CN1778246A - Dust amount detector and method for automatic dust collector - Google Patents

Dust amount detector and method for automatic dust collector Download PDF

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Publication number
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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dust
method
unit
head
sucked
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CN 200410091636
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CN100515302C (en )
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金正勋
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乐金电子(天津)电器有限公司
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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

自动吸尘器的灰尘量探测装置及方法 Automatic cleaner dust amount detection apparatus and method

技术领域 FIELD

本发明涉及一种自动吸尘器的灰尘量探测装置及方法,特别是涉及一种在吸尘口的壁面上设置有摄像头,并根据其拍摄到的影像,每隔一段时间标记,检查出灰尘占全部画面的面积和灰尘的大小,从而正确查出吸入的灰尘量的自动吸尘器的灰尘量探测装置及方法背景技术通常情况下,自动吸尘器是指无人操作,也可以自动行驶在某区域内吸入地面的灰尘等杂物来完成打扫目的的自动吸尘器械。 The present invention relates to an automatic vacuum cleaner dust amount detecting apparatus and method, particularly to a camera provided with a suction opening on the wall surface, and in accordance with its captured image, marked intervals, check out the total dust and the area under the apparatus and method of a screen size of dust, so that the correct amount of dust in the automatic cleaner isolated detecting the amount of dust sucked background art generally, unmanned operation means that the automatic cleaner can also travel automatically within a suction surface area dust and other debris to complete the automatic mechanical vacuum cleaning purposes.

上述的自动吸尘器是根据内置的程序,事先设定打扫路线并按此路线行驶来完成打扫。 Automatic cleaner according to the above-described built-in program, and the pre-set cleaning path route travel to complete Click to clean. 如上所述,为了按照预先设定的路线自动行驶并完成打扫动作,以及探测到自动吸尘器的位置和行驶路径及路径中的障碍物,需要安装很多传感器。 As described above, according to the automatic travel route set in advance and complete the cleaning operation, and detecting the position of the automatic traveling route and the cleaner and the obstacle path, the need to install a lot of sensors.

但是,要想让这种自动吸尘器准确行驶在被设定的打扫路线时,则需设置许多高价传感器,因此必然存在内部结构复杂,制造成本上升等问题。 However, to get the accuracy with which the automatic cleaner when cleaning the route is set, need a lot of expensive sensor is provided, and therefore there must be complex internal structure, problems such as increase in manufacturing cost.

为了解决这种问题,发明了一种在随机模式下行驶在任意打扫路线并执行扫除的自动吸尘器。 To solve such problems, in the invention with any of a cleaning line in the random mode and performs automatic cleaner sweep.

图1是现有技术的自动吸尘器的运行装置组成的部件图。 FIG FIG 1 is a member of the prior art automatic cleaner operating means thereof.

如图1所示,自动吸尘器由以下几个部分组成:在一定领域内直行时发生突发现象,并要根据发生的冲突探测障碍物的障碍物感应部1;根据上述障碍物感应部1传出的信号,首先停止自动吸尘器的运行,并以随机方式生成随机角度,然后把随机角度转化为自动吸尘器的旋转角度,最终使自动吸尘器改变角度的控制部2;根据上述控制部2传出的控制信号,把左轮马达5按一定的速度驱动的左轮马达驱动部3;根据上述控制部2发出的信号,把右轮马达6按一定的速度驱动的右轮马达6驱动部。 1, the automatic cleaner consists of the following components: popping phenomenon occurs during straight in a certain field, and according to the obstacle detect conflicts occurring obstacle sensing unit 1; based on the obstacle sensing unit 1 pass the signal, firstly the automatic cleaner is stopped, and to generate a random angle randomly, and then into the randomized angle of the rotation angle of the automatic cleaner, automatic cleaner ultimately changing the angle control unit 2; 2 based on the control unit of the outgoing control signal, the left wheel motor 5 according to the left wheel motor driving unit 3 is driven at a constant speed; wherein the control unit 2 according to a signal emitted, the right wheel motor 6 driving unit 6 is driven at a certain speed of the right wheel motor.

图2是现有技术的自动吸尘器运行方法的操作流程图。 FIG 2 is a flowchart illustrating operation of a method for operating an automatic vacuum cleaner of the prior art.

如图2所示,根据使用者开始的命令,其操作过程如下:第一步,产生打扫命令,自动吸尘器执行,同时,判断障碍物是否被探测SP1~SP3;第二步,上述判断结果为是,即探测到障碍物时,停止自动吸尘器,并根据随机方式生成任意的随机角度SP4;第三步,上述过程中生成的随机角度转化为旋转角度,并使吸尘器以该角度旋转SP5;第四步,上述旋转后的自动吸尘器直行时,判断扫除结束情况,当完成打扫时停止运行SP7。 2, the user starts according to the command, the operation is as follows: First, the command generating clean, automatic cleaner executed, and determines whether the obstacle is detected SP1 ~ SP3; a second step, the determination result is yes, i.e. when the obstacle is detected, the automatic cleaner is stopped, and generates an arbitrary random according to the random angle SP4 embodiment; the third step, the above-described process of generating a random angle is converted to rotation angle, and rotation of the cleaner at an angle SP5; first four steps, when the automatic cleaner straight after the rotation, the end of the sweep is determined, the stop operation SP7 when cleaning is completed.

首先,使用者发出打扫命令SP1时,控制部2为了让自动吸尘器直行,发出左轮马达5和右轮马达6驱动速度一致的控制信号。 First, a user issues a command to clean SP1, the control unit 2 in order to allow the automatic cleaner go straight, issued left wheel motor 5 and the right wheel motor 6 drives a consistent speed control signal.

同时,左轮马达驱动部3根据上述控制部2发出的控制信号驱动左轮马达5,右轮马达驱动部4则是根据上述控制部2发出的控制信号驱动右轮马达6。 Meanwhile, the left wheel motor driving unit 3 according to a control signal issued by the control unit 2 of the motor 5 driving the left and right wheel motor driving unit 4 drives the right wheel motor 6 is in accordance with a control signal issued by the control unit 2.

此时,障碍物感应部1是根据探测自动吸尘器碰撞任意障碍物发生的冲击力度来探测障碍物,并把得出的障碍物探测信号传输给上述控制部2。 In this case, the obstacle sensing unit 1 is a crash impact strength according to any of the obstacle detection automatic cleaner to detect an obstacle, and the obstacle detection signal transmitted to the control unit of the obtained 2.

以此为依据,上述控制部2根据上述障碍物探测信号而使自动吸尘器停止运行后,在随机方式下生成任意的随机角度SP4,并输出将随机角度转化为自动吸尘器的旋转角度的控制信号。 On this basis, the second control signal from the control unit based on the obstacle detection signal of the rotational angle of the automatic cleaner stops running, to generate in a random manner at any random angle SP4, and outputs the randomized angle into the automatic cleaner. 此时,上述控制部2则是把自动吸尘器按旋转方向,将左轮马达5和右轮马达6的行驶速度的控制信号输送到左轮马达驱动部3和右轮马达驱动部4。 At this time, the control unit 2 is the automatic cleaner according to the rotational direction, the left wheel motor 5 and the right wheel motor control signals 6 traveling speed of the left wheel motor driving the conveyance section 3 and a right wheel motor driving unit 4.

以此为依据,上述左轮马达驱动部3,根据上述控制部2的控制信号来驱动左轮马达5;右轮马达驱动部4,根据上述控制部2的控制信号来驱动右轮马达6;同时把自动吸尘器旋转为任意的随机角度SP5。 On this basis, the above-described left wheel motor driving unit 3, based on the control signal of the control unit 2 drives the left wheel motor 5; right wheel motor driving unit 4 drives the right wheel in accordance with a control signal from the control unit 2 of the motor 6; the same time automatic cleaner arbitrary random rotation angle SP5.

然后,上述控制部2在让自动吸尘器直行SP6时,判断是否扫除结束,如果是则终止打扫。 Then, when the control unit 2 so that the automatic cleaner straight SP6, determines whether the end of the sweep, if the sweep is then terminated. 如果扫除没有完成,那么反复执行上述动作。 If the sweep is not completed, then repeating the above action.

上述的以往自动吸尘器为了探测灰尘量,在上述自动吸尘器的吸尘口安装紫外线传感器。 The above-described conventional automatic cleaner in order to detect the amount of dust in the suction port of the automatic cleaner installation ultraviolet sensors. 每当灰尘通过吸入口时,根据测量变化的紫外线传感器的光线量来判断灰尘量。 Whenever the dust through the suction port, based on the light amount of the ultraviolet sensor of the measurements to determine changes in the amount of dust.

但时,上述的以往自动吸尘器的灰尘量探测方法的问题在于,其不但不能探测得到从吸尘口通过的全部的灰尘量,也不能测量灰尘的大小。 However, the problems of the conventional method of detecting the amount of dust in the automatic cleaner is that it will not be able to detect the amount of dust obtained from all of the port through the suction, the dust can not be measured size.

由此可见,上述现有的自动吸尘器的灰尘量探测装置及方法在结构、方法与使用上,显然仍存在有不便与缺陷,而亟待加以进一步改进。 Thus, the amount of dust in the conventional automatic cleaner detection apparatus and method in structure, method and use, there is clearly still problems and disadvantages, and the urgent need to be further improved. 为了解决自动吸尘器的灰尘量探测装置及方法存在的问题,相关厂商莫不费尽心思来谋求解决之道,但长久以来一直未见适用的设计被发展完成,而一般产品又没有适切的结构能够解决上述问题,此显然是相关业者急欲解决的问题。 To solve the problems of the amount of dust detection apparatus and method for automatic vacuum cleaner problem, the firms did not dare to think hard and to seek a solution, but has long been seen to be applicable to the design of the development is complete, and general product and no relevance structures can solve the problem, this is obviously related businesses eager to solve the problem.

有鉴于上述的现有技术的自动吸尘器的灰尘量探测装置及方法存在的缺陷,本发明人基于从事此类产品设计制造多年丰富的实务经验及专业知识,并配合学理的运用,积极加以研究创新,以期创设一种新的自动吸尘器的灰尘量探测装置及方法,能够改进一般现有的自动吸尘器的灰尘量探测装置及方法,使其更具有实用性。 In view of the defects of the amount of dust detection apparatus and method for automatic cleaner prior art described above, the present invention is based on such products for many years engaged in the design and manufacture a wealth of practical experience and professional knowledge, and with the use of scientific principle, be actively pursued research and innovation dust amount detecting device and method, in order to create a new automatic cleaner dust amount detecting apparatus and method, capable of improving the general conventional automatic vacuum cleaner, making it more practical. 经过不断的研究、设计,并经反复试作样品及改进后,终于创设出确具实用价值的本发明。 After continuous research, design, and after repeated samples and test for improvement, and finally the creation of the present invention indeed has practical value.

发明内容 SUMMARY

本发明的主要目的在于,克服现有的自动吸尘器的灰尘量探测装置及方法存在的缺陷,而提供一种新的自动吸尘器的灰尘量探测装置及方法,所要解决的技术问题是使其通过在吸尘口的壁面设置摄像头,把用摄像头拍摄的影像,每隔一段时间进行标记,并探测出全部画面中灰尘所占的面积及灰尘大小,从而正确探测出吸入的灰尘量,从而更加适于实用。 The main object of the present invention is to overcome the problems of the conventional dust amount detecting means and method for automatic cleaner, and the dust amount detecting means and to provide a new method of automatic cleaner, the technical problem to be solved by it by wall surface of the vacuum port disposed camera, images captured by the camera, marked at intervals, and detect the size of the whole picture area and the dust in the dust proportion to correctly detect the amount of dust sucked in, thus more adapted practical.

本发明的目的及解决其技术问题是采用以下技术方案来实现的。 Objects and solve the technical problem of the invention is achieved by the following technical solutions. 依据本发明提出的一种自动吸尘器的灰尘量探测装置,其包括:在吸尘口壁面设置的,进行影像拍摄的摄像头;以及把上述摄像头拍摄到的影像,每隔一段时间利用标记技术,分析灰尘的大小及面积,并根据分析结果检测灰尘量的微型计算机。 Based on the dust amount detecting device for an automatic cleaner proposed by the present invention, comprising: a wall surface disposed in the suction port, for capturing the image of the camera; and the above-described camera captured image, using a label technology intervals, Analysis and area size of dust, and the dust amount detected based on a result of analysis of the microcomputer.

本发明的目的及解决其技术问题还可采用以下技术措施进一步实现。 The purpose and solve the technical problem of the present invention also adopt the following measures to further implement technology.

前述的自动吸尘器的灰尘量探测装置,其中所述的摄像头在拍摄时,该摄像头邻近的部位设置有提供照明的灯。 The dust amount detection means of the automatic cleaner, wherein the camera at the time of shooting, the camera is provided with a portion adjacent to providing illumination lamp.

前述的自动吸尘器的灰尘量探测装置,其中所述的微型计算机根据灰尘量,来改变吸尘马达的旋转速度,从而调整吸入力度。 The microcomputer of the automatic cleaner dust amount detecting means, wherein according to the amount of dust, to change the rotational speed of the suction motor, thereby adjusting the intensity of the suction.

本发明的目的及解决其技术问题还采用以下的技术方案来实现。 Objects and solve the technical problem of the present invention also adopts the following technical solution to achieve. 依据本发明提出的一种自动吸尘器的灰尘量探测方法,其包括以下步骤:根据使用者选择的打扫模式,在符合命令的范围内行驶并进行扫除;用摄像头拍摄吸尘口的影像;按一定的时间,标记上述影像中符合灰尘的部分;通过上述标记处理影像,分析灰尘所占的面积及大小,并根据分析结果检测出灰尘量;以及根据上述检测的灰尘量,通过改变吸尘马达的旋转速度来调整吸尘力度。 Based on a method for automatically detecting the amount of dust in the vacuum cleaner of the present invention is proposed, comprising the steps of: cleaning mode selected by the user, and running in line with the command sweep range; dust inlet captured image by the camera; certain time, the mark portion in line with the dust image; the mark by image processing, and analysis of the area occupied by the size of the dust, and the dust amount detected result of the analysis; and according to the detected amount of dust, the suction motor by changing to adjust the rotation speed of the cleaning efforts.

本发明的目的及解决其技术问题还可采用以下技术措施进一步实现。 The purpose and solve the technical problem of the present invention also adopt the following measures to further implement technology.

前述的自动吸尘器的灰尘量探测方法,还包括在拍摄影像的过程中包括点灯并提供照明的过程。 The method for automatically detecting an amount of dust cleaner, further comprising a process comprising the captured image and to provide an illumination lighting process.

经由上述可知,本发明是关于一种自动吸尘器的灰尘量探测装置及方法,它在吸尘口的壁面设置有摄像头,并根据其拍摄到的影像,每隔一段时间标记,检查出灰尘占全部画面的面积和灰尘的大小,从而正确查出吸入的灰尘量。 Via the foregoing, the present invention is an apparatus and method for detecting the amount of dust on an automatic vacuum cleaner, which is provided with a camera in the wall surface of the vacuum port, and according to which the image captured, labeled intervals, check out the total dust and dust area size screen, so that the amount of dust sucked properly isolated. 为此,本发明包括:摄像头和微型计算机,其中,上述摄像头设置在吸入口壁面上,用于拍摄影像;上述微型计算机则是把拍摄到的影像使用标记功能,每隔一段时间分析灰尘的大小及面积,并根据其分析结果探测灰尘量。 To this end, the present invention includes: a microcomputer and a camera, wherein the camera is provided on a wall surface of the suction port, for capturing an image; and the microcomputer is to use captured image tagging, analysis of the size of dust at intervals and area, and detecting the amount of dust in accordance with the analysis result.

借由上述技术方案,本发明自动吸尘器的灰尘量探测装置及方法至少具有下列优点:本发明在吸尘口壁面设置摄像头,根据摄像头拍摄到的影像,对拍摄到的该影像中的灰尘,每隔一段儿时间进行标记,并通过其结果查出全体画面中灰尘所占面积及灰尘大小,从而有效地探测出正确的吸入灰尘量。 By means of the above technical solutions, the dust amount detecting means and method for the automatic cleaner according to the present invention has the following advantages at least: the present invention is provided cameras suction mouth wall, the captured image according to the camera, a captured the image of dust, each for some interval of time labeled children, and isolated whole screen area occupied by the dust and dust-sized through a result, effectively detect the correct amount of dust inhalation.

综上所述,本发明特殊的自动吸尘器的灰尘量探测装置及方法,通过在吸尘口的壁面设置摄像头,把用摄像头拍摄的影像,每隔一段儿时间进行标记,并探测出全部画面中灰尘所占的面积及灰尘大小,从而正确探测出吸入的灰尘量。 In summary, the apparatus and method of the amount of dust special automatic cleaner of the present invention detection, images captured by the camera every time some children marked by a camera provided on the wall surface of the suction port, screen and detect all the area occupied by the dust and dust-sized to correctly detect the amount of dust sucked. 其具有上述诸多的优点及实用价值,并在同类产品及方法中未见有类似的结构设计及方法公开发表或使用而确属创新,其不论在产品结构、方法或功能上皆有较大的改进,在技术上有较大的进步,并产生了好用及实用的效果,且较现有的自动吸尘器的灰尘量探测装置及方法具有增进的多项功效,从而更加适于实用,而具有产业的广泛利用价值,诚为一新颖、进步、实用的新设计。 It has many of the above advantages and practical value, and similar products and methods have not seen a similar design and use of methods published or indeed innovative, regardless of its larger Jie in the product structure, method or function improvement, greater progress in technology, and easy to produce and practical results, and with a number of efficacy enhancing amount of dust than the conventional detection apparatus and method for the automatic cleaner, which is more suitable for practical use, having extensive use value of the property, the best for a new, progressive, practical new design.

上述说明仅是本发明技术方案的概述,为了能够更清楚了解本发明的技术手段,并可依照说明书的内容予以实施,以下以本发明的较佳实施例并配合附图详细说明如后。 The above description is only an overview of the technical solution of the present invention, in order to more fully understood from the present disclosure, may be implemented in accordance with the contents of the specification, the following preferred embodiments of the present invention and to be described later in detail with drawings.

附图说明 BRIEF DESCRIPTION

图1是现有技术的自动吸尘器的运行装置组成的部件图。 FIG FIG 1 is a member of the prior art automatic cleaner operating means thereof.

图2是现有技术的自动吸尘器运行方法的操作流程图。 FIG 2 is a flowchart illustrating operation of a method for operating an automatic vacuum cleaner of the prior art.

图3是本发明自动吸尘器的灰尘量探测装置结构的部件图。 FIG 3 is a automatic cleaner of the present invention, the dust amount detecting device of FIG member structure.

图4是自动吸尘器灰尘量探测方法的操作流程图。 FIG 4 is a flowchart illustrating operation of the automatic cleaner dust amount detecting method.

100:微型计算机 200:摄像头300:灯 400:吸尘马达具体实施方式为更进一步阐述本发明为达成预定发明目的所采取的技术手段及功效,以下结合附图及较佳实施例,对依据本发明提出的自动吸尘器的灰尘量探测装置及方法其具体实施方式、结构、方法、步骤、特征及其功效,详细说明如后。 100: microcomputer 200: Camera 300: Lamp 400: suction motor DETAILED DESCRIPTION To further elaborate the technical means and effects the present invention is predetermined to achieve the object of the invention taken in conjunction with the accompanying drawings and the following preferred embodiments according to the present dust amount detecting means and method of the present invention proposed an automatic cleaner specific embodiments, structures, methods, steps, characteristics and efficacy, as will be described in detail.

图3是本发明自动吸尘器的灰尘量探测装置结构的部件图;图4是自动吸尘器灰尘量探测方法的操作流程图。 FIG. 3 is a part view of the device structure of the automatic cleaner dust amount detecting the present invention; FIG. 4 is a flowchart illustrating operation of the automatic cleaner dust amount detecting method.

如图3所示,本发明包括以下部分:设置于吸尘口壁面并且用于拍摄影像的摄像头200;把上述摄像头200中拍摄到的影像,使用标记技术每隔一段时间,对灰尘的大小及面积进行分析,并根据分析结果探测灰尘量的微型计算机100;上述摄像头200正在拍摄时,在其摄像头200的邻接部位设置的用于照明的灯300。 3, the present invention comprises the following components: a wall surface disposed in the suction port and the camera for capturing images 200; the above-described camera 200 captured the image, using markers at regular intervals, and the size of dust area analysis, detect the amount of dust and a microcomputer 100 according to the analysis result; when said lamp for illuminating the imaging camera 200 is, in its portion adjacent to the camera 200 disposed 300.

上述微型计算机100根据吸入的灰尘量,通过改变吸尘马达400的旋转速度来调整吸尘力度。 The microcomputer 100 in accordance with the above-described amount of dust sucked, the suction strength is adjusted by changing the rotational speed of the motor 400 of suction.

如上操作结合图4来说明。 4 above operation will be described in conjunction with FIG.

首先,根据使用者选择的打扫模式SP1,自动吸尘器行驶在该领域内,并吸入地面灰尘从而执行扫除SP2。 First, the user selects a cleaning mode SP1, automatically traveling cleaner in the art, and the dust suction surface thereby performing sweep SP2.

此时,在上述自动吸尘器吸尘口周边设置的摄像头200拍摄吸尘口,即拍摄包括吸尘马达400的吸尘力度而被吸入灰尘桶内的灰尘在内的影像SP3。 In this case, in the camera automatic cleaner suction port is provided outside the vacuum port 200 of imaging, i.e., the image capturing dust comprises a suction motor vacuum SP3 intensity 400 is drawn tub including dust.

此时,上述摄像头在拍摄影像时,自动吸尘器的微型计算机100打开灯300来提供照明。 Here, the camera when recording images, the automatic cleaner microcomputer 100 to turn on the lights 300 provide illumination.

其次,上述自动吸尘器的微型计算机100,根据上述摄像头200拍摄到的影像,利用工艺每隔一段儿时间对灰尘进行标记处理SP4。 Secondly, the automatic cleaner microcomputer 100, based on the captured camera image 200, using the child process from time to time labeling process dust SP4. 把通过标记处理的影像画面进行分析灰尘所占的面积及大小的操作,并根据分析探测灰尘量SP5。 The operation area and the size of the dust occupied by image analysis picture marking process, according to the analysis to detect the amount of dust and SP5.

然后,根据上述探测出的灰尘量,通过改变执行中的吸尘马达400的旋转速度来调整灰尘吸入力度SP6。 Then, in accordance with the detected amount of the dust, the rotational speed of the motor 400 to adjust the intensity of the dust suction SP6 by changing the execution of dust.

也就是说,本发明通过设置在吸尘口壁面的摄像头拍摄的影像,每隔一段时间对拍摄到的灰尘进行标记处理,从而探测出灰尘在全体画面中所占面积以及灰尘的大小。 That is, the present invention, at intervals of captured dust labeling process is performed in the image provided by the wall surface of the suction port of the camera shooting, thereby detecting an area occupied by the dust and dirt in the whole screen.

上述如此方法及结构构成的本发明自动吸尘器的灰尘量探测装置及方法的技术创新,对于现今同行业的技术人员来说均具有许多可取之处,而确实具有技术进步性。 The amount of dust present invention, the above-described automatic cleaner such detection methods and structures constituting the technical innovation of the apparatus and method for the industry today have many skilled merits, but does have technical progress.

以上所述,仅是本发明的较佳实施例而已,并非对本发明作任何形式上的限制,虽然本发明已以较佳实施例揭露如上,然而并非用以限定本发明,任何熟悉本专业的技术人员,在不脱离本发明技术方案范围内,当可利用上述揭示的方法及技术内容作出些许的更动或修饰为等同变化的等效实施例,但是凡是未脱离本发明技术方案的内容,依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰,均仍属于本发明技术方案的范围内。 Above, only the preferred embodiment of the present invention, but the present invention does not form any limitation, embodiments of the present invention has been disclosed, although the preferred embodiment described above, however, not intended to limit the present invention, any skilled professional in the art, without departing from the scope of the technical solution of the present invention, when the method disclosed above can be utilized to make various omissions, substitutions and the technical contents of equivalent variations or modifications equivalent embodiments, it is intended that the technical solutions of the present invention, any simple modifications based on the technical essence of the present invention is made to the above embodiment of the embodiment, the equivalent changes and modifications, provided they fall within the scope of the present invention.

Claims (5)

  1. 1.一种自动吸尘器的灰尘量探测装置,其特征在于其包括:在吸尘口壁面设置的,进行影像拍摄的摄像头;以及把上述摄像头拍摄到的影像,每隔一段时间利用标记技术,分析灰尘的大小及面积,并根据分析结果检测灰尘量的微型计算机。 An automatic cleaner dust amount detecting means, characterized in that it comprises:, a camera image captured by the wall surface of the suction port; and the above-described video camera to shoot, at intervals using a label technology, Analysis and area size of dust, and the dust amount detected based on a result of analysis of the microcomputer.
  2. 2.根据权利要求1所述的自动吸尘器的灰尘量探测装置,其特征在于其中所述的摄像头在拍摄时,该摄像头邻近的部位设置有提供照明的灯。 2. The dust amount detecting means, wherein wherein said camera during shooting, the camera is provided with a portion adjacent to providing illumination lamp according to claim 1, said automatic cleaner
  3. 3.根据权利要求1所述的自动吸尘器的灰尘量探测装置及方法,其特征在于其中所述的微型计算机根据灰尘量,来改变吸尘马达的旋转速度,从而调整吸入力度。 Dust amount detecting apparatus and method for automatic cleaner as claimed in claim 1, characterized in that the microcomputer in accordance with the amount of dust, to change the rotational speed of the suction motor, thereby adjusting the intensity of the suction.
  4. 4.一种自动吸尘器的灰尘量探测方法,其特征在于其包括以下步骤:根据使用者选择的打扫模式,在符合命令的范围内行驶并进行扫除;用摄像头拍摄吸尘口的影像;按一定的时间,标记上述影像中符合灰尘的部分;通过上述标记处理影像,分析灰尘所占的面积及大小,并根据分析结果检测出灰尘量;以及根据上述检测的灰尘量,通过改变吸尘马达的旋转速度来调整吸尘力度。 4. A method of detecting the amount of dust in the automatic cleaner, characterized in that it comprises the steps of: cleaning mode selected by the user, in compliance with the command and sweep range; dust inlet captured image by the camera; certain time, the mark portion in line with the dust image; the mark by image processing, and analysis of the area occupied by the size of the dust, and the dust amount detected result of the analysis; and according to the detected amount of dust, the suction motor by changing to adjust the rotation speed of the cleaning efforts.
  5. 5.根据权利要求4所述的自动吸尘器的灰尘量探测装置及方法,其特征在于还包括在拍摄影像的过程中包括点灯并提供照明的过程。 Dust amount detecting apparatus and method for automatic cleaner according to claim 4, characterized in that the process further comprises capturing an image comprising of providing illumination and lighting process.
CN 200410091636 2004-11-24 2004-11-24 Dust amount detector and method for automatic dust collector CN100515302C (en)

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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
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US7987551B2 (en) 2005-12-10 2011-08-02 Lg Electronics Inc. Vacuum cleaner
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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
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US8544143B2 (en) 2005-12-10 2013-10-01 Lg Electronics Inc. Vacuum cleaner with removable dust collector, and methods of operating the same
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CN106137043A (en) * 2014-12-24 2016-11-23 江苏美的清洁电器股份有限公司 Sweeping robot as well as control method and control device of sweeping robot
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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
US8544143B2 (en) 2005-12-10 2013-10-01 Lg Electronics Inc. Vacuum cleaner with removable dust collector, and methods of operating the same
US7987551B2 (en) 2005-12-10 2011-08-02 Lg Electronics Inc. Vacuum cleaner
US8404034B2 (en) 2005-12-10 2013-03-26 Lg Electronics Inc. Vacuum cleaner and method of controlling the same
US8312593B2 (en) 2005-12-10 2012-11-20 Lg Electronics Inc. Vacuum cleaner with removable dust collector, and methods of operating 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
US8012250B2 (en) 2005-12-10 2011-09-06 Lg Electronics Inc. Vacuum cleaner
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
US8281455B2 (en) 2005-12-10 2012-10-09 Lg Electronics Inc. Vacuum cleaner
US7749295B2 (en) 2005-12-10 2010-07-06 Lg Electronics Inc. Vacuum cleaner with removable dust collector, and methods of operating the same
US7992253B2 (en) 2007-01-24 2011-08-09 Lg Electronics Inc. Vacuum cleaner
US8726459B2 (en) 2007-01-24 2014-05-20 Lg Electronics Inc. Vacuum cleaner
US7958598B2 (en) 2007-01-24 2011-06-14 Lg Electronics Inc. Vacuum cleaner
US8528163B2 (en) 2009-02-12 2013-09-10 Lg Electronics Inc. Vacuum cleaner
US8881343B2 (en) 2009-02-12 2014-11-11 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 Based on Machine Vision family of intelligent cleaning system
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 working device and a control method
CN106137043A (en) * 2014-12-24 2016-11-23 江苏美的清洁电器股份有限公司 Sweeping robot as well as control method and control device of sweeping robot
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