CN206403712U - Removable cleaning equipment - Google Patents
Removable cleaning equipment Download PDFInfo
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- CN206403712U CN206403712U CN201621262992.6U CN201621262992U CN206403712U CN 206403712 U CN206403712 U CN 206403712U CN 201621262992 U CN201621262992 U CN 201621262992U CN 206403712 U CN206403712 U CN 206403712U
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- 238000004140 cleaning Methods 0.000 title claims abstract description 169
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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；Imaging unit, the image for catching the debris that the cleaning unit is cleaned；Recognition unit, is electrically connected with the imaging unit, for receiving the image that the imaging unit is caught, and recognizes whether the debris that the cleaning unit is cleaned belongs to certain types of debris according to described image；And control unit, electrically connected with the recognition unit and the walking 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 relates more specifically 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 the automatic cleaning to the 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 be stained with it is dirty, and push it is dirty move on, finally on the contrary by it is dirty fill it is whole
Individual house earth surface, or even carpet, greatly puzzlement and economic loss are brought 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；Imaging unit, the image for catching the debris that the cleaning unit is cleaned；Recognition unit, it is and described
Imaging unit is electrically connected, for receiving the image that the imaging unit is caught, and is recognized according to described image described clear
Sweep whether the debris that unit cleaned belongs to certain types of debris；And control unit, with the recognition unit and the row
Unit electrical connection is walked, for receiving recognition result from the recognition unit, and the row is controlled according to the recognition result
Walk the walking operation of unit.
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, the imaging unit includes：Light-passing board, with inner surface and outer surface, institute
State the debris that the outer surface of light-passing board can be swept up when the rotary shaft drives the cleaning brush to rotate by the cleaning brush
Pollute and produce stain；And imaging sensor, for the inner surface imaging to the light-passing board, to catch the figure of the stain
Picture, and the image of the stain is sent to the recognition unit.
In one embodiment of the application, the imaging unit also includes：Light source, for illuminating the light-passing board, with
Just described image sensor is imaged to the inner surface of the light-passing board.
In one embodiment of the application, the light source is arranged on the outer surface of the rotary shaft, and described image
Sensor and the rotary shaft are calibrated in time so that the proper rotary shaft drive light source turn to can illuminate it is described
During the position of tabula rasa, the light source and described image sensor are enabled, to be imaged to the inner surface of the light-passing board.
In one embodiment of the application, the stain in described image is identified the recognition unit, and rings
Predetermined pattern is presented in stain described in Ying Yu, determines that the debris that the cleaning unit is cleaned belongs to certain types of debris.
In one embodiment of the application, the recognition unit in response to the predetermined pattern be mottled, linear,
At least one of block shape or its combination, determine that the debris that the cleaning unit is cleaned belongs to comprising the miscellaneous of liquid component
Thing.
In one embodiment of the application, the recognition unit is more than or equal to a threshold in response to the colourity of the stain
Value, determines 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, imaging unit can be received
The image of the debris cleaned caught, recognizes whether cleaned debris belongs to certain types of miscellaneous according to described image
Thing, and control according to recognition result the cleaning operation of the removable cleaning equipment.Therefore, it can to detect well it is clear
The type for the debris swept, and according to the type of debris come arranged rational cleaning 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 amplification exemplary construction signal of the imaging unit of the removable cleaning equipment according to the embodiment of the present application
Figure.
Fig. 4 A illustrate the stain pattern of the dryness debris according to the embodiment of the present application, and Fig. 4 B are illustrated according to the application
The stain pattern of the moist debris of embodiment.
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 due to winding or it is stuck cause hardware damage in cleaning unit, or cause the debris with removable cleaning equipment
Walk 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 receive the image for the debris cleaned that imaging unit is caught, and cleaned miscellaneous is recognized according to described image
Whether thing belongs to certain types of debris, and controls according to recognition result the cleaning operation of the removable cleaning equipment.
Therefore, according to the application of the basic conception movable equipment can be enabled to detect the class of cleaned debris well
Type, and according to the type of debris come arranged rational cleaning operation.
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, imaging 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 imaging 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.
Imaging unit 130 is used for the image for catching the debris that the cleaning unit 120 is cleaned.Depending on different functions
Configuration, the imaging unit 130 can be arranged on any position of housing, for being imaged to the debris.
In one example, the imaging unit 130 can be arranged on the bottom of housing, and can include：Light-passing board,
With inner surface and outer surface, the outer surface of the light-passing board can be when the rotary shaft drive cleaning brush be rotated by institute
State impurity pollution that cleaning brush swept up and produce stain；And imaging sensor, for the inner surface to the light-passing board into
Picture, to catch the image of the stain, and is sent to the recognition unit 140 by the image of the stain.
Fig. 3 illustrates the amplification exemplary construction signal of the imaging unit of the removable cleaning equipment according to the embodiment of the present application
Figure.
As shown in figure 3, the light-passing board can be glass, plastics or other transparent materials, be arranged on by rotary shaft and
The vertical direction of the roller brushes structure of cleaning brush formation or oblique upper.The outer surface of light-passing board can drive institute in the rotary shaft
State to produce with the cleaning brush when cleaning brush is rotated and contact.That is, what the bristle that light-passing board includes cleaning brush can be covered
Region, when roller brushes structure is rotated, the bristle that the side (outer surface) of the light-passing board towards roller brushes structure can be with roller brushes structure
It is in contact so that the debris that roller brushes structure is swept up can leave stain on that exterior.Certainly, the application not limited to this.Thoroughly
The outer surface of tabula rasa can not also produce direct physical contact with the cleaning brush, as long as the debris when the cleaning brush is rotated
Stain (splashing phenomenon for example, occurring getting rid of by high speed rotation) can be produced thereon.
The imaging sensor can be encapsulated in the inside of housing by light-passing board, and point to roller brushes structure, for shooting
The stain that debris leaves in the outer surface of light-passing board.For example, the imaging unit 130 can be the image for catching image information
Sensor, it can be camera or camera array.The camera can be such as monocular camera, binocular camera, many mesh cameras
Deng, in addition, its can be used for catch gray-scale map, the cromogram with colouring information can also be caught.Certainly, as is generally known in the art
And the camera of any other type that is likely to occur in the future can be applied to the application, the application catch image to it
Mode is not particularly limited, as long as resulting in the chrominance information of input picture.For example, the imaging unit 130 can be
Complementary metal oxide semiconductor (CMOS) sensor or other sense light kind sensors.
Due in this example, light-passing board and imaging sensor are all located at the bottom of the removable housing of cleaning equipment 100, institute
With when the operation general work with high brightness such as window, aquarium, high reflective floor of removable cleaning equipment 100
When, imaging sensor can obtain enough ambient lightings, so as to be imaged exactly to the stain on light-passing board；However,
When operation in removable the cleaning equipment 100 working environment on such as ground, the housing bottom of cleaning equipment 100 may move
Due to blocking, it is understood that there may be the problem of illumination is not enough.
Therefore, the imaging unit 130 can also include：Light source, for illuminating the light-passing board, so that described image is passed
Sensor is imaged to the inner surface of the light-passing board.For example, the light source can be the astigmatism sources such as light emitting diode (LED) and set
In any possible position, as long as it can illuminate light-passing board.For example, light source can similarly be set with imaging sensor
In the side of the inner surface of light-passing board, and towards the light-passing board.Alternatively, it is reflective in order to prevent, have one in light-passing board
When determining thickness, the light source can also point to the side of light-passing board, and whole printing opacity is illuminated to cause light to be transmitted in light-passing board
Plate.Or, the light source can also be arranged on the side of light-passing board outer surface, realize illumination functions ecto-entad.For example, institute
State the outer surface for the rotary shaft that light source can be arranged in the roller brushes structure of the cleaning unit 120.
From power consumption angle, imaging sensor may not necessarily gather continuous image sequence (that is, video flowing), but often
A two field picture is gathered every a period of time.Correspondingly, the illumination of light source can also be with the imaging operation of imaging sensor
Open, and disabled with the disabling of imaging sensor.
Therefore, for example, in the case where light source is arranged on the outer surface of the rotary shaft, described image sensor and described
Rotary shaft can be calibrated in time, so that the proper rotary shaft, which drives light source to turn to, can illuminate the position of the light-passing board
When putting, the light source and described image sensor are enabled, to be imaged to the inner surface of the light-passing board, and by the stain
Image is sent to the recognition unit 140.
Recognition unit 140 is electrically connected with the imaging unit 130, be can be used for receiving the imaging unit 130 and is caught
Image, and recognize whether the debris that the cleaning unit 120 is cleaned belongs to certain types of miscellaneous according to described image
Thing.
For example, the stain in described image can be identified for the recognition unit 140, and in response to the stain
Predetermined pattern is presented, determines that the debris that the cleaning unit is cleaned belongs to certain types of debris.For example, the recognition unit
140 can use the image recognition technology based on machine learning model to realize.May for example, various debris can be gathered in advance
The sample image of the stain of appearance, sets up Sample Storehouse, carries out feature extraction to the stain pattern of different debris, passes through machine learning
Method trains the grader for obtaining debris stain, so that recognition unit 140 is used.During actually detected, to what is collected
The background of debris stain image is initialized, and feature extraction is carried out to the stain image, with reference to passing through the machine learning
The grader for the debris stain that method training is obtained, carries out debris detection and identification.
Although it should be noted that be illustrated here by taking the image recognition technology based on machine learning model as an example,
But, the application not limited to this.Either existing or exploitation in the future any image recognition technology, can be applied to
In embodiments herein, and it should also be included in the protection domain of the application.
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 so irrelevantly may result in device damage to this debris progress processing, making
Occur into the undesirable situation such as secondary pollution.Therefore, the stain that can be produced to above two debris on light-passing board is carried out
Modeling, to enable removable cleaning equipment 100 according to the type of debris come arranged rational cleaning operation.
Fig. 4 A illustrate the stain pattern of the dryness debris according to the embodiment of the present application, and Fig. 4 B are illustrated according to the application
The stain pattern of the moist debris of embodiment.
As shown in Figure 4 A, the image that the dryness debris of the fine granularity such as dust, paper scrap is formed in the outer surface of light-passing board
In only include that some sizes are small, the main dirt pits formed by dust, it is large number of in the picture, be evenly distributed, directly
Footpath is smaller.In contrast, as shown in Figure 4 B, the moist debris comprising liquid component such as water, beverage, animal wastes is in light-passing board
The image that is formed of outer surface in frequently include spot, lines, block or its combination, wherein：Spot is due to roller brushes structure
Bristle on the liquid component of adhesive tape get rid of the stain for splashing and being formed on light-passing board, it may have a thick thin raindrop
Shape, there may also be other irregular shapes；Lines are due to the liquid component of adhesive tape on a little bristle of roller brushes structure
The stain formed on light-passing board is scratched a littlely；And block be due to adhesive tape on a large amount of bristles of roller brushes structure liquid into
Divide the stain for scratching formed on light-passing board in large area.Spot in Fig. 4 B is distinguished with the dirt pits in Fig. 4 A to be, spot
Diameter be more than or equal to a predetermined threshold value (for example, 10 pixel etc.), and the diameter of dirt pits is less than the predetermined threshold value.
Therefore, predetermined pattern and the predetermined pattern, which can be presented, in response to the stain in the recognition unit 140 is
At least one of mottled, linear, block shape or its combination, determine that the debris that the cleaning unit is cleaned belongs to bag
Debris containing liquid component.
Further, can also preferably it be located in because mopping robot, glass-cleaning robot, window wiping robot are substantially all
Manage water, the aqueous debris such as beverage, but if running into the toughness debris such as ice cream, pet dung, then due to they
High-adhesiveness, continues routine work and more likely causes dirty to continue to spread in region to be cleaned and expand.Therefore, it is intended that entering one
Step distinguishes toughness debris (or be referred to as, adhesion debris) as a kind of more special type.
By analysis it can be found that compared with aqueous debris, the translucency of toughness debris is poor, so it is described
Often color is deeper in the picture for the stain produced on the outer surface of tabula rasa, i.e., with relatively higher colourity.Therefore, the identification
Unit 140 can be more than or equal to a threshold value in response to the colourity of the stain, determine the debris that the cleaning unit is cleaned
Belong to toughness debris, and recognition result is sent to control unit 150.Certainly, the application not limited to this.Except using colourity
Outside comparative approach, recognition unit 140 can also utilize the various images such as luminance difference method, calculation of area, color distortion method
Signal processing method generates recognition result.
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), controls institute
Walking unit 110 is stated to cause the removable cleaning equipment to stop moving；Or, indicate institute in response to the recognition result
State the debris that cleaning unit cleaned and be not belonging to certain types of debris, control the walking unit 110 continue to drive it is described can
Mobile cleaning equipment is moved in working region.
By taking sweeping robot as an example, when sweeping robot is swept to it is as dirty such as this adhesion of pet dung when, on its bristle
It can adhere to this dirty.With the rotation of roller, the dirty surface that would also adhere to light-passing board on bristle.When light source with
When dedusting guide wheel goes to the underface of sensor, light source is opened, to enable imaging sensor to obtain image.Due to dirty meeting
Shut out the light, the image when image that imaging sensor is obtained when having dirty is with only dust is different.Controller is obtained after image,
Can judge this dirty whether can cause further shadow to health within doors using various possible image-signal processing methods
Ring, and decide whether to terminate the program of sweeping the floor of sweeping robot.
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), control unit 150 is stopped except the removable cleaning equipment 100 of control, to avoid infringement from aggravating or pollute expansion
Outside, alarm can also be issued the user with by various modes.For example, alarm unit 160 can be display, for showing such as
The alarm screen of image, symbol, word or the like；It can also be loudspeaker, for sending corresponding auditory tone cues information, such as broadcast
Voice messaging or ring tone information etc. are put, or, it can also be the indicator lamp for flicker, vibrator for vibration etc., ability
Domain those of ordinary skill can be configured according to actual conditions to prompting mode, and the application is not specifically limited herein.In addition,
In addition to above-mentioned local alarm, the alarm unit 160 can also realize remote alarms.For example, the alarm unit 160 can be with
It is communicator, it is associated for the mobile terminal (for example, mobile phone, tablet personal computer etc.) wirelessly with user.Wireless
In the case of mode, the communication protocol between alarm unit 160 and mobile terminal can include but is not limited to Wireless Fidelity (Wi-
Fi), (movement of the n-th generation is logical by WLAN authentication and privacy infrastructure (WAPI), worldwide interoperability for microwave accesses (WiMax), nG
Letter), text SMS breath (SMS), multi-media SMS breath (MMS) etc..
In addition, in order to control imaging sensor and light source in imaging unit 130 to start in appropriate timing simultaneously, completing
Imaging operation, control unit 150 can also with it is described both electrically connect.Further, in order that obtaining in imaging unit 130
Rotary shaft in imaging sensor and cleaning unit 120 can be calibrated in time, to drive light source to turn when the rotary shaft
When moving the position that can illuminate the light-passing board, the light source and described image sensor controlled unit 150 are enabled simultaneously,
The cleaning unit 120 can also include a position sensor, be electrically connected with control unit 150, for detecting the rotary shaft
Turned position, and the parameter detected is sent to control unit 150, for control light source and described image sensor
Cooperating.For example, the position sensor can be range sensor, to enable control unit 150 according to rotary shaft
Rotation distance and the diameter of rotary shaft calculate the position of light source on the rotating shaft.Alternatively, the position sensor can also be
Angular transducer, to enable control unit 150 to determine the position of light source on the rotating shaft according to the rotational angle of rotary shaft
Put.Certainly, the application not limited to this.For example, the position sensor can also be other possible biographies such as gyroscope, accelerometer
Sensor.
Although being hereinbefore located at bottom and the imaging sensor pair of removable cleaning equipment 100 with imaging unit 130
The stain produced on the outer surface of light-passing board by debris is illustrated exemplified by being imaged, still, the application not limited to this.
For example, in one example, the imaging unit 130 can include the top for being located at removable cleaning equipment 100 or
The imaging sensor of the positions such as person front portion, is imaged for the direction of travel to the removable cleaning equipment 100, with catch by
The image for the debris to be cleaned.The dust that will not be swept up to ensure the imaging sensor is directly stained with dirty, the imaging unit 130
Diffuser can also be included, for imaging sensor to be covered on wherein.
Recognition unit 140 is electrically connected with the imaging unit 130, be can be used for receiving the imaging unit 130 and is caught
Image, and recognize whether the debris that the cleaning unit 120 is cleaned belongs to certain types of miscellaneous according to described image
Thing.
For example, the recognition unit 140 can use the image recognition technology based on machine learning model to realize.Example
Such as, the sample image of the profile of various debris can be gathered in advance, Sample Storehouse is set up, for follow-up debris detection and knowledge
Not.
As can be seen here, according to the removable cleaning equipment of the embodiment of the present application, the institute that imaging unit is caught can be received
The image of the debris of cleaning, recognizes whether cleaned debris belongs to certain types of debris, and root according to described image
The cleaning operation of the removable cleaning equipment is controlled according to recognition result.It therefore, it can detect cleaned debris well
Type, 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；And imaging unit, the image for catching the debris that the cleaning unit is cleaned.Also, the control method can
With including：
In step s 110, the image that the imaging unit is caught is received.
In the step s 120, recognize whether the debris that the cleaning unit is cleaned belongs to certain kinds according to described image
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, the cleaning unit can include：Rotary shaft, can rotate；And cleaning brush, it is fixed on
In the rotary shaft, for being rotated under the drive of the rotary shaft, to sweep up the debris in working region.It is described into
As unit can include：Light-passing board, with inner surface and outer surface, the outer surface of the light-passing board can be in the rotary shaft band
The dynamic cleaning brush produces stain when rotating by the impurity pollution that the cleaning brush is swept up；And imaging sensor, it is used for
To the imaging of the inner surface of the light-passing board, to catch the image of the stain, and the image of the stain is sent to described
Recognition unit.Also, the imaging unit can also include：Light source, for illuminating the light-passing board, so that described image is sensed
Device is imaged to the inner surface of the light-passing board.The light source can be arranged on the outer surface of rotary shaft, and described image is sensed
Device and the rotary shaft can be calibrated in time so that the proper rotary shaft drive light source turn to can illuminate it is described
During the position of tabula rasa, the light source and described image sensor are enabled, to be imaged to the inner surface of the light-passing board.
In the case, the control method can also include：Light source is driven to turn in response to detecting the rotary shaft
The position of the light-passing board can be illuminated, the light source and described image sensor is enabled, with the inner surface to the light-passing board
Imaging.
In one embodiment, step S120 can include：Stain in described image is identified, the stain is
Produced by the debris cleaned as the cleaning unit；And predetermined pattern is presented in response to the stain, determine described clear
Sweep the debris that unit cleaned and belong to certain types of debris.
In one embodiment, it in response to the predetermined pattern can be mottled, linear, block shape or its combination
At least one of, determine that the debris that the cleaning unit is cleaned belongs to the debris comprising liquid component.
In one embodiment, a threshold value can be more than or equal in response to the colourity of the stain, determines the cleaning
The debris that unit is 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；
Imaging unit, the image for catching the debris that the cleaning unit is cleaned；
Recognition unit, is electrically connected with the imaging unit, for receiving the image that the imaging unit is caught, and according to institute
Image is stated to recognize 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 imaging unit includes：
Light-passing board, with inner surface and outer surface, the outer surface of the light-passing board can drive described clean in the rotary shaft
Brush produces stain when rotating by the impurity pollution that the cleaning brush is swept up；And
Imaging sensor, for the imaging of the inner surface of the light-passing board, to catch the image of the stain, and by the dirt
The image of mark is sent to the recognition unit.
4. cleaning equipment is may move as claimed in claim 3, it is characterised in that the imaging unit also includes：
Light source, for illuminating the light-passing board, so that described image sensor is imaged to the inner surface of the light-passing board.
5. cleaning equipment is may move as claimed in claim 4, it is characterised in that the light source is arranged on the outer of the rotary shaft
Surface, and described image sensor and the rotary shaft calibrate in time, so that the proper rotary shaft drives light source to turn
When moving the position that can illuminate the light-passing board, the light source and described image sensor are enabled, with to the light-passing board
Inner surface is imaged.
6. the removable cleaning equipment as any one of claim 3 to 5, it is characterised in that the recognition unit is to institute
The stain stated in image is identified, and predetermined pattern is presented in response to the stain, determines that the cleaning unit is cleaned
Debris belong to certain types of debris.
7. cleaning equipment is may move as claimed in claim 6, it is characterised in that the recognition unit is in response to the predetermined figure
Case is at least one of mottled, linear, block shape or its combination, determines the debris category that the cleaning unit is cleaned
In 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 stain
Colourity is more than or equal to a threshold value, determines that the debris that the cleaning unit is cleaned belongs to toughness debris.
9. cleaning equipment is may move as claimed in claim 6, 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 |
|---|---|---|---|
| CN201621262992.6U CN206403712U (en) | 2016-11-11 | 2016-11-11 | Removable cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621262992.6U CN206403712U (en) | 2016-11-11 | 2016-11-11 | Removable cleaning equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206403712U true CN206403712U (en) | 2017-08-15 |
Family
ID=59548497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621262992.6U Active CN206403712U (en) | 2016-11-11 | 2016-11-11 | Removable cleaning equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206403712U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106377209A (en) * | 2016-11-11 | 2017-02-08 | 北京地平线机器人技术研发有限公司 | Movable cleaning device and control method thereof |
| CN107597776A (en) * | 2017-09-08 | 2018-01-19 | 珠海格力电器股份有限公司 | Cleaning method and device of cooking equipment and cooking equipment |
| WO2020093381A1 (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 electronic apparatus |
-
2016
- 2016-11-11 CN CN201621262992.6U patent/CN206403712U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106377209A (en) * | 2016-11-11 | 2017-02-08 | 北京地平线机器人技术研发有限公司 | Movable cleaning device and control method thereof |
| CN107597776A (en) * | 2017-09-08 | 2018-01-19 | 珠海格力电器股份有限公司 | Cleaning method and device of cooking equipment and cooking equipment |
| CN107597776B (en) * | 2017-09-08 | 2020-11-20 | 珠海格力电器股份有限公司 | Cleaning method and device of cooking equipment and cooking equipment |
| WO2020093381A1 (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 electronic apparatus |
| CN111492234A (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 |
| US12042106B2 (en) | 2018-11-09 | 2024-07-23 | Guangdong Midea White Home Appliance Technology Innovation Center Co., Ltd. | Movable electronic apparatus |
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Effective date of registration: 20240905 Address after: 207S, Building 5, Northwest Shenjiu Science and Technology Entrepreneurship Park, Intersection of Taohua Road and Binglang Road, Fubao Community, Fubao Street, Futian District, Shenzhen City, Guangdong Province 518000 Patentee after: Shenzhen Sweet Potato Robot Co.,Ltd. Country or region after: China Address before: 100085 No. 1 Shangdi Information Road, Haidian District, Beijing (No. 1-1, No. 1-2, Beijing Shichuang High-Tech Development Corporation) No. 02-114, 1-1, 2-storey Building A Patentee before: BEIJING HORIZON ROBOTICS TECHNOLOGY RESEARCH AND DEVELOPMENT Co.,Ltd. Country or region before: China |
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