CN201469183U - Ground processing system - Google Patents
Ground processing system Download PDFInfo
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- CN201469183U CN201469183U CN2009201606102U CN200920160610U CN201469183U CN 201469183 U CN201469183 U CN 201469183U CN 2009201606102 U CN2009201606102 U CN 2009201606102U CN 200920160610 U CN200920160610 U CN 200920160610U CN 201469183 U CN201469183 U CN 201469183U
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- ground processing
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- processing system
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Abstract
A ground processing system comprises a ground processing device and a recharge stand. A rechargeable power supply unit is arranged in the ground processing device, the ground processing device is provided with an electrode, and the recharge stand is provided with a charging electrode correspondingly, the recharge stand is provided with a first signal transmitting device, the ground processing device is provided with a first directional receiver correspondingly, the first directional receiver receives signals transmitted from the first signal transmitting device, the ground processing device searches the recharge stand according to the received signals and then is connected to the recharge stand for charging, and the first signal transmitting device is an all-around transmitter capable of transmitting signals used for covering current working areas of the ground processing device on all sides. The ground processing device can sense the transmitting signals at any working positions under leading of the signals of the all-around transmitter and approach the recharge stand in any angle, thereby providing a technical guarantee for effective connection and effectively prolonging actual operation time of the ground processing device.
Description
Technical field
The utility model relates to a kind of Ground Processing System that has transmitter, especially a kind of have a theaomni-directional transmission device comprise automatic cleaner, automatically sweeper, the mop floor geographical treatment system of machine etc. automatically.
Background technology
Comprise dust catcher, sweeper, the floor-treating device of the machine that mops floor etc., along with improving constantly of scientific and technological level, very big change has also taken place in its mode of operation, no longer stays in by artificially it being moved around along pending ground to realize the stage of different operating demand.Various intelligent sweeping robots, the intelligence machine of mopping floor arise at the historic moment, and have made a lot of housewives break away from heavy housework.
The Ground Processing System of Chu Xianing comprise floor-treating device and cradle mostly, and floor-treating device comprises administration of power supply and executing agency in the market, and this administration of power supply comprises rechargeable supply unit and control module.Under the energy supply of supply unit, the executing agency of floor-treating device is by the control of control module, do regularly on pending ground or mobile operating randomly, satisfy the real work needs with this, this supply unit also little by little discharges electric energy in this operation process.When the electric weight that monitors this supply unit when the built-in control module of ground treating apparatus was lower than preset value, this control module treating apparatus earthward sent work order, and this floor-treating device can change the mode of operation of seeking cradle automatically over to.This cradle has the energy source that charge for the supply unit be built in floor-treating device once more.The charging electrode that is provided with by cradle docks with the accurate of floor-treating device electrode, realizes the charging of cradle to this supply unit.In case charging finishes, next work order will be carried out or wait for to this floor-treating device.
Floor-treating device in the Ground Processing System is to realize by transmitter and receiver that correspondence is arranged on both to the searching of cradle.Existing transmitter is a directional transmitter, owing to be subjected to the restriction of transmitting tube angle in its radiated element, its emitted light beams is fan-shaped, can't cover the whole working region of floor-treating device.
Specifically, publication number is that CN1284177A, application people are for having description in more detail to this type of Ground Processing System in the patent documentation of Solar ﹠ Robotics.Fig. 1 is existing fixed station and automatic mobile robot's schematic diagram; Fig. 2 is the structural representation of existing fixed station.As depicted in figs. 1 and 2, this ground treatment system C comprises automatic mobile robot A and fixed station B.Automatically mobile robot A comprises rechargeable battery and microcontroller, and fixed station B is used to this rechargeable battery that energy is provided.Fixed station B has the emitter of emission infrared beam, and this emitter has that directionality is poor, the first emitter B1 that forms remote angle pencil of ray and high directivity, form the closely second emitter B2 of arrow beam of light.Automatically mobile robot A is provided with the receiving system that is connected with microcontroller, and this receiving system can receive on certain orientation and come from the infrared beam that the cradle emitter transmits.When automatic mobile robot A need charge,, make automatic mobile robot A near fixed station B, and, make automatic mobile robot A accurately dock success with fixed station B again by the closely guiding of light beam by the guiding of remote light beam.Because being positioned at the emitter of fixed station B is aimed launcher, its emission light beam is fan shape, has only in the transmitting boundary of self-movement robot A target approach radiation, and the machine talent might receive and transmit.Receive the infrared emission signal well for ease of automatic mobile robot A, on mobile robot's pivot place, its direction of advance and its rear, need be respectively equipped with at least one receiving system sensor.This shows, because the emitter of fixed station B so is provided with, for effectively being detected, automatic mobile robot transmits, need be provided with a plurality of receiving systems on the mobile robot A automatically, increase the components and parts costs virtually, also brought certain difficulty for the product-forming and the die sinking of the plastic that this type of receiving system is installed.Moreover the emitter of fixed station B so is provided with, and it is not high that it guides automatic mobile robot A to return the efficient of fixed station B, makes automatic mobile robot A can consume the more time when seeking fixed station B.In order to guarantee that automatic mobile robot A can realize successfully docking with fixed station B, preset value in the time of will certainly improving rechargeable battery and need charge, prolong automatic mobile robot A and seek the time that fixed station B may need, have to sacrifice the actual effectively working time of automatic mobile robot A therefrom.
The utility model content
Technical problem to be solved in the utility model is, provides a kind of theaomni-directional transmission device at the deficiencies in the prior art on Ground Processing System, and it is simple in structure but can realize the emission of omnibearing signal.
Technical problem to be solved in the utility model is achieved by the following technical solution:
The utility model provides a kind of Ground Processing System, this Ground Processing System comprises floor-treating device and cradle, cradle is provided with the theaomni-directional transmission device, floor-treating device is provided with receiving system and receives and transmit, signal guidance by the theaomni-directional transmission device makes floor-treating device can both sense in any operating position and transmits, and can be arbitrarily angled close to cradle, provide technical guarantee for effectively docking, effectively prolong the actual job time of floor-treating device.
Technical problem to be solved in the utility model is achieved by the following technical solution:
A kind of Ground Processing System comprises floor-treating device and cradle; But be provided with the supply unit of recharge in the floor-treating device, described floor-treating device is provided with electrode, and correspondence is provided with charging electrode on the cradle, thereby this charging electrode is used for being connected with electrode on the floor-treating device and is described supply unit charging; Cradle is provided with first sender unit, correspondence is provided with first directional receiver on the floor-treating device, first directional receiver receives the signal that first sender unit is sent, floor-treating device is sought cradle according to the described signal that receives, and be connected charging with it, described first sender unit is the theaomni-directional transmission device, and this theaomni-directional transmission device can be launched the signal that is used to cover floor-treating device work at present zone in all directions.
In order to realize the theaomni-directional transmission function, described theaomni-directional transmission device comprises infrared transmitting tube and lens, and this infrared transmitting tube is positioned at the inside of lens and is arranged on the focus of described lens; Perhaps on the intersection point of described lens minute surface.
Described lens by around be the light transmissive material element that envelope encloses and form, the inwall of this light transmissive material element is parabola or hyperboloid or cambered surface or taper seat shape at least in part.The outer wall of described light transmissive material element is cylindric or semi-cylindrical.
Described theaomni-directional transmission device can also comprise infrared transmitting tube and prism, and this infrared transmitting tube is positioned at the inside of described prism.
Perhaps, described theaomni-directional transmission device comprises infrared transmitting tube, and this infrared transmitting tube is a plurality of, and is the border setting of arranging, and the transmitting boundary of the emission light beam that described a plurality of infrared transmitting tube sent each other continuously or partially overlap.Described a plurality of infrared transmitting tube is positioned at same horizontal level, and is the setting of arranging of closed or semiclosed shape border.For a plurality of infrared transmitting tubes are installed firmly, described cradle is provided with fixture, and this fixture has the locating slot that described a plurality of infrared transmitting tubes are installed.
Be not subjected to extraneous effect of dust around making a plurality of infrared transmitting tubes, described cradle is provided with the light transmissive material element, in this light transmissive material element is around in described a plurality of infrared transmitting tubes.
More concentrated for the signal that makes infrared transmitting tube, play the dustproof effect simultaneously, the top of described infrared transmitting tube is provided with lamina tecti, and described infrared transmitting tube is got up by complete closed.
For effectively receiving the theaomni-directional transmission signal on the cradle, described first directional receiver is arranged on the leading section of described floor-treating device.
For increasing work efficiency, described electrode is arranged on the leading section of described floor-treating device, and the center line of its center line and described first directional receiver is positioned on the same vertical plane.
Described cradle comprises riser and bottom surface, and riser is fixed on an end of bottom surface, and described first sender unit is arranged on the top of riser.
Described charging electrode is across on riser and wide with riser.
Described another kind of cradle comprises riser and bottom surface, and this riser is fixed on an end of bottom surface, and the top of riser is provided with cantilever, and this cantilever and bottom surface are positioned at the homonymy of riser, and described first sender unit is arranged on the arm end top of cantilever.
Described riser is provided with the secondary signal emitter.
Described secondary signal emitter is a directional transmitter, transmits to this directional transmitter directionality.
Described floor-treating device also comprises one second directional receiver, and this second directional receiver is positioned at the sidepiece of described floor-treating device.
Described charging electrode is arranged on the riser, and itself and bottom surface are positioned at the same side of riser, and described charging electrode is two electrodes of arranging up and down, and this electrode is across on riser and wide with riser.
Perhaps, described charging electrode only is positioned at the riser middle part, and the symmetry axis of its center line and cradle is positioned on the same vertical plane.
The center line of the center line of described charging electrode and described first sender unit is positioned on the same vertical plane.
The center line of described charging electrode and the center line of described directional transmitter are positioned on the same vertical plane.
Described first directional receiver and second directional receiver are infrared optical sensor.
Compared with prior art, the beneficial effects of the utility model are:
1, provides safeguard for the function that easily achieves a butt joint: on cradle, be provided with the theaomni-directional transmission device, making floor-treating device no matter be in which direction of cradle all can sense the target width of cloth that the theaomni-directional transmission device launched and penetrate, improved the efficient of charging butt joint, for the function that easily achieves a butt joint provides safeguard;
2, product-forming and die sinking are convenient: cradle adopts a theaomni-directional transmission device just can satisfy the full emission of information to greatest extent, has simplified the position of receiver on the floor-treating device and arranges, for product-forming and die sinking are provided convenience;
3, effectively clean time lengthening: adopt a theaomni-directional transmission device to make that floor-treating device can be with arbitrarily angled, prestissimo ground near cradle, lay the foundation for realizing that floor-treating device accurately docks apace with cradle, therefore the preset value in the time of can suitably reducing battery charge, the actual effective time of floor-treating device prolongs thus, and efficient improves.
Below in conjunction with the drawings and specific embodiments the technical solution of the utility model is elaborated.
Figure of description
Fig. 1 is existing fixed station and automatic mobile robot's schematic diagram;
Fig. 2 is the structural representation of existing fixed station;
Fig. 3 is the overall structure schematic diagram of the utility model embodiment one Ground Processing System;
Fig. 4 is the stereogram of the utility model embodiment one cradle;
Fig. 5 seeks the structural representation of cradle automatically for the utility model embodiment one floor-treating device;
Fig. 6 is the structural representation of the theaomni-directional transmission device in the utility model embodiment one cradle;
Fig. 7 is the overall structure schematic diagram of the utility model embodiment two Ground Processing Systems;
Fig. 8 is the stereogram of the utility model embodiment two cradles;
Fig. 9 seeks the structural representation of cradle automatically for the utility model embodiment two floor-treating devices.
Figure 10 is one of other structural representation of the theaomni-directional transmission device of cradle;
Figure 11 be cradle the theaomni-directional transmission device other structural representation two.
The specific embodiment
Ground Processing System embodiment one
Fig. 3 is the overall structure schematic diagram of the utility model embodiment one Ground Processing System, and as shown in Figure 3, the utility model provides a kind of Ground Processing System 1, and this Ground Processing System 1 comprises floor-treating device 10 and cradle 20.
Floor-treating device 10 comprises housing 101, is provided with the supply unit and the control module that can repeat to power in the inside of housing 101.Floor-treating device 10 also comprises traveling mechanism, and two driving wheels 102 lay respectively at the both sides of floor-treating device 10 and are positioned at the below of floor-treating device 10, and each driving wheel 102 is equipped with an electrical motor driven respectively.Electro-motor is arranged on housing 101 inside, is driven and is achieved by supply unit supplying energy, control module control.Floor-treating device 10 is provided with mode of operation and charge mode.When the electric weight of supply unit during more than or equal to preset value, control module control floor-treating device 10 is in mode of operation.By the work order of control module, two driving wheels of floor-treating device 10 102 rotate, and floor-treating device 10 is in mode of operation, carries out operation on pending ground, and supply unit is consumed energy gradually in operation process also.In case when the energy of supply unit is lower than preset value, place the control modules in the housing 101 will send instruction, floor-treating device 10 is by current mode of operation then enter the charge mode of automatic searching cradle 20.Also be provided with two on the housing 101 to receiving electrode 103, this is positioned at the head of floor-treating device 10, i.e. leading section to receiving electrode 103.Cradle 20 is used for recharging to supply unit, which is provided with two charging electrode 201b, and the symmetry axis of the center line of charging electrode 201b and cradle 20 is positioned on the same vertical plane.When ground treating apparatus 10 searches out cradle 20, receiving electrode 103 is closely contacted with charging electrode 201b, thus the function that realization recharges to supply unit.When the electric weight of supply unit is charged to a certain degree, will stops current charge mode, then be ready.
Fig. 4 is the stereogram of the utility model embodiment one cradle.As shown in Figure 3 and Figure 4, cradle 20 comprises riser 201 and bottom surface 202, and riser 201 is fixed on the top of bottom surface 202.Riser 201 is provided with two charging electrode 201b, and these two charging electrode 201b arrange up and down and are located on the same side of riser 201 with bottom surface 202.Each charging electrode 201b is across being arranged on the riser 201, and the lateral separation of charging electrode 201b is identical with the lateral separation of riser 201.Bottom surface 202 is the gradient slightly, and the direction of this gradient is slightly high near the end of riser 201, and when ground treating apparatus 10 rested on the cradle 20, the effect of supporting floor-treating device 10 was played in bottom surface 202.Again in conjunction with shown in Figure 3, when ground treating apparatus 10 is accurately aimed at cradle 20, driving wheel 102 will rest on the anti-skid 202a of refuting that is provided with on the bottom surface 202, prevent that with this driving wheel 102 from sliding, guarantee receiving electrode 103 is closely contacted with charging electrode 201b on the cradle 20 on the floor-treating device 10.
Fig. 5 seeks the structural representation of cradle automatically for the utility model embodiment one floor-treating device.As shown in Figure 5, cradle 20 comprises the first sender unit 201a, and it is positioned at the top of riser 201.The symmetry axis of the center line of the first sender unit 201a and cradle 20 is positioned on the same vertical plane, that is: the center line of the first sender unit 201a is on the vertical bisector plane of the charging electrode 201b of cradle 20.The first sender unit 201a is a theaomni-directional transmission device.
Fig. 6 is the structural representation of theaomni-directional transmission device.As shown in Figure 6, this theaomni-directional transmission device 201a comprises an infrared transmitting tube 301 and lens 302, and infrared transmitting tube is an emitting diode in the present embodiment, and angular range is at 30 °～40 °, and beam length is greater than 3 meters.Lens enclose being circular closedly envelope around the infrared transmitting tube, have realized the function of 360 ° of theaomni-directional transmission infrared signals.Be provided with in concrete structure, described lens 302 are not convex lens or the concavees lens on the simple meaning, and actual is by geometry and optical principle, be envelope with a kind of lucite and enclose around infrared transmitting tube 301.The parabola decision of the geometry of lens 302 by rotating around its focus, the focus of lens 302 is the position at infrared transmitting tube 301 places.Lens 302 inwalls are by the parabola decision of extending, and the light emission of infrared transmitting tube 301 is to the inner wall position of lens 302, and the outer wall of the reflection scioptics 302 of process inwall is launched, and realizes omnidirectional's function of reflecting.In order to protect lens 302; prevent lens inwall dust fall and the infrared emission signal is effectively used; the top of lens 302 can also be provided with lamina tecti 303, covers on the end face of lens 302 by lamina tecti 303, makes that infrared transmitting tube 301 fully is closed.In order to make its held stationary, below infrared transmitting tube 301 bearing 304 can also be set simultaneously, the version of bearing 304 is not subjected to the restriction of content shown in the accompanying drawing.The inner wall section of lens 302 can be used outside the parabola, also can use curved surfaces such as hyperboloid, taper seat, cambered surface.When the inner wall section of lens 302 was taper seat, 301 of infrared transmitting tubes were positioned on the intersection point of lens 302 taper seat minute surfaces.The outer wall of lens is cylindric, and 302 emissions of infrared transmitting tube 301 scioptics are 360 ° infrared signal.
Theaomni-directional transmission device 201a as shown in Figure 6 is 360 ° of direction emission infrared signals.If cradle is when being placed on the position of fixed obstacles such as wall or furniture, the theaomni-directional transmission device on its cradle uses 180 ° of direction emission infrared signals can satisfy the demand of the working region that covers floor-treating device fully.Realize 180 ° of direction emission infrared signals, only need the outer wall of lens is made semi-cylindrical that the interior wall construction of its lens, material etc. do not have difference with the theaomni-directional transmission device of 360 ° of direction theaomni-directional transmission, do not repeat them here.
In addition, by adopting the method that strengthens electric current,, make infrared emission tube emitted light beams length greater than 3 meters with this light beam of adjusting infrared emission tube.
As Fig. 3 and in conjunction with shown in Figure 5, the front end of floor-treating device 10 is provided with first directional receiver 104, and this first directional receiver 104 is used for directionality ground and receives the signal that the first sender unit 201a is sent.For guaranteeing the effect of docking of floor-treating device 10 and cradle 20 better, the center line of this first directional receiver 104 is on two on the floor-treating device 10 vertical bisector plane to receiving electrode 103.In the present embodiment, this first directional receiver 104 is an infrared optical sensor.
Floor-treating device 10 moves on pending ground automatically and carries out operation under the energy supply of the control of control module and supply unit.When the energy of the built-in supply unit of ground treating apparatus 10 was lower than preset value, control module sent instruction, makes floor-treating device 10 change charge mode automatically over to from current mode of operation.
Before floor-treating device 10 was in running order, cradle 20 was placed on the position of fixed obstacles such as wall or furniture and connects power supply.When described floor-treating device 10 changed charge mode over to, the first sender unit 201a of cradle 20 launched infrared signal, and floor-treating device 10 receives infrared signal by first directional receiver 104 of its front end.Rely on the guide of this infrared signal, make floor-treating device 10 to move from arbitrarily angled direction to the first sender unit 201a.When ground treating apparatus 10 near behind the cradles 20, receiving electrode 103 is effectively contacted with charging electrode 201b on the cradle 20 on the floor-treating device 10.
By detection, can be used for judging whether the charging electrode 201b of cradle 20 docks success with floor-treating device 10 to receiving electrode 103 in docking operation to curtage on the receiving electrode 103 to floor-treating device 10.
Ground Processing System embodiment two
Fig. 7 is the overall structure schematic diagram of the utility model embodiment two Ground Processing Systems.As shown in Figure 7, provide in the present embodiment a kind of Ground Processing System 1 ', be the improvement on embodiment one basis, both main difference are cradle 20 ' structural difference.
Fig. 8 is the stereogram of the utility model embodiment two cradles.As Fig. 7 in conjunction with shown in Figure 8, the cradle 20 in the present embodiment ' comprise riser 201 ', bottom surface 202 ' and cantilever 203 '.Riser 201 ' be fixed on bottom surface 202 ' an end, two charging electrode 201 ' b of riser 201 ' be provided with, these two charging electrode 201 ' b be arrange up and down and with bottom surface 202 ' be positioned at riser 201 ' the same side.The center line of charging electrode 201 ' b is on the vertical bisector plane of cradle.The gradient of bottom surface 202 ' slightly, the direction of this gradient be near riser 201 ' end slightly high, when ground treating apparatus 10 ' rest in cradle 20 ' when going up, play support floor-treating device 10 ' effect.Shown in Figure 7, when 20 ' time of ground treating apparatus 10 ' accurately aim at cradle, driving wheel 102 ' will rest in bottom surface 202 ' on anti-skid the refuting on 202 ' a that be provided with, prevent driving wheel 102 ' slip with this, guarantee floor-treating device 10 ' on to receiving electrode 103 ' with cradle 20 ' on charging electrode 201b ' closely contact.
Fig. 9 seeks the structural representation of cradle automatically for the utility model embodiment two floor-treating devices.As shown in Figure 9, cradle riser 201 ' the top be provided with cantilever 203 ', this cantilever 203 ' and bottom surface 202 ' are positioned at the same side of riser 201 '.Cradle 20 ' comprise sender unit 204 ', sender unit 204 ' have first sender unit, 203 ' a and secondary signal emitter 201 ' a.First sender unit, 203 ' a be positioned at cantilever 203 ' arm end top; Secondary signal emitter 201 ' a be positioned at cradle riser 201 ' on.The center line of the center line of first sender unit, 203 ' a, secondary signal emitter 201 ' a all is positioned on the vertical bisector plane of charging electrode 201 ' b.First sender unit, 203 ' a is a theaomni-directional transmission device, and this theaomni-directional transmission device comprises an infrared transmitting tube and lens, and infrared transmitting tube is an emitting diode in the present embodiment.Lens enclose being closed ground envelope around the infrared transmitting tube, have realized the function of 360 ° of theaomni-directional transmission infrared signals.In addition, by adopting the method that strengthens electric current,, make infrared emission tube emitted light beams length greater than 3 meters with this light beam of adjusting infrared emission tube.Secondary signal emitter 201 ' a comprises an infrared emission tube, weaken the method for current strength and track structure design by employing, adjust the light beam of infrared emission tube with this, make the infrared emission tube emission be near and narrow spindle shape light beam, angular range is roughly at 10 °, and beam length is less than 2 meters.For making floor-treating device can effectively distinguish transmitting of first sender unit and secondary signal emitter, infrared transmitting tube and the coding of the signal that infrared transmitting tube sent in the secondary signal emitter in first sender unit are inequality.
Certainly, except Fig. 8 and the mentioned cradle of Fig. 9 comprise riser 201 ', bottom surface 202 ' and cantilever 203 ', by first sender unit, 203 ' a is installed in cantilever 203 ' on, secondary signal emitter 201 ' a is installed in riser 201 ' outside going up, cradle can also be as shown in the embodiment one, include only riser and bottom surface framework, first sender unit is installed in the top of riser, the secondary signal emitter is installed on the riser, also can realizes the function of same butt joint location.
As Fig. 7 in conjunction with shown in Figure 9, floor-treating device 10 ' front end and the left side be provided with respectively first directional receiver 104 ' and second directional receiver 105 '.First directional receiver 104 ' and second directional receiver 105 ' be used for directionality ground receives the signal of described sender unit 204 ' sent.For guarantee better floor-treating device 10 ' with cradle 20 ' dock effect, this first directional receiver 104 ' center line be located at two to receiving electrode 103 ' vertical bisector plane on.Only floor-treating device 10 ' and cradle 20 ' between distance less than 2 meters, and floor-treating device 10 ' in traveling process, its first directional receiver 104 ' do not receive cradle 20 ' on transmitting of being sent of second emitter, 201 ' a or transmitting of its first directional receiver 104 ' received cradle 20 ' the second emitters 201 ' a is not when being in the state that always strengthens, just can be with the information conveyance of second directional receiver 105 in floor-treating device 10 ' left side ' receive control module to automatic mobile ground treatment system, thus for floor-treating device 10 ' current location carry out aid identification.In the present embodiment, first directional receiver 104 ' and second directional receiver 105 ' be infrared optical sensor.
Floor-treating device 10 ' under the energy supply of the control of control module and supply unit moves on pending ground automatically and carries out operation.When the energy of the supply unit of ground treating apparatus 10 ' built-in was lower than preset value, control module sent instruction, made floor-treating device 10 ' change charge mode automatically over to from current mode of operation.
Before floor-treating device 10 ' in running order, cradle 20 ' on power supply.When ground treating apparatus 10 ' when changing charge mode over to, floor-treating device 10 ' following multiple situation may occur seeking 20 ' time of cradle:
Situation one: when ground treating apparatus 10 ' and cradle 20 ' between distance during greater than 2 meters, by cradle 20 ' on first sender unit, 203 ' a transmit, make first directional receiver 104 of floor-treating device 10 ' front end ' receive signal, rely on the guide of this signal, floor-treating device 10 ' with arbitrarily angled is to cradle 20 ' close.By floor-treating device 10 ' reception cradle 20 ' on the signal power of first sender unit, 203 ' a come principium identification floor-treating device 10 ' and cradle 20 ' between distance far and near.When ground treating apparatus 10 ' and cradle 20 ' between distance within 2 meters and first directional receiver 104 of floor-treating device 10 ' front end ' receive cradle 20 ' on second emitter, 201 ' a sent infrared signal the time, signal by second emitter, 201 ' a guides, make floor-treating device 10 ' constantly near 20 ' time of cradle, the signal of directed seat 20 ' the second emitters 201 ' a of floor-treating device 10 ' received is in when strengthening day by day always, thus realize floor-treating device 10 ' to receiving electrode 103 ' with cradle 20 ' charging electrode 201b ' accurately dock.
Situation two: when ground treating apparatus 10 ' and cradle 20 ' between distance within 2 meters and first directional receiver 104 of floor-treating device 10 ' front end ' receive cradle 20 ' on the infrared signal sent of second emitter, 201 ' a, signal by second emitter, 201 ' a guides simultaneously, make floor-treating device 10 ' constantly near 20 ' time of cradle, the signal of cradle 20 ' the second emitters 201 ' a of floor-treating device 10 ' received is in day by day always and strengthens, thus realize floor-treating device 10 ' to receiving electrode 103 ' with cradle 20 ' charging electrode 201 ' b accurately dock.
Situation three: when ground treating apparatus 10 ' and cradle 20 ' between distance within 2 meters and first directional receiver 104 of floor-treating device 10 ' front end ' receive cradle 20 ' on the infrared signal sent of second emitter, 201 ' a, when the floor-treating device 10 ' former direct of travel of maintenance, the first directional receiver 104 ' received signal of floor-treating device 10 ' front end is not when being in always the state that strengthens day by day, first directional receiver 104 by floor treatment 10 ' front end and left side ' and 105 ' receive cradle 20 ' on the infrared signal sent of second emitter, 201 ' a differentiate floor-treating device 10 ' with respect to cradle 20 ' the position.The direction of motion is adjusted in differential adjusting by floor-treating device 10 ' driving wheel, and guide by the signal of cradle 20 ' the second emitters 201 ' a, thus realize floor-treating device 10 ' to receiving electrode 103 ' with cradle 20 ' charging electrode 201b ' accurately dock.
Situation four: when ground treating apparatus 10 ' and cradle 20 ' between distance within 2 meters and first directional receiver 104 of floor-treating device 10 ' front end ' do not receive cradle 20 ' on second emitter, 201 ' a sent infrared signal the time, survey again by the predefined a certain angle trial property of floor-treating device 10 ' rotation ground, up to floor-treating device 10 ' on front end and first directional receiver 104 in left side ' and second directional receiver 105 ' in any one or two all can receive cradle 20 ' on second emitter, 201 ' a sent infrared signal the time, again by keep the operation attitude advance with this differentiate floor-treating device 10 ' with respect to cradle 20 ' the position.The direction of motion is adjusted in differential adjusting by floor-treating device 10 ' driving wheel, and by cradle 20 ' the not break signal of second emitter, 201 ' a guide, thereby realize floor-treating device 10 ' to receiving electrode 103 ' with cradle 20 ' charging electrode 201b ' accurately dock.
By as can be known to the description of above-mentioned various searching situations, be positioned at the first receiving device 104 ' of floor-treating device front end and be positioned at the work of second receiving system 105 ' of sidepiece, specifically decide in the actual conditions of seeking cradle on floor-treating device.Under most situations, the first receiving device 104 ' and second receiving system 105 ' are cooperatings.Under individual cases, first receiving device 104 ' also can work alone.But second receiving system 105 ' can not independently be finished floor-treating device and cradle mating operation.Second receiving system 105 ' plays the effect of mate-assist to first receiving device 104 '.
Floor-treating device guides by the signal of first sender unit on the cradle (that is: theaomni-directional transmission device), with arbitrarily angled close to cradle.First receiving device by floor-treating device receives the signal power of first sender unit on the cradle and comes principium identification to go out the approximate distance of floor-treating device with respect to cradle.When the distance between ground treating apparatus and the cradle during less than 2 meters, first signal receiving device of floor-treating device receives transmitting of secondary signal emitter on the cradle.When first signal receiving device of ground treating apparatus does not receive transmitting of secondary signal emitter, or the signal that the received secondary signal of first signal receiving device of floor-treating device is launched not is that the control module of floor-treating device receives the received signal of secondary signal receiving system when being in the state that always strengthens.The secondary signal receiving system is positioned at a certain fixedly sidepiece of floor-treating device, for example left side of floor-treating device direction of advance.Cooperation control by two receiving systems realizes that floor-treating device docks with the effective of cradle, specifically following situation may occur:
1, receives signal and first signal receiving device when not receiving signal when the secondary signal receiving system, illustrate that signal beams that cradle secondary signal emitter is sent is positioned at the left side of floor-treating device, control module control traveling mechanism left-hand rotation certain angle in the floor-treating device is advanced, receive the signal of secondary signal emitter up to first signal receiving device, and received signal continues to strengthen.
2, receive the infrared signal of secondary signal emitter when first signal receiving device, but this signal is not to be in when continuing to strengthen, the secondary signal receiving system is used for received signal, if do not receive, illustrate that then floor-treating device is with respect to the position of cradle left avertence, control module in floor-treating device control traveling mechanism right-hand rotation certain angle is advanced, and receive the signal of secondary signal emitter up to first signal receiving device, and received signal continues to strengthen; If receive signal, illustrate that then floor-treating device is with respect to the position of cradle right avertence, control module control traveling mechanism left-hand rotation certain angle in the floor-treating device is advanced, receive the signal of secondary signal emitter up to first signal receiving device, and received signal continues to strengthen.
Need to prove that different to 360 ° of theaomni-directional transmission devices and 180 ° emission angle in the foregoing description are to be achieved under the cradle difference is put the situation of requirement.When cradle is stopped in the fixed position when putting, such as: put by wall, the emission angle of theaomni-directional transmission device is 180 ° of whole working regions that can cover floor-treating device.And when the cradle putting position had no requirement, the emission angle of theaomni-directional transmission device was 360 °, whole working regions that can comprehensive covering floor-treating device.Therefore, at the difference of cradle putting position, have above-mentioned angle difference.
The theaomni-directional transmission device can also make otherwise and realize except the combination of using infrared transmitting tube and lens realizes.
Another structural representation of theaomni-directional transmission device shown in Figure 10.As shown in figure 10, the theaomni-directional transmission device can also adopt the combination of infrared transmitting tube 301 ' and prism 302 ' to finish.By prism 302 ' envelope around the infrared transmitting tube 301 ' is enclosed, make the signal of infrared emission be 360 ° of omni-directional ground and transmit the working region for the treatment of apparatus earthward.Can be in this programme at the upper and lower lamina tecti 303 ' and the bearing 304 ' of being provided with respectively of prism 302 ' and infrared transmitting tube 301 '.
Figure 11 is the another one structural representation of the structural representation of theaomni-directional transmission device.As shown in figure 11, the theaomni-directional transmission device can also be by a plurality of infrared transmitting tubes 301 " be the border and be provided with; if select for use 30 ° of infrared transmitting tubes; overlapping not produce infrared signal incomplete in order to make the infrared emission angle; then need 12 30 ° of infrared transmitting tubes to be border settings of arranging at least closedly as theaomni-directional transmission device element; make the infrared beam that a plurality of infrared transmitting tube sent transmitting boundary each other continuously or partially overlap, with this with realizing 360 ° of omni-directional earthward the working region for the treatment of apparatus transmit.Certainly, also can be according to realizing needs, when only needing to realize 180 ° of omni-directional ground the working region for the treatment of apparatus transmits earthward, then only need 6 30 ° of infrared transmitting tubes to be the border setting of arranging semi-enclosedly.Strong for making a plurality of infrared emission signals assemble, in the preferred version, a plurality of infrared transmitting tubes are positioned at same horizontal level, need by real work, are the setting of arranging of closed or semiclosed shape border.In this programme, for making infrared transmitting tube 301 " install firmly, by a fixture 304 " on offer the locating slot of a plurality of infrared transmitting tubes that respective numbers is installed, make a plurality of infrared transmitting tubes can be installed in the respective grooves position.In addition, be subjected to extraneous effect of dust, be provided with light transmissive material parts in the outer peripheral of a plurality of infrared transmitting tubes, and above infrared transmitting tube, be provided with lamina tecti 303 for preventing a plurality of infrared transmitting tubes ", with this infrared transmitting tube complete closed is got up.
From above two embodiment as can be known, theaomni-directional transmission device on the cradle carries out gross area ground to the required working region of Ground Processing System and covers, make floor-treating device when needs charge, no matter floor-treating device is in any position of working region, all can be in the emission coverage of the signal of cradle theaomni-directional transmission device, the power that transmits that receives according to floor-treating device, make floor-treating device know the far and near and close of cradle position like a cork, for the function that achieves a butt joint the soonest provides safeguard to cradle.
To sum up, for above-mentioned theaomni-directional transmission device of the present utility model and have the detailed description of embodiment of the Ground Processing System of this transmitter, be intended to deepen understanding to equipment of the present utility model.What need statement is: the protection domain of the utility model patent is not limited only to above-mentioned embodiment; every present technique field personnel can pass through simple change, and the embodiment that does not break away from the technical solution of the utility model is protection domain of the present utility model.
Claims (23)
1. a Ground Processing System comprises floor-treating device and cradle; But be provided with the supply unit of recharge in the floor-treating device, described floor-treating device is provided with electrode, and correspondence is provided with charging electrode on the cradle, thereby this charging electrode is used for being connected with electrode on the floor-treating device and is described supply unit charging; Cradle is provided with first sender unit, correspondence is provided with first directional receiver on the floor-treating device, first directional receiver receives the signal that first sender unit is sent, floor-treating device is sought cradle according to the described signal that receives, and be connected charging with it, it is characterized in that described first sender unit is the theaomni-directional transmission device, this theaomni-directional transmission device can be launched the signal that is used to cover floor-treating device work at present zone in all directions.
2. Ground Processing System as claimed in claim 1 is characterized in that, described theaomni-directional transmission device comprises infrared transmitting tube and lens, and this infrared transmitting tube is positioned at the inside of lens, and is arranged on the focus of described lens or on the intersection point of described lens minute surface.
3. Ground Processing System as claimed in claim 2 is characterized in that, described lens by around be the light transmissive material element that envelope encloses and form, the inwall of this light transmissive material element is parabola or hyperboloid or cambered surface or taper seat shape at least in part.
4. Ground Processing System as claimed in claim 3 is characterized in that the outer wall of described light transmissive material element is cylindric or semi-cylindrical.
5. Ground Processing System as claimed in claim 1 is characterized in that, described theaomni-directional transmission device comprises infrared transmitting tube and prism, and this infrared transmitting tube is positioned at the inside of described prism.
6. Ground Processing System as claimed in claim 1, it is characterized in that described theaomni-directional transmission device comprises infrared transmitting tube, this infrared transmitting tube is a plurality of, and be the border setting of arranging, the transmitting boundary of the emission light beam that described a plurality of infrared transmitting tube sent each other continuously or partially overlap.
7. Ground Processing System as claimed in claim 6 is characterized in that, described a plurality of infrared transmitting tubes are positioned at same horizontal level, and is the setting of arranging of closed or semiclosed shape border.
8. Ground Processing System as claimed in claim 7 is characterized in that described cradle is provided with fixture, and this fixture has the locating slot that described a plurality of infrared transmitting tubes are installed.
9. Ground Processing System as claimed in claim 7 is characterized in that described cradle is provided with the light transmissive material element, in this light transmissive material element is around in described a plurality of infrared transmitting tubes.
10. as claim 2 or 5 or 9 each described Ground Processing Systems, it is characterized in that the top of described infrared transmitting tube is provided with lamina tecti, described infrared transmitting tube complete closed is got up.
11. Ground Processing System as claimed in claim 1 is characterized in that, described first directional receiver is arranged on the leading section of described floor-treating device.
12. Ground Processing System as claimed in claim 11 is characterized in that, described electrode is arranged on the leading section of described floor-treating device, and the center line of its center line and described first directional receiver is positioned on the same vertical plane.
13. Ground Processing System as claimed in claim 1 is characterized in that, described cradle comprises riser and bottom surface, and riser is fixed on an end of bottom surface, and described first sender unit is arranged on the top of riser.
14. Ground Processing System as claimed in claim 1, it is characterized in that, described cradle comprises riser and bottom surface, this riser is fixed on an end of bottom surface, the top of riser is provided with cantilever, this cantilever and bottom surface are positioned at the homonymy of riser, and described first sender unit is arranged on the arm end top of cantilever.
15. Ground Processing System as claimed in claim 14 is characterized in that, described riser is provided with the secondary signal emitter.
16. Ground Processing System as claimed in claim 15 is characterized in that: described secondary signal emitter is a directional transmitter, transmits to this directional transmitter directionality.
17. Ground Processing System as claimed in claim 15 is characterized in that, described floor-treating device also comprises one second directional receiver, and this directional receiver is positioned at the sidepiece of described floor-treating device.
18. as claim 13 or 14 each described Ground Processing Systems, it is characterized in that described charging electrode is arranged on the riser, itself and bottom surface are positioned at the same side of riser, two charging electrodes of described charging electrode for arranging up and down.
19. Ground Processing System as claimed in claim 18 is characterized in that, described charging electrode is across on riser and wide with riser.
20. Ground Processing System as claimed in claim 18 is characterized in that, described charging electrode is arranged on the riser middle part, and the symmetry axis of its center line and cradle is positioned on the same vertical plane.
21. Ground Processing System as claimed in claim 18 is characterized in that: the center line of the center line of described charging electrode and described first sender unit is positioned on the same vertical plane.
22. Ground Processing System as claimed in claim 18 is characterized in that, the center line of described charging electrode and the center line of described directional transmitter are positioned on the same vertical plane.
23., it is characterized in that described first directional receiver, second directional receiver are infrared optical sensor as claim 11 or 17 each described Ground Processing Systems.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201606102U CN201469183U (en) | 2009-06-25 | 2009-06-25 | Ground processing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201606102U CN201469183U (en) | 2009-06-25 | 2009-06-25 | Ground processing system |
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| CN201469183U true CN201469183U (en) | 2010-05-19 |
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| CN2009201606102U Expired - Lifetime CN201469183U (en) | 2009-06-25 | 2009-06-25 | Ground processing system |
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| CN (1) | CN201469183U (en) |
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Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: TEK ELECTRICAL (SUZHOU) Co.,Ltd. |
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Granted publication date: 20100519 |
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| CX01 | Expiry of patent term |