CN202714801U - Intelligent vacuum cleaner control system - Google Patents
Intelligent vacuum cleaner control system Download PDFInfo
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- CN202714801U CN202714801U CN 201220411501 CN201220411501U CN202714801U CN 202714801 U CN202714801 U CN 202714801U CN 201220411501 CN201220411501 CN 201220411501 CN 201220411501 U CN201220411501 U CN 201220411501U CN 202714801 U CN202714801 U CN 202714801U
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- dust catcher
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- detection module
- obstacle detection
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Abstract
The utility model discloses an intelligent vacuum cleaner control system which comprises an intelligent control module, an obstacle detection module and an angle sensing module. The intelligent control module receives signals and sends a movement instruction to a drive motor of vacuum cleaner wheels according to the received signals; the obstacle detection module detects obstacles in a walking route of the vacuum cleaner, converts the obstacles into a control signal, and sends the control signal to the intelligent control module; and the angle sensing module senses a rotated angle of the vacuum cleaner, converts the sensed angle into a control signal, and sends the control signal to the intelligent control module. The intelligent vacuum cleaner control system can achieve complete cleaning of an area, does not clean repeatedly, and cleaning efficiency is high. The utility model simultaneously discloses a cleaning method of the intelligent vacuum cleaner controlled by any intelligent vacuum cleaner control systems in the technical scheme.
Description
Technical field
The utility model relates to household appliance technical field, particularly relates to a kind of method for cleaning intelligent dust collector.The utility model relates to a kind of Robot Cleaner Controlling System system that realizes above-mentioned method for cleaning intelligent dust collector simultaneously.
Background technology
Along with people's rhythm of life is more and more faster, the kinsfolk is difficult to find time room floor is cleaned, then, it is comfortable, clean and tidy that living environment must keep again, thereby home-use dust catcher just arises at the historic moment, and obtained very soon liking of many families, the usage quantity of domestic vacuum cleaners and demand are all increasing, and as a kind of household electrical appliance, dust catcher has wide commercial promise.
Intellective dust collector is a kind of device at the cleaning area automated movement, carries out cleaning function, and when the charging voltage of battery was reduced to predetermined value, intellective dust collector can be automatically moved to charge position, after finishing charging, continues to carry out cleaning function according to environment.
Intellective dust collector comprises for the suction unit that sucks impurity on the ground, and the navigation elements of automatically walking the unit and being used for induction dust suction position and cleaning area also comprises the control module for automatic control intellective dust collector usually.
Existing intellective dust collector, the sweep-out pattern that its control method realizes is at random, this sweep-out pattern is random, fully cleaning that not only can't feasible region, and can repeat cleaning, and increasing the cleaning time, sweeping efficiency descends, and has caused the waste of the energy.
The utility model content
In order to address the above problem, the utility model provides a kind of method for cleaning intelligent dust collector.
The utility model provides a kind of Robot Cleaner Controlling System system, comprising: the obstacle detection module is surveyed the barrier in the dust catcher course, and changes into control signal and send to described intelligent control module; Angle sensing module is responded to the angle of described dust catcher rotation, and the angle of sensing is changed into control signal sends to described intelligent control module; Intelligent control module, when described obstacle detection module detects obstacle, described intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in the left and right sides with identical speed, counter rotating, described dust catcher original place left/right turns, in rotary course, the measured value of the continuous reading angular sensor of described intelligent processing module, until angle value is when arriving predetermined angular, described intelligent processing module stops output pulse signal.
Preferably, described intelligent processing module is CPU, and described obstacle detection module is ultrasonic sensor, and described angle sensing module is gyro sensor, also is provided with Hall element on the described wheels of dust collector.
Preferably, described dust catcher is circular, and the diameter of described dust catcher is 20cm.
Preferably, when the barrier that detects when described obstacle detection module was vertical with described dust catcher course, described predetermined angular was 90 degree; The described predetermined value of described displacement is 20cm.
Preferably, when the barrier that detects when described obstacle detection module and described dust catcher course out of plumb, described predetermined angular is α, the value of described α is determined as described below: in described dust catcher rotary course, described intelligent processing module constantly reads the value of described obstacle detection module and the measured value of described angular transducer, until described detection module affirmation the place ahead clear, at this moment recording angular value α; The described predetermined value of described displacement is L=20cm/ (sin α).
The utility model provides a kind of method of utilizing arbitrary described Robot Cleaner Controlling System system control intellective dust collector cleaning in the technique scheme simultaneously, comprise: step 102 intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the left and right wheels sub-motor with identical speed, the equidirectional rotation, the dust catcher straight line moving starts simultaneously the obstacle detection module and starts working; When step 104 detects obstacle when described obstacle detection module, described intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in the left and right sides with identical speed, counter rotating, described dust catcher original place left/right turns, in rotary course, and the measured value of the continuous reading angular sensor of described intelligent processing module, until angle value is when arriving predetermined angular, described intelligent processing module stops output pulse signal; The described intelligent processing module of step 106 sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in the left and right sides with identical speed, rotating Vortex, described dust catcher straight line moving, be arranged on simultaneously the Hall element work on the described wheel, displacement is counted and calculated to described intelligent processing module to the signal of described Hall element, and when displacement arrived predetermined value, described intelligent processing module stopped output pulse signal; The described intelligent processing module of step 108 sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in the left and right sides with identical speed, counter rotating, described dust catcher original place left/right turns, in rotary course, the measured value of the continuous reading angular sensor of described intelligent processing module, until angle value arrives 180 when spending, described intelligent processing module stops output pulse signal; The described intelligent processing module of step 110 sends the pulse signal of two groups of certain frequencies, drives the described sub-motor of taking turns in the left and right sides with identical speed, rotating Vortex, and described dust catcher straight line moving starts simultaneously described obstacle detection module and starts working; When step 112 detects barrier when described obstacle detection module, described intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in the left and right sides with identical speed, counter rotating, described dust catcher original place right/left turns, and in rotary course, described intelligent processing module constantly reads the measured value of described angular transducer, until angle value is when arriving predetermined angular, described intelligent processing module stops output pulse signal; The described intelligent processing module of step 114 sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in the left and right sides with identical speed, rotating Vortex, described dust catcher straight line moving, the simultaneously described Hall element work on the described wheel, displacement is counted and calculated to described intelligent processing module to the signal of described Hall element, and when displacement arrived predetermined value, described intelligent processing module stopped output pulse signal; Step 116 intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the left and right wheels sub-motor with identical speed, the rightabout rotation, described dust catcher flicker, in rotary course, described intelligent processing module constantly reads the measured value of described angular transducer, until angle value is when arriving predetermined angular, described intelligent processing module stops output pulse signal; Step 118 repeating step 102 is to step 116.
Preferably, the method of described intellective dust collector cleaning also comprises: during the last execution in step 106 of step 120, described dust catcher forward travel distance is during less than described predetermined value, described obstacle detection module just detects barrier, this moment, described intelligent processing module stopped output pulse signal, then execution in step 108.
Preferably, when the barrier that detects when described obstacle detection module and described dust catcher course out of plumb, described predetermined angular is α, the value of described α is determined as described below: in step 104, in described dust catcher rotary course, described intelligent processing module constantly reads the value of described obstacle detection module and the measured value of described angular transducer, until described detection module affirmation the place ahead clear, at this moment recording angular value α; The described predetermined value of described displacement is L=20cm/ (sin α).
In sum, according to the utility model, the sweep-out pattern of intellective dust collector is to walk along direction of advance always, until run into barrier, then rotate to an angle, the advance distance of a fuselage rotates to an angle again, and walking is until run into barrier forward, and then rotate to an angle, the advance distance of a fuselage is finished a circulation, back and forth carries out.And, through arranging, can make described intellective dust collector take the sweep-out pattern of " Z " font.This cleaning mode can feasible region fully cleaning, can not repeat cleaning, sweeping efficiency is high.
Description of drawings
Fig. 1 shows the schematic diagram according to the embodiment of Robot Cleaner Controlling System of the present utility model system;
Fig. 2 shows the circuit diagram according to the Hall element among the embodiment of Robot Cleaner Controlling System of the present utility model system;
Fig. 3 shows the schematic flow sheet according to the embodiment of method for cleaning intelligent dust collector of the present utility model;
Fig. 4 shows the rectilinear motion subroutine flow chart schematic diagram of the embodiment of the method for cleaning intelligent dust collector shown in Fig. 3;
Fig. 5 shows the diagonal movement subprogram schematic flow sheet of the embodiment of the method for cleaning intelligent dust collector shown in Fig. 3;
Fig. 6 shows the track route schematic diagram according to the intellective dust collector under the control of an embodiment of method for cleaning intelligent dust collector of the present utility model;
Fig. 7 shows the track route schematic diagram according to the intellective dust collector under the control of another embodiment of method for cleaning intelligent dust collector of the present utility model.
The specific embodiment
Below in conjunction with description of drawings according to the specific embodiment of the present utility model.
A lot of details have been set forth in the following description so that fully understand the utility model, but, the utility model can also adopt other to be different from other modes described here and implement, and therefore, the utility model is not limited to the restriction of following public specific embodiment.
Fig. 1 shows the schematic diagram according to the embodiment of Robot Cleaner Controlling System of the present utility model system, and Fig. 2 shows the circuit diagram according to the Hall element among the embodiment of Robot Cleaner Controlling System of the present utility model system.
As shown in the figure, an embodiment of the Robot Cleaner Controlling System system that the utility model provides comprises: the obstacle detection module is surveyed the barrier in the dust catcher course, and changes into control signal and send to described intelligent control module; Angle sensing module is responded to the angle of described dust catcher rotation, and the angle of sensing is changed into control signal sends to described intelligent control module; Intelligent control module, when described obstacle detection module detects obstacle, described intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in the left and right sides with identical speed, counter rotating, described dust catcher original place left/right turns, in rotary course, the measured value of the continuous reading angular sensor of described intelligent processing module, until angle value is when arriving predetermined angular, described intelligent processing module stops output pulse signal.
As preferred embodiment, described intelligent processing module is CPU, and described obstacle detection module is ultrasonic sensor, and described angle sensing module is gyro sensor, also is provided with Hall element on the described wheels of dust collector.
As preferred embodiment, described dust catcher is circular, and the diameter of described dust catcher is 20cm.
As preferred embodiment, when the barrier that detects when described obstacle detection module was vertical with described dust catcher course, described predetermined angular was 90 degree; The described predetermined value of described displacement is 20cm.
As preferred embodiment, when the barrier that detects when described obstacle detection module and described dust catcher course out of plumb, described predetermined angular is α, the value of described α is determined as described below: in described dust catcher rotary course, described intelligent processing module constantly reads the value of described obstacle detection module and the measured value of described angular transducer, until described detection module affirmation the place ahead clear, at this moment recording angular value α; The described predetermined value of described displacement is L=20cm/ (sin α).
Fig. 3 shows the schematic flow sheet according to the embodiment of method for cleaning intelligent dust collector of the present utility model, Fig. 4 shows the rectilinear motion subroutine flow chart schematic diagram of the embodiment of the method for cleaning intelligent dust collector shown in Fig. 3, Fig. 5 shows the diagonal movement subprogram schematic flow sheet of the embodiment of the method for cleaning intelligent dust collector shown in Fig. 3, Fig. 6 shows the track route schematic diagram according to the intellective dust collector under the control of an embodiment of method for cleaning intelligent dust collector of the present utility model, and Fig. 7 shows the track route schematic diagram according to the intellective dust collector under the control of another embodiment of method for cleaning intelligent dust collector of the present utility model.
The embodiment of method for cleaning intelligent dust collector of the present utility model, in general, its process is: after starting " Z " font sweeper mode, gyro sensor is measured the anglec of rotation of dust catcher in real time, and measured value is sent to CPU.When running into barrier in the middle of the process of advancing, CPU sends two reverse pulse signals, drives left and right sides rotating of wheel, is 90 when spending when receiving the gyroscope survey value, and CPU stops to send rotating signal, and this moment, robot cleaner was realized the rotations of 90 degree.CPU then sends progress signal, forward travel distance is a fuselage, after finishing, CPU drives two rotating of wheels again, is 90 when spending when receiving the gyroscope survey value, and CPU stops to send rotating signal, send simultaneously progress signal, until after running into barrier, again send rotating signal, so loop.
Specifically, an embodiment of the method for cleaning intelligent dust collector that the utility model provides comprises:
When step 104 detects obstacle when the obstacle detection module, CPU sends the pulse signal of two groups of certain frequencies, drive the left and right wheels sub-motor with identical speed, the rightabout rotation, the dust catcher flicker, in rotary course, the measured value of the continuous reading angular sensor of CPU, until angle value arrives 90 when spending, CPU stops output pulse signal;
When step 112 detects barrier when the obstacle detection module, CPU sends the pulse signal of two groups of certain frequencies, drive the left and right wheels sub-motor with identical speed, the rightabout rotation, the dust catcher flicker, in rotary course, the measured value of the continuous reading angular sensor of CPU, until angle value arrives 90 when spending, CPU stops output pulse signal;
During the last execution in step 106 of step 120, the dust catcher forward travel distance is during less than 20cm, and the obstacle detection module just detects barrier, and this moment, CPU stopped output pulse signal, then execution in step 108.
Another embodiment of the method for cleaning intelligent dust collector that the utility model provides comprises: step 102
CPU sends the pulse signal of two groups of certain frequencies, drives the left and right wheels sub-motor with identical speed, the equidirectional rotation, and the dust catcher straight line moving starts simultaneously the obstacle detection module and starts working;
When step 104 detects obstacle when the obstacle detection module, CPU sends the pulse signal of two groups of certain frequencies, drive the left and right wheels sub-motor with identical speed, the rightabout rotation, the dust catcher flicker is in rotary course, CPU constantly reads the measured value of obstacle detection module value and angular transducer, until detection module is confirmed the place ahead clear, this moment recording angular value α, CPU stops output pulse signal;
When step 112 detects barrier when the obstacle detection module, CPU sends the pulse signal of two groups of certain frequencies, drive the left and right wheels sub-motor with identical speed, the rightabout rotation, the dust catcher flicker, in rotary course, the measured value of the continuous reading angular sensor of CPU, until angle value arrives 90 when spending, CPU stops output pulse signal;
During the last execution in step 106 of step 120, the dust catcher forward travel distance is during less than 20cm, and the obstacle detection module just detects barrier, and this moment, CPU stopped output pulse signal, then execution in step 108.
In sum, according to the utility model, the sweep-out pattern of intellective dust collector is to walk along direction of advance always, until run into barrier, then rotate to an angle, the advance distance of a fuselage rotates to an angle again, and walking is until run into barrier forward, and then rotate to an angle, the advance distance of a fuselage is finished a circulation, back and forth carries out.And, through arranging, can make described intellective dust collector take the sweep-out pattern of " Z " font.This cleaning mode can feasible region fully cleaning, can not repeat cleaning, sweeping efficiency is high.
The above is preferred embodiment of the present utility model only, is not limited to the utility model, and for a person skilled in the art, the utility model can have various modifications and variations.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (5)
1. a Robot Cleaner Controlling System system is characterized in that, comprising:
The obstacle detection module is surveyed the barrier in the dust catcher course, and changes into control signal and send to described intelligent control module;
Angle sensing module is responded to the angle of described dust catcher rotation, and the angle of sensing is changed into control signal sends to described intelligent control module;
Intelligent control module, when described obstacle detection module detects obstacle, described intelligent processing module sends the pulse signal of two groups of certain frequencies, drive the described sub-motor of taking turns in the left and right sides with identical speed, counter rotating, described dust catcher original place left/right turns, in rotary course, the measured value of the continuous reading angular sensor of described intelligent processing module, until angle value is when arriving predetermined angular, described intelligent processing module stops output pulse signal.
2. Robot Cleaner Controlling System according to claim 1 system, it is characterized in that described intelligent processing module is CPU, described obstacle detection module is ultrasonic sensor, described angle sensing module is gyro sensor, also is provided with Hall element on the described wheels of dust collector.
3. Robot Cleaner Controlling System according to claim 1 and 2 system is characterized in that, described dust catcher is circular, and the diameter of described dust catcher is 20cm.
4. Robot Cleaner Controlling System according to claim 3 system is characterized in that, when the barrier that detects when described obstacle detection module was vertical with described dust catcher course, described predetermined angular was 90 degree;
The described predetermined value of described displacement is 20cm.
5. Robot Cleaner Controlling System according to claim 3 system, it is characterized in that, it is characterized in that, when the barrier that detects when described obstacle detection module and described dust catcher course out of plumb, described predetermined angular is α, the value of described α is determined as described below: in described dust catcher rotary course, described intelligent processing module constantly reads the value of described obstacle detection module and the measured value of described angular transducer, until described detection module affirmation the place ahead clear, at this moment recording angular value α;
The described predetermined value of described displacement is L=20cm/ (sin α).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220411501 CN202714801U (en) | 2012-08-17 | 2012-08-17 | Intelligent vacuum cleaner control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220411501 CN202714801U (en) | 2012-08-17 | 2012-08-17 | Intelligent vacuum cleaner control system |
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| CN202714801U true CN202714801U (en) | 2013-02-06 |
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| CN 201220411501 Expired - Fee Related CN202714801U (en) | 2012-08-17 | 2012-08-17 | Intelligent vacuum cleaner control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103584798A (en) * | 2012-08-17 | 2014-02-19 | 乐金电子(天津)电器有限公司 | Intelligent dust collector control system and intelligent dust collector cleaning method |
| WO2015074532A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Self-moving robot with correction apparatus, and correction method therefor |
| CN104757911A (en) * | 2014-11-26 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Smart floor sweeping robot and sweeping method thereof |
| CN104765369A (en) * | 2015-04-10 | 2015-07-08 | 长春理工大学 | Sweeping device and sweeping method using sweeping device |
-
2012
- 2012-08-17 CN CN 201220411501 patent/CN202714801U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103584798A (en) * | 2012-08-17 | 2014-02-19 | 乐金电子(天津)电器有限公司 | Intelligent dust collector control system and intelligent dust collector cleaning method |
| WO2015074532A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Self-moving robot with correction apparatus, and correction method therefor |
| CN104757911A (en) * | 2014-11-26 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Smart floor sweeping robot and sweeping method thereof |
| CN104765369A (en) * | 2015-04-10 | 2015-07-08 | 长春理工大学 | Sweeping device and sweeping method using sweeping device |
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| TR01 | Transfer of patent right |
Effective date of registration: 20160512 Address after: 210014 Yongfeng Road, Qinhuai District, Jiangsu, No. 28, No. Patentee after: Nanjing LG Panda Appliances Co., Ltd. Address before: 300402 Beichen District, Tianjin Jin Wai Road, No. 9 Patentee before: Lejin Electronic and Electric Appliance Co., Ltd. (Tianjin) |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130206 Termination date: 20170817 |
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| CF01 | Termination of patent right due to non-payment of annual fee |