CN206403711U - Removable cleaning equipment - Google Patents
Removable cleaning equipment Download PDFInfo
- Publication number
- CN206403711U CN206403711U CN201621262227.4U CN201621262227U CN206403711U CN 206403711 U CN206403711 U CN 206403711U CN 201621262227 U CN201621262227 U CN 201621262227U CN 206403711 U CN206403711 U CN 206403711U
- Authority
- CN
- China
- Prior art keywords
- unit
- debris
- cleaning
- wire
- cleaning equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
Disclose a kind of removable cleaning equipment.The equipment includes：Walking unit, for driving the removable cleaning equipment to be moved in working region；Cleaning unit, for rotating to be cleaned to the debris in working region, is provided with the first and second electrode units for being spaced apart preset distance each other on the cleaning unit；Detection unit, for detecting the resistance value between first and second electrode unit；Recognition unit, recognizes whether the debris that the cleaning unit is cleaned belongs to certain types of debris for receiving the resistance value that the detection unit is detected, and according to the resistance value；And control unit, for receiving recognition result from the recognition unit, and control the walking of the walking unit to operate according to the recognition result.It therefore, it can detect the type of cleaned debris well, and according to the type of debris come arranged rational cleaning operation.
Description
Technical field
The application is related to field of signal processing, and more particularly, to a kind of removable cleaning equipment.
Background technology
With the development of science and technology, occur in that diversified removable cleaning equipment, such as sweeping robot, mop floor
Robot, glass-cleaning robot, window wiping robot etc..Removable cleaning equipment can be automatically carried out clearly in its working region
Clean operation, mitigates the work burden of user.By taking sweeping robot as an example, it can by directly brush sweep, the technology such as vacuum cleaning
To realize to such as automatic cleaning of chip, hair etc graininess debris on ground.
However, current removable cleaning equipment does not possess the ability of detection debris type.For example, sweeping robot exists
It is not relevant for which type of debris oneself is handling during cleaning ground, simply carries out cleaning operation without distinction.
This is resulted in autonomous cleaning process, if ground has the adhesions such as ice cream, pet dung dirty, sweeping robot
Can directly force up so that its cleaning unit can not only realize cleaning, can be stained with the contrary it is dirty and push it is dirty move on,
It is most dirty at last to fill whole house earth surface, or even carpet, bring greatly puzzlement and economic loss to owner.
Therefore, the cleaning mode of existing removable cleaning equipment is dissatisfactory.
Utility model content
In order to solve the above-mentioned technical problem, it is proposed that the application.Embodiments herein provides a kind of removable cleaning
Equipment, it can detect the type of cleaned debris, and perform cleaning operation according to the type of debris.
According to the one side of the application there is provided a kind of removable cleaning equipment, the equipment includes：Walking unit,
For driving the removable cleaning equipment to be moved in working region；Cleaning unit, for rotating with working region
Debris is cleaned, and the first electrode unit and second for being spaced apart preset distance each other is provided with the cleaning unit
Electrode unit；Detection unit, is electrically connected with the first electrode unit and the second electrode unit, for detecting described first
Resistance value between electrode unit and the second electrode unit；Recognition unit, is electrically connected with the detection unit, for receiving
The resistance value that the detection unit is detected, and recognize that the debris that the cleaning unit is cleaned is according to the resistance value
It is no to belong to certain types of debris；And control unit, electrically connected with the recognition unit and the walking unit, for from institute
State recognition unit and receive recognition result, and control the walking of the walking unit to operate according to the recognition result.
In one embodiment of the application, the cleaning unit includes：Rotary shaft, can rotate；And cleaning brush, Gu
It is scheduled in the rotary shaft, for being rotated under the drive of the rotary shaft, to sweep up the debris in working region.
In one embodiment of the application, each bag in the first electrode unit and the second electrode unit
Include：Flexible electrical conductors, are fixed on together with the cleaning brush in the rotary shaft.
In one embodiment of the application, the flexible electrical conductors are wires, and the wire meets following
It is required that at least one：Difference between the bristle diameter of the diameter of the wire and the cleaning brush is less than predetermined poor
Value；And the difference between the bristle flexibility of the flexible and cleaning brush of the wire is less than predetermined difference value.
In one embodiment of the application, the first electrode unit includes first group of wire being electrically connected to each other,
The second electrode unit include each wire in second group of wire being electrically connected to each other, first group of wire with
Each wire in second group of wire is arranged alternately.
In one embodiment of the application, each metal in first group of wire and second group of wire
Silk includes insulating outer layer, and it is remote but expose the wire that the insulating outer layer is coated on the outer surface of the wire
One end of the rotary shaft.
In one embodiment of the application, the recognition unit resistance value and predetermined value, and respond
Be less than or equal to the predetermined value in the resistance value, determine debris that the cleaning unit is cleaned belong to comprising liquid into
The debris divided.
In one embodiment of the application, the recognition unit is in a preset range in response to the resistance value,
Determine that the debris that the cleaning unit is cleaned belongs to toughness debris.
In one embodiment of the application, described control unit indicates that the cleaning is single in response to the recognition result
The debris that member is cleaned belongs to certain types of debris, controls the walking unit the removable cleaning equipment is stopped
It is mobile.
In one embodiment of the application, the equipment also includes：Alarm unit, is electrically connected with described control unit,
Described control unit indicates that the debris that the cleaning unit is cleaned belongs to certain types of miscellaneous in response to the recognition result
Thing, controls the alarm unit to perform alarm operation.
Compared with prior art, using the removable cleaning equipment according to the embodiment of the present application, it can detect and clean single
Resistance value between the first electrode unit and second electrode unit that are set in member, the cleaning is recognized according to the resistance value
Whether the debris that unit is cleaned belongs to certain types of debris, and controls according to recognition result the row of the walking unit
Walk operation.It therefore, it can detect the type of cleaned debris well, and it is clear come arranged rational according to the type of debris
Sweep operation.
Brief description of the drawings
By the way that the embodiment of the present application is described in more detail with reference to accompanying drawing, the above-mentioned and other purposes of the application,
Feature and advantage will be apparent.Accompanying drawing is used for providing further understanding the embodiment of the present application, and constitutes explanation
A part for book, is used to explain the application together with the embodiment of the present application, does not constitute the limitation to the application.In the accompanying drawings,
Identical reference number typically represents same parts or step.
Fig. 1 illustrates the functional block diagram of the removable cleaning equipment according to the embodiment of the present application.
Fig. 2 illustrates the walking unit according to the removable cleaning equipment of the embodiment of the present application and the example knot of cleaning unit
Structure schematic diagram.
Fig. 3 illustrates the exemplary construction schematic diagram according to the electrode unit of the embodiment of the present application.
Fig. 4 A illustrate the structural representation that electrode unit is set on roller brushes structure according to the embodiment of the present application；And scheme
4B illustrates the structural representation that electrode unit is set on the brush configuration of side according to the embodiment of the present application.
Fig. 5 illustrates the flow chart of the control method of the removable cleaning equipment according to the embodiment of the present application.
Embodiment
Below, the example embodiment according to the application will be described in detail by referring to the drawings.Obviously, described embodiment is only
Only be a part of embodiment of the application, rather than the application whole embodiments, it should be appreciated that the application is not by described herein
The limitation of example embodiment.
Application general introduction
As described above, the removable cleaning equipment of prior art can not detect the type of cleaned debris.This is allowed for
If the removable cleaning equipment carries out blindness cleaning when not possessing the ability for clearing up certain debris, this may be caused miscellaneous on the contrary
Thing causes hardware to make moist and got rusty or Damage by Short Circuit due to being brought into cleaning unit, or causes the debris with removable clear
The walking of clean equipment and spread and pollute other regions.
For the technical problem, the basic conception of the application is to propose a kind of new removable cleaning equipment and its controlling party
Method, it can detect the resistance value between the first electrode unit set on cleaning unit and second electrode unit, according to institute
Resistance value is stated to recognize whether the debris that the cleaning unit is cleaned belongs to certain types of debris, and according to recognition result
To control the walking of the walking unit to operate.Therefore, movable equipment can be enabled according to the application of the basic conception
Enough types for detecting cleaned debris well, and according to the type of debris come arranged rational cleaning operation, in addition, base
With low cost in the detection mode of electrode, practicality is very strong.
Embodiments herein can apply to various scenes.For example, below, for convenience of description, by with the application's
Embodiment is applied to come exemplified by sweeping robot etc. continuing on but the application not limited to this.Embodiments herein may be used also
With the various removable cleaning equipments applied to such as floor-mopping robot, glass-cleaning robot, window wiping robot etc.
After the general principle of the application is described, carry out specifically to introduce the various non-limits of the application below with reference to the accompanying drawings
Property embodiment processed.
Removable cleaning equipment
Fig. 1 illustrates the functional block diagram of the removable cleaning equipment according to the embodiment of the present application.
As shown in figure 1, the removable cleaning equipment 100 can include walking unit 110, cleaning unit 120, detection list
Member 130, recognition unit 140 and control unit 150.In addition, for example, the removable cleaning equipment 100 can also physically be wrapped
Include a housing (not shown).
Housing is used at least encapsulate detection unit 130, recognition unit 140 and control unit 150 etc. whole or in part
Wherein, to prevent them from being damaged due to colliding with or making moist etc..
Depending on the direction of advance of removable cleaning equipment 100, the housing can include front and rear, and both combine
Circular, approximate circle or other shapes can be rendered as together, for example, the other shapes include but is not limited to circle behind front
Approximate D-shape etc..In addition, the housing can also include top and bottom, the bottom is towards the scope of operation of cleaning, the top
Opposite direction of the portion towards bottom.
Walking unit 110 is used to drive the removable cleaning equipment to move in working region.For example, the walking unit
110 can be arranged on the bottom of housing, and drive removable cleaning equipment 100 such as based on the information such as distance and angle
Travelled in the working regions such as ground, glass surface.
Fig. 2 illustrates the walking unit according to the removable cleaning equipment of the embodiment of the present application and the example knot of cleaning unit
Structure schematic diagram.
Focus first on walking unit 110.As shown in Fig. 2 the walking unit 110 can include by drive module and road wheel
The driving wheel of formation, the drive module can control the revolver and right wheel as road wheel simultaneously.In order to more accurately control
The motion of machine, drive module includes left drive module and right drive module respectively, to control revolver and right wheel respectively.In order to protect
The stability of holding equipment, revolver and right wheel and left drive module and right drive module can be along by may move cleaning equipment
The center line that 100 main body is defined is opposed in axle.In addition, more can stably be transported on the ground to may move cleaning equipment
Dynamic or stronger locomitivity, walking unit 110 can also include one or more driven pulley, and driven pulley includes but do not limited
In universal wheel.The driven pulley is located on the center line, and is located at revolver in the direct of travel of removable cleaning equipment 100
With the front of right wheel.Certainly, in actual applications, it would however also be possible to employ driving wheel the posterior products configuration of preceding, driven pulley or its
He arbitrarily may situation.
Cleaning unit 120 is used to rotate to clean the debris in working region.The cleaning unit 120 is arranged on shell
The bottom of body, it is right for independently (as long as i.e., power on is to start cleaning operation) or under the control of control unit 150
Treat that operating area is swept.
For example, the cleaning unit 120 can include：Rotary shaft, can rotate；And cleaning brush, it is fixed on described turn
On moving axis, for being rotated under the drive of the rotary shaft, to sweep up the debris in working region.
For example, depending on the functional localization of removable cleaning equipment 100, the cleaning unit 120 can be divided into dry cleaning
System and/or wet cleaning system, the former is often applied to sweeping robot etc., and the latter is often applied to mopping robot
Deng.
With continued reference to Fig. 2, and pay close attention to cleaning unit 120.By taking dry cleaning system as an example, in cleaning unit 120, rotate
Axle and cleaning brush formation roller brushes structure (a rotatable strip roller, is embedded with certain elastic bristle above, therefore,
Also referred to as dedusting guide wheel), with ground have it is certain contact one of depth or one group of roller brushes structure can be rotated always, its
Bristle sweeps up the debris (for example, the rubbish such as paper scrap, dust) on ground, and the debris being swept up can be further by roller brushes structure
Winding is collected into follow-up dust absorbing structure.For example, dust absorbing structure can be made up of blower fan and dirt box so that debris can
With by front of cleaning brush winding to suction port between roller brushes structure and dust absorbing structure, the gas for having suction then produced by blower fan
Body is drawn into dirt box.In addition, in addition to roller brushes structure and dust absorbing structure, cleaning unit 120 can also include side brush configuration
(not shown), the rotary shaft of side brush configuration is angled relative to ground, for a pair of the dust collecting brushes configured by left and right
The chip taken a walk everywhere is more efficiently focused in the round brush region of cleaning unit 120.
, can be with the cleaning unit 120 in order to realize the judgement for debris type in embodiments herein
It is provided with the first electrode unit and second electrode unit for being spaced apart preset distance each other.The electrode unit is by conduction material
Material is formed.For example, the electrode unit can be made up of conductive materials such as metal, conductive plastics or conductive rubbers.Meanwhile, it is
Avoiding can be with spaced a distance between the generation short circuit that contacted with each other in detection process, two electrode units.
For example, can each include in the first electrode unit and the second electrode unit：Flexible electrical conductors, with
The cleaning brush is fixed in the rotary shaft together.That is, electrode unit can be arranged among the bristle of cleaning brush,
And sweep up the debris in working region in the bristle of cleaning brush as cleaning brush is rotated together under the drive of rotary shaft
Meanwhile, produce and contact with the debris.
The flexible electrical conductors, which can be used, shows variously-shaped electric conductor.
For example, the flexible electrical conductors can be wire, the bristle of the diameter of the wire and the cleaning brush is straight
Difference between footpath is less than predetermined difference value.So, electrode unit will not influence the brush of cleaning brush to sweep effect due to excessively thick, also not
It can be wrapped in due to meticulous on bristle, cause each other unnecessarily short circuit or interval to become big and occur missing inspection.Replace
Ground or additionally, the difference between the bristle of the flexible and cleaning brush of the wire is flexible is less than predetermined difference value.This
Sample, electrode unit will not cause working region to be scratched due to really up to the mark, and bending will not be also produced due to excessively soft, is caused each other
Between unnecessarily short circuit or interval become big and occur missing inspection.
In addition, in order to reduce false dismissal probability, the number and spacing each other of wire can be appropriately set.Example
Such as, the first electrode unit can include first group of wire being electrically connected to each other, and the second electrode unit can include
In each wire and second group of wire in second group of wire being electrically connected to each other, first group of wire
Each wire is arranged alternately, and each wire in first group of wire and second group of wire is included absolutely
Edge outer layer, the insulating outer layer is coated on the outer surface of the wire but exposes the wire and rotated away from described
One end of axle.
Fig. 3 illustrates the exemplary construction schematic diagram according to the electrode unit of the embodiment of the present application.
As shown in figure 3, the first electrode unit A includes many wires, such as A1, A2 and A3 (are represented) by solid line,
They are commonly connected on the first wire；The second electrode unit B include many wires, such as B1, B2 and B3 (by
Dotted line is represented), they are commonly connected on the second wire.First wire and second wire can be set along rotary shaft,
For example it is arranged on the outer surface of axle or the inside of axle.Wire A1, A2 and A3 and wire B1, B2 and B3 are arranged at intervals,
And it is spaced a distance between any two.It is mutual in order to prevent exposed wire from being bent when being extruded by ground
Overlap joint, causes undesirable short circuit, can set an insulating outer layer in the periphery of every wire, the insulating outer layer can expose
Go out wire one end relative with rotary shaft, the Characteristics Detection for realizing debris.For example, the insulating outer layer can be insulation
Paint, plastic skin etc..Due to occurring the central region that the region that mutually overlaps is often wire, and it is close to the side of rotary shaft
Due to spaced a distance without being likely to occur contact each other, so the insulating outer layer need not can also be covered completely
Lid wire leaves certain length adjacent to one end of rotary shaft.Obviously, first electrode unit and second electrode unit can be with
Include the wire of more or less numbers in addition to 3 wires, and every group of wire number can also it is identical or
It is different.Although in addition, being illustrated respectively including many wires with a pair of electrodes unit A and B here, the application is not limited
In this.For example, it is also possible to including multipair electrode unit, can each include one or more metal in each pair electrode unit
Silk.In the case, multipair electrode unit subsequently will also correspond to multiple detection units.
For example, the first electrode unit and the second electrode unit can be arranged on the cleaning unit 120
Each position.
Fig. 4 A illustrate the structural representation that electrode unit is set on roller brushes structure according to the embodiment of the present application；And scheme
4B illustrates the structural representation that electrode unit is set on the brush configuration of side according to the embodiment of the present application.
As shown in Figure 4 A, first electrode unit A and the second electrode unit B can be arranged on the rolling of cleaning unit 120
In brush configuration.For example, roller brushes structure can be made up of plurality of bristles, and plurality of bristles can according to cleaning effect and demand,
Form the layout of waveform, V-shaped, spiral shape, cylindrical shape etc..As shown in Figure 4 B, first electrode unit A and the second electrode
Unit B can also be arranged in the side brush configuration of cleaning unit 120.For example, side brush configuration can also be made up of plurality of bristles, and
And can form 60 degree, 90 degree, the angle of 180 degree etc. according to effect and demand is cleaned between bristle.
Either in which kind of above-mentioned situation, first electrode unit A and the second electrode unit B can be clipped in respectively
Wire in bristle tuft.For example, first electrode unit A and second electrode unit B can be alternately arranged in every beam bristle,
To obtain less detection spacing, reduce false dismissal probability.Alternatively, first electrode unit A can also be set every a few beam bristles,
Second electrode unit B is set every a few beam bristles again, to prevent from, when setting excessively near by both, to cause because bristle is clear
The generation that is under pressure during sweeping bends and causes electrode unit to be electrically short-circuited to each other, and reduces probability of false detection.In addition, in a branch of bristle
One or more wire can be set as an electrode unit, imitated with weighing the cleaning effect of bristle and the detection of electrode
Really.
It should be noted that although the example using wire as electrode unit is illustrated here, the application
Not limited to this.For example, each electrode unit can also select other shapes outside wire, the compliant conductive of other materials
Body, as long as the presence of which does not interfere with the operation of cleaning unit and can collect what is cleaned when cleaning brush is rotated
The sample of debris.For example, each electrode can be conducting strip separated by a distance each other, conducting block, they can
To be directly anchored in rotary shaft, and cleaning brush can be embedded in these conducting strips, on conducting block.So, when cleaning brush is rolled
Debris in working region and when rotating, it is also possible that debris flow to two electrode units of bristle root so that it
Simultaneously with the debris produce contact.
Detection unit 130 is electrically connected with the first electrode unit and the second electrode unit, can be used for detecting institute
State the resistance value between first electrode unit and the second electrode unit.
For example, the detection unit 130 is can be with any device of detection resistance value.For example, the detection unit 130 can be
The maturation instrument such as ohmmeter, universal meter, it would however also be possible to employ taken using direct-current bridge, classical AC bridge, Wheatstone bridge method etc.
Circuit is built to measure the resistance value between two electrode units.
Recognition unit 140 is electrically connected with the detection unit 130, can be used for receiving the electricity that the detection unit is detected
Resistance, and recognize whether the debris that the cleaning unit is cleaned belongs to certain types of debris according to the resistance value.
Due to the debris comprising liquid component may be brought into by removable cleaning equipment in cleaning unit and cause hardware by
Tide gets rusty or Damage by Short Circuit, or causes the debris to be spread with the walking of removable cleaning equipment and pollute other regions.
Therefore, in embodiments herein, the certain types of debris of concern belongs to the debris comprising liquid component.
Correspondingly, the recognition unit 140 can compare between the first electrode unit and the second electrode unit
Resistance value and predetermined value, and be less than or equal to the predetermined value in response to the resistance value, determine described to clean single
The debris that member is cleaned belongs to the debris comprising liquid component.
Control unit 150 can be electrically connected with the recognition unit 140 and the walking unit 110, for knowing from described
Other unit 140 receives recognition result, and controls the walking of the walking unit 110 to operate according to the recognition result.
For example, the control unit 150 can include multiple processor cores, and/or realize multiple virtual processors.Replace
Ground, control unit 150 may include multiple concurrent physical processors.As specific example, control unit 150 can include special configuration
ASIC (ASIC) or other integrated circuits, digital signal processor, controller, hard-wired electronics or patrol
Volume circuit, PLD or field programmable gate array (FPGA), the computer of specific use etc..
For example, described control unit 150 can indicate what the cleaning unit was cleaned in response to the recognition result
Debris belongs to certain types of debris (for example, the debris comprising liquid component, or more specifically, toughness debris or aqueous miscellaneous
Thing etc.), the walking unit 110 is controlled to cause the removable cleaning equipment to stop moving；Or, in response to the identification
As a result indicate that debris that the cleaning unit is cleaned is not belonging to certain types of debris, control the walking unit 110 after
The continuous driving removable cleaning equipment is moved in working region.
Below, the aforesaid operations of control unit 150 are illustrated in an instantiation.
As referred in background technology, due to current removable cleaning equipment (especially sweeping robot) 100 often
The dryness debris of the fine granularities such as cleaning dust, paper scrap can only be handled, and the bag such as water, beverage, animal wastes can not be handled
Moist debris containing liquid component, if made moist damage so irrelevantly may result in equipment to this debris progress processing
It is bad, cause the undesirable situation such as secondary pollution to occur.Therefore, above two debris can be analyzed to resistance between electrode unit
The influence of value, judges the type of debris, to enable removable cleaning equipment 100 according to the type of debris come arranged rational
Cleaning operation.
Therefore, in embodiments herein, by taking sweeping robot as an example, it may move cleaning equipment meeting during sweeping the floor
Detect and recognize in real time the change of resistance R between two electrode unit AB ends being distributed in sweep brush.Removable clear
The cleaning unit of clean equipment is touched when not encountering moist debris, because two electrode units are electrically insulated from each other, so between them
Resistance R is infinity, then illustrate to be cleaned for debris such as solid particulate matters, cleaning equipment can continue to complete sweeper
Make.In contrast, when the cleaning unit of removable cleaning equipment touches moist debris, because liquid component has necessarily
Electric conductivity, if so detecting AB ends resistance R drops to certain numerical value scope (for example, 0<R<1 megohm of M Ω
In the range of), then illustrate that at this moment sweep brush has touched the moist debris such as electrically conductive water, beverage, greasy dirt, excrement,
Then in order to prevent above-mentioned possible rough sledding from occurring, now machine will be stopped.
Further, the specific species of moist debris can also be determined by the resistance value R detected scope, so that
Determine corresponding cleaning strategy.For example, table 1 shows the physical characteristic in electrode unit (for example, spacing, the contact with liquid
Area etc.) some common moist debris under fixing situation actual measurement resistance value.
| Species | Resistance value (about) |
| Finda beverage | 15KΩ |
| Running water | 150KΩ |
| Coffee | 33KΩ |
| Black tea | 110KΩ |
| Coca-Cola | 51KΩ |
| Cream | 180KΩ |
Table 1
Reference table 1, for example, when it is about 150K Ω to detect resistance value R, recognition unit 140 may determine that described
The debris that cleaning unit is cleaned belongs to running water, at this moment also will not further pollute ground due to being cleaned even if continuation, therefore,
Control unit 150 can control walking unit 110 to walk on, to continue to clean (it is of course also possible, as described before, for security consideration,
Walking unit 110 can also be controlled to stop, to prevent each part to be damaged)；And when it is about 180K Ω to detect R, identification is single
Member 140 may determine that the debris that the cleaning unit is cleaned belongs to cream, if at this moment continuing routine work, cleaning brush will
Cream can be push and move on, even pollute whole ground, therefore, control unit 150 can control the walking unit 110
To cause the removable cleaning equipment to stop movement.So, different numerical value are dropped to by detecting AB ends resistance R
Scope, recognition unit 140 can identify whether the debris detected belongs to moist debris and belong to which kind of moist debris,
In order to which control unit 150 uses different follow-up strategies.
Further, in addition to the specific species that moist debris is detected by resistance value, others can also be passed through
Replacement means or additional means realize above-mentioned purpose.Specifically, due to mopping robot, glass-cleaning robot, window cleaning equipment device
People, which is substantially all, can also preferably handle the aqueous debris such as water, beverage, but if run into ice cream, pet dung etc.
Toughness debris, then due to their high-adhesiveness, continue routine work and more likely cause the dirty continuation in region to be cleaned
Spread and expand.Therefore, it is intended that further toughness debris is distinguished as a kind of more special type.
By analysis it can be found that among moist debris, aqueous debris adhesion is weaker, lighter in weight, and toughness
The adhesion of debris relatively strong, heavier-weight.That is, the aqueous debris of the running water swept up by cleaning brush, beverage etc. is usual
Cleaning brush can be departed from the rotation of rotary shaft, and the toughness such as ice cream, pet dung debris may be attached for a long time
On cleaning brush, even more dryness debris of adhesive tape, so as to increase the weight of cleaning brush.Based on above-mentioned difference, detection is single
Member 130 can be also used for detecting the current weight of cleaning unit 120, and testing result is sent into recognition unit 140.It is described to know
Other unit 140 compares the current weight and preset weight, and current weight and its default weight in response to cleaning unit 120
The difference measured between (weight for not adhering to any debris thereon) is more than a predetermined threshold, determines that the cleaning unit is cleaned
Debris belong to toughness debris (or referred to as adhesion debris).
For example, simply, the detection unit 130 can be a weight sensor, for (especially being cleaned to cleaning unit
Brush) weighed.Alternatively, because the rotating manner that can cause rotary shaft when being attached with toughness debris on cleaning brush occurs
Change, so cleaning unit (especially cleaning brush) can also be estimated by measuring velocity of rotation/acceleration of rotary shaft
Weight.Correspondingly, the detection unit 130 can be an angular accelerometer, velocity of rotation/acceleration for detecting rotary shaft.
Certainly, the sensor of any other type as known in the art and be likely to occur in the future can be applied to the application,
The mode for obtaining cleaning brush weight is not particularly limited the application.
In one embodiment, the removable cleaning equipment 100 can also include alarm unit 160, with the control
Unit 150 is electrically connected, and described control unit 150 indicates what the cleaning unit 120 was cleaned in response to the recognition result
Debris belongs to certain types of debris, controls the alarm unit 160 to perform alarm operation.
That is, detecting certain types of debris (for example, the debris comprising liquid component, or more specifically, viscous
Consistence debris or aqueous debris etc.), control unit 150 is stopped except the removable cleaning equipment 100 of control, to avoid infringement from aggravating
Or outside pollution expands, alarm can also be issued the user with by various modes.For example, alarm unit 160 can be display,
Alarm screen for showing such as image, symbol, word or the like；Can also be loudspeaker, for sending corresponding sound
Prompt message, such as plays voice messaging or ring tone information, or, it can also be indicator lamp for flicker, for vibration
Vibrator etc., those of ordinary skill in the art can be configured according to actual conditions to prompting mode, and the application does not make herein
Concrete restriction.In addition, in addition to above-mentioned local alarm, the alarm unit 160 can also realize remote alarms.For example, should
Alarm unit 160 can be communicator, for mobile terminal wirelessly with user (for example, mobile phone, tablet personal computer
Deng) associated.In the case of wireless mode, the communication protocol between alarm unit 160 and mobile terminal can be included but not
It is limited to Wireless Fidelity (Wi-Fi), WLAN authentication and privacy infrastructure (WAPI), worldwide interoperability for microwave accesses
(WiMax), nG (the n-th third-generation mobile communication), text SMS breath (SMS), multi-media SMS breath (MMS) etc..
If in addition, it is further contemplated that in the moving process of removable cleaning equipment constantly detecting electrode unit
Between resistance value and perform identification operation, inevitably result in and consume excessive power consumption, this is supplied for often relying on battery module
Do not wanted to see that for the removable cleaning equipment of electricity.
Therefore, in one embodiment of the application, the walking unit 110 can include：Position sensor, for examining
Displacement of the removable cleaning equipment in the working region is surveyed, and the detection unit is in response to the movement
Distance is more than or equal to a predetermined length, detects the resistance value.
For example, the position sensor can be range sensor, it can calculate removable according to the rotation distance of driving wheel
The travel distance of dynamic cleaning equipment.Alternatively, the position sensor can also be angular transducer, to cause control unit 150
The travel distance can be determined according to the rotational angle of driving wheel.Certainly, the application not limited to this.For example, the position sensing
Device can also be other possible sensors such as gyroscope, accelerometer.The position sensor can be direct with detection unit 130
Electrical connection, for controlling enable and the closing of detection unit 130.Alternatively, the position sensor can also be with control unit
150 electrical connections, enable and the closing of detection unit 130 are controlled so as to control unit 150.
As can be seen here, according to the removable cleaning equipment of the embodiment of the present application, it can detect what is set on cleaning unit
Resistance value between first electrode unit and second electrode unit, recognizes that the cleaning unit is cleaned according to the resistance value
Debris whether belong to certain types of debris, and control the walking of the walking unit to operate according to recognition result.Cause
This, can detect the type of cleaned debris well, and according to the type of debris come arranged rational cleaning operation.
Illustrative methods
Fig. 5 illustrates the flow chart of the control method of the removable cleaning equipment according to the embodiment of the present application.
Arrived as shown in figure 5, can apply to Fig. 1 such as according to the control method of the removable cleaning equipment of the embodiment of the present application
Removable cleaning equipment 100 illustrated in Fig. 4 B, for example, the removable cleaning equipment 100 can include：Walking unit, is used for
The removable cleaning equipment is driven to be moved in working region；Cleaning unit, for rotating with to the debris in working region
Cleaned, the first electrode unit and second electrode for being spaced apart preset distance each other are provided with the cleaning unit
Unit；Detection unit, is electrically connected with the first electrode unit and the second electrode unit, for detecting the first electrode
Resistance value between unit and the second electrode unit.Also, the control method can include：
In step s 110, the resistance value that the detection unit is detected is received.
In the step s 120, recognize whether the debris that the cleaning unit is cleaned belongs to specific according to the resistance value
The debris of type.
In step s 130, the walking of the walking unit is controlled to operate according to recognition result.
In one embodiment, step S120 can include：Compare the resistance value and predetermined value；And in response to institute
Resistance value is stated less than or equal to the predetermined value, determines that the debris that the cleaning unit is cleaned belongs to comprising liquid component
Debris.
In one embodiment, it can be in response to the resistance value in a preset range, determine the cleaning unit
The debris cleaned belongs to toughness debris.
In one embodiment, step S130 can include：The cleaning unit is indicated in response to the recognition result
The debris cleaned belongs to certain types of debris, controls the walking unit to cause the removable cleaning equipment to stop moving
It is dynamic.
In one embodiment, step S130 can also include：Indicate that the cleaning is single in response to the recognition result
The debris that member is cleaned is not belonging to certain types of debris, controls the walking unit to continue to drive the removable cleaning equipment
Moved in working region.
In one embodiment, the control method can also include：The cleaning is indicated in response to the recognition result
The debris that unit is cleaned belongs to certain types of debris, performs alarm operation.
The concrete function of each step in above-mentioned control method and operation have been described above being schemed referring to figs. 1 to Fig. 4 B
It is discussed in detail in the removable cleaning equipment shown, and therefore, its repeated description will be omitted.
The general principle of the application is described above in association with specific embodiment, however, it is desirable to, it is noted that in this application
Advantage, advantage, effect referred to etc. is only exemplary rather than limitation, it is impossible to which it is the application to think these advantages, advantage, effect etc.
Each embodiment is prerequisite.In addition, detail disclosed above is merely to the effect of example and the work readily appreciated
With, and it is unrestricted, above-mentioned details is not intended to limit the application to realize using above-mentioned concrete details.
The device that is related in the application, device, equipment, the block diagram of system only illustratively the example of property and are not intended to
It is required that or hint must be attached in the way of square frame is illustrated, arrange, configure.As it would be recognized by those skilled in the art that
, it can connect, arrange by any-mode, configuring these devices, device, equipment, system.Such as " comprising ", "comprising", " tool
Have " etc. word be open vocabulary, refer to " including but is not limited to ", and can be with its used interchangeably.Vocabulary used herein above
"or" and " and " refer to vocabulary "and/or", and can be with its used interchangeably, unless it is not such that context, which is explicitly indicated,.Here made
Vocabulary " such as " refers to phrase " such as, but not limited to ", and can be with its used interchangeably.
It may also be noted that in device, apparatus and method in the application, each part or each step are to decompose
And/or reconfigure.These decompose and/or reconfigured the equivalents that should be regarded as the application.
The above description of disclosed aspect is provided so that any person skilled in the art can make or use this
Application.Various modifications in terms of these are readily apparent to those skilled in the art, and defined herein
General Principle can apply to other aspect without departing from scope of the present application.Therefore, the application is not intended to be limited to
Aspect shown in this, but according to the widest range consistent with the feature of principle disclosed herein and novelty.
In order to which purpose of illustration and description has been presented for above description.In addition, this description is not intended to the reality of the application
Apply example and be restricted to form disclosed herein.Although already discussed above multiple exemplary aspects and embodiment, this area skill
Art personnel will be recognized that its some modifications, modification, change, addition and sub-portfolio.
Claims (10)
1. a kind of removable cleaning equipment, it is characterised in that the equipment includes：
Walking unit, for driving the removable cleaning equipment to be moved in working region；
Cleaning unit, for rotating to be cleaned to the debris in working region, is provided with mutually on the cleaning unit
Between be spaced apart preset distance first electrode unit and second electrode unit；
Detection unit, is electrically connected with the first electrode unit and the second electrode unit, for detecting the first electrode
Resistance value between unit and the second electrode unit；
Recognition unit, is electrically connected with the detection unit, for receiving the resistance value that the detection unit is detected, and according to
The resistance value recognizes whether the debris that the cleaning unit is cleaned belongs to certain types of debris；And
Control unit, is electrically connected with the recognition unit and the walking unit, for receiving identification knot from the recognition unit
Really, and according to the recognition result walking of the walking unit is controlled to operate.
2. cleaning equipment is may move as claimed in claim 1, it is characterised in that the cleaning unit includes：
Rotary shaft, can rotate；And
Cleaning brush, is fixed in the rotary shaft, for being rotated under the drive of the rotary shaft, to sweep up workspace
Debris in domain.
3. cleaning equipment is may move as claimed in claim 2, it is characterised in that the first electrode unit and second electricity
Each including in pole unit：Flexible electrical conductors, are fixed on together with the cleaning brush in the rotary shaft.
4. cleaning equipment is may move as claimed in claim 3, it is characterised in that the flexible electrical conductors are wires, and
The wire meet it is claimed below at least one：
Difference between the bristle diameter of the diameter of the wire and the cleaning brush is less than predetermined difference value；And
Difference between the bristle of the flexible and cleaning brush of the wire is flexible is less than predetermined difference value.
5. cleaning equipment is may move as claimed in claim 4, it is characterised in that the first electrode unit includes being electrically connected each other
The first group of wire connect, the second electrode unit includes second group of wire being electrically connected to each other, first group of metal
Each wire in silk is arranged alternately with each wire in second group of wire.
6. removable cleaning equipment as claimed in claim 5, it is characterised in that first group of wire and described second group
Each wire in wire includes insulating outer layer, and the insulating outer layer is coated on the outer surface of the wire but sudden and violent
Expose the one end of the wire away from the rotary shaft.
7. removable cleaning equipment as claimed in claim 1, it is characterised in that the recognition unit resistance value with
Predetermined value, and it is less than or equal to the predetermined value in response to the resistance value, determine what the cleaning unit was cleaned
Debris belongs to the debris comprising liquid component.
8. cleaning equipment is may move as claimed in claim 7, it is characterised in that the recognition unit is in response to the resistance value
In a preset range, determine that the debris that the cleaning unit is cleaned belongs to toughness debris.
9. cleaning equipment is may move as claimed in claim 1, it is characterised in that described control unit is tied in response to the identification
Fruit indicates that the debris that the cleaning unit is cleaned belongs to certain types of debris, and it is described to cause to control the walking unit
Removable cleaning equipment stops movement.
10. cleaning equipment is may move as claimed in claim 9, it is characterised in that the equipment also includes：
Alarm unit, is electrically connected with described control unit, and described control unit indicates described clear in response to the recognition result
Sweep the debris that unit cleaned and belong to certain types of debris, control the alarm unit to perform alarm operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621262227.4U CN206403711U (en) | 2016-11-11 | 2016-11-11 | Removable cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621262227.4U CN206403711U (en) | 2016-11-11 | 2016-11-11 | Removable cleaning equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206403711U true CN206403711U (en) | 2017-08-15 |
Family
ID=59549409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621262227.4U Active CN206403711U (en) | 2016-11-11 | 2016-11-11 | Removable cleaning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206403711U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106333631A (en) * | 2016-11-11 | 2017-01-18 | 北京地平线机器人技术研发有限公司 | The movable cleaning device and control method |
| WO2020093389A1 (en) * | 2018-11-09 | 2020-05-14 | 广东美的白色家电技术创新中心有限公司 | Movable electric device |
| WO2020093382A1 (en) * | 2018-11-09 | 2020-05-14 | 广东美的白色家电技术创新中心有限公司 | Sweeping robot |
| WO2020093554A1 (en) * | 2018-11-09 | 2020-05-14 | 广东美的白色家电技术创新中心有限公司 | Contact-type detection electrode and movable electric apparatus |
-
2016
- 2016-11-11 CN CN201621262227.4U patent/CN206403711U/en active Active
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106333631A (en) * | 2016-11-11 | 2017-01-18 | 北京地平线机器人技术研发有限公司 | The movable cleaning device and control method |
| CN106333631B (en) * | 2016-11-11 | 2022-03-08 | 北京地平线机器人技术研发有限公司 | Movable cleaning device and control method thereof |
| US20210393100A1 (en) * | 2018-11-09 | 2021-12-23 | Guangdong Midea White Home Appliance Technology Innovation Center Co., Ltd. | Movable electric device |
| WO2020093554A1 (en) * | 2018-11-09 | 2020-05-14 | 广东美的白色家电技术创新中心有限公司 | Contact-type detection electrode and movable electric apparatus |
| CN111432706A (en) * | 2018-11-09 | 2020-07-17 | 广东美的白色家电技术创新中心有限公司 | Floor sweeping robot |
| CN111491547A (en) * | 2018-11-09 | 2020-08-04 | 广东美的白色家电技术创新中心有限公司 | Movable electric device |
| WO2020093382A1 (en) * | 2018-11-09 | 2020-05-14 | 广东美的白色家电技术创新中心有限公司 | Sweeping robot |
| JP2022506075A (en) * | 2018-11-09 | 2022-01-17 | ▲広▼▲東▼美的白色家▲電▼技▲術▼▲創▼新中心有限公司 | Movable motor |
| JP2022507062A (en) * | 2018-11-09 | 2022-01-18 | ▲広▼▲東▼美的白色家▲電▼技▲術▼▲創▼新中心有限公司 | Floor cleaning robot |
| CN111491547B (en) * | 2018-11-09 | 2022-02-11 | 广东美的白色家电技术创新中心有限公司 | Movable electric device |
| WO2020093389A1 (en) * | 2018-11-09 | 2020-05-14 | 广东美的白色家电技术创新中心有限公司 | Movable electric device |
| CN111432706B (en) * | 2018-11-09 | 2022-05-13 | 广东美的白色家电技术创新中心有限公司 | Floor sweeping robot |
| JP7248792B2 (en) | 2018-11-09 | 2023-03-29 | ▲広▼▲東▼美的白色家▲電▼技▲術▼▲創▼新中心有限公司 | movable electric device |
| US11921072B2 (en) | 2018-11-09 | 2024-03-05 | Guangdong Midea White Home Appliance Technology Innovation Center Co., Ltd. | Contact-type detection electrode and movable electric device |
| US11937751B2 (en) * | 2018-11-09 | 2024-03-26 | Guangdong Midea White Home Appliance Technology Innovation Center Co., Ltd. | Movable electric device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106333631A (en) | The movable cleaning device and control method | |
| CN206403711U (en) | Removable cleaning equipment | |
| CN109917488A (en) | Sweeping robot carpet detection method and equipment | |
| CN103705178B (en) | Robot cleaner and its control method | |
| CN105492984B (en) | Self-propelled electronic equipment | |
| CN108829115B (en) | A kind of motion control method and its calculating equipment of robot | |
| CN106200645A (en) | Autonomous robot, control device and control method | |
| CN108594828B (en) | Method for generating cleaning operation path | |
| JP6086733B2 (en) | Self-propelled device and method of operating such a device | |
| EP3238593B1 (en) | Vacuum cleaner | |
| CN108733061B (en) | Path correction method for cleaning operation | |
| CN106821157A (en) | The cleaning method that a kind of sweeping robot is swept the floor | |
| JP6542488B2 (en) | System and method for cleaning a floor using a cleaning robot | |
| AU2014278987A1 (en) | Cleaning robot and method for controlling the same | |
| JP6681360B2 (en) | System and method for cleaning a floor with a cleaning robot | |
| CN106227214B (en) | Autonomous robot, apparatus and method for detecting failure | |
| CN106659351A (en) | Riding floor cleaning machines having intelligent systems | |
| CN112650205B (en) | Cleaning monitoring method, cleaning equipment, server and storage medium | |
| CN109077675B (en) | Automatic cleaning sweeper and automatic cleaning method thereof | |
| JP2020142073A (en) | Suction material collecting station, system made from suction material collecting station and suction cleaner, and method for the same | |
| CN109033136B (en) | Operation map updating method | |
| CN108776479B (en) | Collaborative sweeping operation method | |
| JP2022510558A (en) | Movable motor | |
| CN107536565A (en) | From mobile clean robot and its control method | |
| CN110025259A (en) | Self-propelled floor-sweeping machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |