cleaner amount of dust detection method.
100: microcomputer 200: camera
300: lamp 400: dust-absorbing motor
The specific embodiment
Reach technological means and the effect that predetermined goal of the invention is taked for further setting forth the present invention, below in conjunction with accompanying drawing and preferred embodiment, amount of dust sniffer and its specific embodiment of method, structure, method, step, feature and the effect thereof of the automatic cleaner that foundation the present invention is proposed, describe in detail as after.
Fig. 3 is the component diagram of the amount of dust sniffer structure of automatic cleaner of the present invention; Fig. 4 is the operational flowchart of automatic cleaner amount of dust detection method.
As shown in Figure 3, the present invention includes with the lower part: be arranged at the suction port wall and be used for the camera 200 of filmed image; The image that photographs in the above-mentioned camera 200, the usage flag technology is analyzed the size and the area of dust at set intervals, and surveys the microcomputer 100 of amount of dust according to analysis result; When above-mentioned camera 200 is being taken, at the lamp that is used to throw light on 300 that is provided with in abutting connection with the position of its camera 200.
Above-mentioned microcomputer 100 is adjusted the dust suction dynamics according to the amount of dust that sucks by the rotary speed that changes dust-absorbing motor 400.
As above operate and illustrate in conjunction with Fig. 4.
At first, sweep Mode S P1 according to what the user selected, automatic cleaner travels in the field, thereby and sucks floor-dust and carry out cleaning SP2.
At this moment, take suction port, promptly take the image SP3 that comprises the dust suction dynamics of dust-absorbing motor 400 and be inhaled into the dust in the dust bucket at the camera 200 that above-mentioned automatic cleaner suction port periphery is provided with.
At this moment, above-mentioned camera is when filmed image, and the microcomputer 100 of automatic cleaner turns on the light and 300 provides illumination.
Secondly, the microcomputer 100 of above-mentioned automatic cleaner according to the image that above-mentioned camera 200 photographs, utilizes technology every between one period childhood dust to be carried out mark and handles SP4.The image frame of handling by mark is analyzed shared area of dust and big or small operation, and survey amount of dust SP5 according to analyzing.
Then, according to the above-mentioned amount of dust that detects, adjust dust by the rotary speed that changes executory dust-absorbing motor 400 and suck dynamics SP6.
That is to say that the image that the present invention takes by the camera that is arranged on the suction port wall carries out mark to the dust that photographs at set intervals and handles, thereby detect the size of dust area occupied and dust in all pictures.
The amount of dust sniffer of the above-mentioned automatic cleaner of the present invention that constitutes as the method and structure and the technological innovation of method all have many saving graces for technical staff of the same trade now, and the progressive that possesses skills really.
The above, it only is preferred embodiment of the present invention, be not that the present invention is done any pro forma restriction, though the present invention discloses as above with preferred embodiment, yet be not in order to limit the present invention, any those skilled in the art, in not breaking away from the technical solution of the present invention scope, when the method that can utilize above-mentioned announcement and technology contents are made a little change or be modified to the equivalent embodiment of equivalent variations, but every content that does not break away from technical solution of the present invention, according to technical spirit of the present invention to any simple modification that above embodiment did, equivalent variations and modification all still belong in the scope of technical solution of the present invention.
Claims (5)
1, a kind of amount of dust sniffer of automatic cleaner is characterized in that it comprises:
Be provided with at the suction port wall, carry out the camera of filming image; And
Image above-mentioned camera photographs utilizes labelling technique at set intervals, analyzes the size and the area of dust, and detects the microcomputer of amount of dust according to analysis result.
2, the amount of dust sniffer of automatic cleaner according to claim 1 is characterized in that wherein said camera when taking, and the contiguous position of this camera is provided with the lamp that illumination is provided.
3, the amount of dust sniffer and the method for automatic cleaner according to claim 1 is characterized in that wherein said microcomputer according to amount of dust, changes the rotary speed of dust-absorbing motor, thereby adjust the suction dynamics.
4, a kind of amount of dust detection method of automatic cleaner is characterized in that it may further comprise the steps:
According to the pattern of sweeping that the user selects, in meeting the scope of order, travel and clear away;
Take the image of suction port with camera;
By the regular hour, meet the part of dust in the above-mentioned image of mark;
Handle image by above-mentioned mark, analyze shared area and the size of dust, and detect amount of dust according to analysis result; And
According to the amount of dust of above-mentioned detection, adjust the dust suction dynamics by the rotary speed that changes dust-absorbing motor.
5, the amount of dust sniffer and the method for automatic cleaner according to claim 4 is characterized in that also being included in the process of filmed image and comprise the process of lighting a lamp and illumination being provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100916368A CN100515302C (en) | 2004-11-24 | 2004-11-24 | Dust amount detector and method for automatic dust collector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100916368A CN100515302C (en) | 2004-11-24 | 2004-11-24 | Dust amount detector and method for automatic dust collector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1778246A true CN1778246A (en) | 2006-05-31 |
| CN100515302C CN100515302C (en) | 2009-07-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100916368A Expired - Fee Related CN100515302C (en) | 2004-11-24 | 2004-11-24 | Dust amount detector and method for automatic dust collector |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7749295B2 (en) | 2005-12-10 | 2010-07-06 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US7770253B2 (en) | 2005-12-10 | 2010-08-10 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US7785396B2 (en) | 2005-12-10 | 2010-08-31 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US7882592B2 (en) | 2005-12-10 | 2011-02-08 | Lg Electronics Inc. | Vacuum cleaner |
| US7958598B2 (en) | 2007-01-24 | 2011-06-14 | Lg Electronics Inc. | Vacuum cleaner |
| US7987551B2 (en) | 2005-12-10 | 2011-08-02 | Lg Electronics Inc. | Vacuum cleaner |
| US7992252B2 (en) | 2009-02-12 | 2011-08-09 | Lg Electronics Inc. | Vacuum cleaner |
| US8012250B2 (en) | 2005-12-10 | 2011-09-06 | Lg Electronics Inc. | Vacuum cleaner |
| CN102283616A (en) * | 2010-10-22 | 2011-12-21 | 青岛科技大学 | Domestic intelligent cleaning system based on machine vision |
| US8151409B2 (en) | 2009-02-26 | 2012-04-10 | Lg Electronics Inc. | Vacuum cleaner |
| US8281455B2 (en) | 2005-12-10 | 2012-10-09 | Lg Electronics Inc. | Vacuum cleaner |
| US8404034B2 (en) | 2005-12-10 | 2013-03-26 | Lg Electronics Inc. | Vacuum cleaner and method of controlling the same |
| CN103217926A (en) * | 2012-01-20 | 2013-07-24 | 苏州宝时得电动工具有限公司 | Automatic working equipment and control method thereof |
| US8544143B2 (en) | 2005-12-10 | 2013-10-01 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US8713752B2 (en) | 2009-03-13 | 2014-05-06 | Lg Electronics Inc. | Vacuum cleaner |
| US8978197B2 (en) | 2009-03-13 | 2015-03-17 | Lg Electronics Inc. | Vacuum cleaner |
| CN104634601A (en) * | 2015-02-09 | 2015-05-20 | 杭州市质量技术监督检测院 | Detection device and detection method for cleaning performance of cleaning robot |
| CN105100710A (en) * | 2015-07-07 | 2015-11-25 | 小米科技有限责任公司 | Indoor monitoring method and device |
| CN106137024A (en) * | 2016-08-30 | 2016-11-23 | 苏州凯丽达电器有限公司 | A kind of there is angle can the hand-held domestic vacuum cleaners of rotating function |
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| CN107468152A (en) * | 2017-09-11 | 2017-12-15 | 太仓迭世信息科技有限公司 | The intelligent except mite dust exhaust apparatus of deposit between a kind of monitoring fabric fibre |
| CN107518831A (en) * | 2017-07-27 | 2017-12-29 | 无锡昊瑜节能环保设备有限公司 | A kind of energy-saving sweeping robot based on particle detections |
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2004
- 2004-11-24 CN CNB2004100916368A patent/CN100515302C/en not_active Expired - Fee Related
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| US8312593B2 (en) | 2005-12-10 | 2012-11-20 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US8012250B2 (en) | 2005-12-10 | 2011-09-06 | Lg Electronics Inc. | Vacuum cleaner |
| US7785396B2 (en) | 2005-12-10 | 2010-08-31 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US7749295B2 (en) | 2005-12-10 | 2010-07-06 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US7882592B2 (en) | 2005-12-10 | 2011-02-08 | Lg Electronics Inc. | Vacuum cleaner |
| US7987551B2 (en) | 2005-12-10 | 2011-08-02 | Lg Electronics Inc. | Vacuum cleaner |
| US8281455B2 (en) | 2005-12-10 | 2012-10-09 | Lg Electronics Inc. | Vacuum cleaner |
| US8404034B2 (en) | 2005-12-10 | 2013-03-26 | Lg Electronics Inc. | Vacuum cleaner and method of controlling the same |
| US7998234B2 (en) | 2005-12-10 | 2011-08-16 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US8544143B2 (en) | 2005-12-10 | 2013-10-01 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US8021452B2 (en) | 2005-12-10 | 2011-09-20 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US8043397B2 (en) | 2005-12-10 | 2011-10-25 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US8043410B2 (en) | 2005-12-10 | 2011-10-25 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US8060979B2 (en) | 2005-12-10 | 2011-11-22 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US7770253B2 (en) | 2005-12-10 | 2010-08-10 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US8240001B2 (en) | 2005-12-10 | 2012-08-14 | Lg Electronics Inc. | Vacuum cleaner with removable dust collector, and methods of operating the same |
| US8726459B2 (en) | 2007-01-24 | 2014-05-20 | Lg Electronics Inc. | Vacuum cleaner |
| US7992253B2 (en) | 2007-01-24 | 2011-08-09 | Lg Electronics Inc. | Vacuum cleaner |
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| US8151409B2 (en) | 2009-02-26 | 2012-04-10 | Lg Electronics Inc. | Vacuum cleaner |
| US8713752B2 (en) | 2009-03-13 | 2014-05-06 | Lg Electronics Inc. | Vacuum cleaner |
| US8978197B2 (en) | 2009-03-13 | 2015-03-17 | Lg Electronics Inc. | Vacuum cleaner |
| CN102283616B (en) * | 2010-10-22 | 2013-05-29 | 青岛科技大学 | Domestic intelligent cleaning system based on machine vision |
| CN102283616A (en) * | 2010-10-22 | 2011-12-21 | 青岛科技大学 | Domestic intelligent cleaning system based on machine vision |
| CN103217926A (en) * | 2012-01-20 | 2013-07-24 | 苏州宝时得电动工具有限公司 | Automatic working equipment and control method thereof |
| CN103217926B (en) * | 2012-01-20 | 2015-08-19 | 苏州宝时得电动工具有限公司 | Automatic operation equipment and control method thereof |
| CN106137043A (en) * | 2014-12-24 | 2016-11-23 | 江苏美的清洁电器股份有限公司 | The control method of sweeping robot and sweeping robot and control device |
| CN106137043B (en) * | 2014-12-24 | 2018-09-11 | 江苏美的清洁电器股份有限公司 | The control method and control device of sweeping robot and sweeping robot |
| CN104634601A (en) * | 2015-02-09 | 2015-05-20 | 杭州市质量技术监督检测院 | Detection device and detection method for cleaning performance of cleaning robot |
| CN104634601B (en) * | 2015-02-09 | 2017-07-25 | 杭州市质量技术监督检测院 | The detection means and method of clean robot clean-up performance |
| CN105100710A (en) * | 2015-07-07 | 2015-11-25 | 小米科技有限责任公司 | Indoor monitoring method and device |
| CN106137024A (en) * | 2016-08-30 | 2016-11-23 | 苏州凯丽达电器有限公司 | A kind of there is angle can the hand-held domestic vacuum cleaners of rotating function |
| CN107518831A (en) * | 2017-07-27 | 2017-12-29 | 无锡昊瑜节能环保设备有限公司 | A kind of energy-saving sweeping robot based on particle detections |
| CN107468152A (en) * | 2017-09-11 | 2017-12-15 | 太仓迭世信息科技有限公司 | The intelligent except mite dust exhaust apparatus of deposit between a kind of monitoring fabric fibre |
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|---|---|
| CN100515302C (en) | 2009-07-22 |
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