TW201336468A - Cleaning robot and control method thereof - Google Patents

Abstract

A cleaning robot cleaning a specific area and including a movement module, a sonar module, a cleaning module and a control method is disclosed. The movement module includes a plurality of wheels. The sonar module sends a sonar wave and receives a plurality of reflected waves. The cleaning module executes a cleaning job. The control module generates a contour line according to the reflected waves and controls at lease one of the movement module and the cleaning module according to the contour line.

Description

Cleaning robot and its control method

The present invention relates to a cleaning robot, and more particularly to a cleaning robot that utilizes the detection result of sound waves, generates a contour line, and cleans according to the contour line.

Cleaning the floor is a very laborious task. In order to improve the time it takes to clean the floor, many cleaning devices such as brooms, rags, etc. have been developed. However, the user still needs to hold the cleaning device to perform the cleaning operation, and thus the conventional cleaning device does not reduce the inconvenience of the user.

With the advancement of technology, there are more and more types of electronic products, among which robots are one of them. Taking a cleaning robot as an example, it can automatically perform a cleaning operation without a user's operation, and thus gradually replaces the conventional cleaning device. However, conventional cleaning robots clean different environments with the same cleaning ability, and therefore, it is not possible to provide suitable cleaning functions for different environmental conditions.

The invention provides a cleaning robot for cleaning a specific area, and comprises a moving module, an acoustic wave module, a cleaning module and a control module. The mobile module has a plurality of scroll wheels. The sound wave module emits a sound wave and receives a plurality of reflected waves. The cleaning module performs a cleaning task. The control module generates an outline according to the reflected wave, and controls at least one of the moving module and the cleaning module according to the contour.

The invention further provides a control method for controlling a cleaning robot to clean a particular area. The control method of the present invention includes moving the cleaning machine a person; transmitting a sound wave; receiving a plurality of reflected waves; generating a contour line according to the reflected wave; and controlling at least one of a movement and a cleaning ability of the cleaning robot according to the contour line.

In order to make the features and advantages of the present invention more comprehensible, the preferred embodiments are described below, and are described in detail with reference to the accompanying drawings.

Figure 1 is a schematic illustration of one of the cleaning robots of the present invention. The cleaning robot 100 is used to clean a specific area, such as a floor in a home. In this embodiment, the cleaning robot 100 includes a moving module 110, a cleaning module 120, a sonar module 130, and a control module 140.

The mobile module 110 has a plurality of scroll wheels (not shown). The cleaning robot 100 can be moved to any position by the scroll wheel. The cleaning module 120 performs a cleaning task such as vacuuming or mopping the floor. The present invention does not limit the internal architecture of the cleaning module 120. Any device required for the cleaning robot 100 to perform cleaning may be provided in the cleaning module 120. For example, the cleaning module 120 has a dust box, a fan, and a cleaning brush.

The acoustic wave module 130 emits an acoustic wave W _S and receives complex reflected waves W _R1 W W _R5 . In a possible embodiment, the acoustic wave W _S is an ultrasonic wave. In the present embodiment, the acoustic wave module 130 has an acoustic wave transmitter 131 and an acoustic wave receiver 132. The acoustic wave transmitter 131 emits an acoustic wave W _S . The acoustic wave receiver 132 receives the reflected waves W _R1 W W _R5 . In other embodiments, the acoustic wave module 130 has a plurality of acoustic wave emitters and a plurality of acoustic wave receivers.

When an object receives the acoustic wave W _S, the acoustic wave W _S, generates at least one corresponding reflected wave. For example, when a wall surface receives the sound wave W _S , a complex reflection wave can be generated because the wall surface has a large range. In the present embodiment, FIG. 1 shows only the reflected waves W _R1 to W _R5 as an example, but is not intended to limit the present invention. In other embodiments, the number of reflected waves may be greater or less than five.

In other embodiments, when there are multiple objects around the cleaning robot 100, then the objects will produce multiple reflected waves. Depending on the physical characteristics (such as angle, direction, position, speed) between the object and the cleaning robot 100, the material or type of the object, corresponding reflected waves can be generated at different times.

The control module 140 generates an outline according to at least two reflected waves, and controls at least one of the mobile module 110 and the cleaning module 120 according to the outline. The invention does not limit the manner in which contours are produced. In a possible embodiment, the control module 140 estimates the position of at least two objects closest to the cleaning robot 100 according to the plurality of reflected waves received by the acoustic wave receiver 132, and then connects the estimated at least two positions. A contour can be formed.

In addition, the present invention does not limit how the control module 140 controls the mobile module 110 and the cleaning module 120. In a possible embodiment, the control module 140 controls the rotational speed and/or steering of the roller of the mobile module 110 to control the travel path of the cleaning robot 100. In another possible embodiment, the control module 140 controls the cleaning module 120 to adjust the cleaning ability of the cleaning robot 100.

Figure 2 is a schematic representation of one of the contours. When the cleaning robot 100 moves to the position P1, the objects 231 to 235 generate reflected waves. However, since the object 231 is closest to the cleaning robot 100, the cleaning robot 100 first receives the reflected wave W _R1 generated by the object 231. In the present embodiment, the cleaning robot 100 records the reflected wave W _R1 .

When the cleaning robot 100 moves to the position P2, since the object 232 is closest to the cleaning robot 100, the cleaning robot 100 first receives the reflected wave W _R2 generated by the object 232 and records the reflected wave W _R2 .

Finally, when the cleaning robot 100 moves to the position P3, since the object 234 is closest to the cleaning robot 100, the cleaning robot 100 first receives the reflected wave W _R4 generated by the object 234 and records the reflected wave W _R4 .

The cleaning robot 100 integrates the first received reflected waves W _R1 , W _R2 , W _R4 three times to form an outline 220. In other embodiments, a contour can be formed by integrating at least two reflected waves. In this example, the outline 220 is a smooth outline. The slope of all segments of contour 220 is less than a predetermined slope. Therefore, in a possible embodiment, the control module 140 controls at least one of the mobile module 110 and the cleaning module 120 according to the slope of the contour.

However, the slope is for a certain point of the contour. For example, any point on the contour has a corresponding slope. In other embodiments, the control module 140 controls at least one of the mobile module 110 and the cleaning module 120 according to the curvature of the contour. Curvature refers to the degree of curvature of a particular curve of the contour.

Figure 3 is another possible schematic of the contour. When the cleaning robot 100 travels to the position P1, since the wall surface 331 is closest to the cleaning robot 100, the cleaning robot 100 first receives the reflected wave W _R1 generated by the object 331. Likewise, when the cleaning robot 100 walks to the position P2, the object 332 is closest to the cleaning robot 100, and therefore, the cleaning robot 100 first receives the reflected wave W _R2 generated by the object 332. When the cleaning robot 100 travels to the position P3, the object 331 is closest to the cleaning robot 100, and therefore, the cleaning robot 100 first receives the reflected wave W _R3 generated by the object 331.

The control module 140 forms a contour line 320 based on the reflected waves W _R1 W W _R3 . The control module 140 controls the movement path of the cleaning robot 100 according to the contour line 320. In a possible embodiment, the control module 140 causes the cleaning robot 100 to avoid the object 332 according to the outline 320 to avoid colliding with the object 332. In another possible embodiment, the control module 140 brings the cleaning robot 100 close to the object 332 for cleaning the area near the object 332.

For example, object 332 is a raised area of the floor. Because of the dust near the raised area, the control module 140 increases the cleaning capability of the cleaning module 120 and increases the rotational speed of the moving module 110 to climb the raised area.

In this embodiment, the control module 140 can know the volt state of the area where the cleaning robot 100 is located according to the contour line, and control at least one of the mobile module 110 and the cleaning module 120 according to the undulating state. For example, the control module 140 controls the movement module 110 to avoid the recessed area or the raised area of the floor to prevent the cleaning robot 100 from being trapped in the recessed area or the raised area. However, if the width of the recessed area or the raised area is not large, the control module 140 can cause the cleaning robot 100 to enter the recessed area or the raised area, and increase the cleaning capability of the cleaning module 120 for cleaning the recessed area or the raised area. Area, it is easy to accumulate dust due to depressed areas or raised areas.

Figure 4A shows the possible external environmental conditions of one of the cleaning robots. Figure 4B is a possible outline produced by the environmental state of Figure 4A. As shown in FIG. 4A, when the acoustic wave module 130 emits the acoustic wave W _S , the floor will generate reflected waves W _R1 W W _R5 according to the acoustic wave W _S . In the present embodiment, the floor includes tiles 431, 433, a gap 432, and a carpet 434. The reflected waves W _R1 and W _R3 are generated by the tiles 431 and 433. The reflected wave W _R2 is generated by the gap 432. The reflected waves W _R4 ~ W _R5 are produced by the carpet 434.

It can be seen from Fig. 4B that the time when the floor of different materials produces reflected waves is not the same. For example, when the cleaning robot 100 emits the sound wave W _S and walks to the position P1, since the tiles 431, 433 are closer to the cleaning robot 100, the cleaning robot 100 receives the reflected waves W _R1 and W _{R3 for} a shorter period of time than The cleaning robot 100 receives the time of the reflected wave W _R2 . In addition, when the cleaning robot 100 walks on the carpet 434 (as indicated by the positions P2 and P3), since the carpet 434 is closer to the cleaning robot 100, the cleaning robot 100 receives the reflected waves W _R4 and W _{R5 for} a shorter period of time than The cleaning robot 100 receives the reflected waves W _R1 and W _R3 for the time.

In this embodiment, the control module 140 can know the material (hard floor or soft floor) of the area where the cleaning robot 100 is located according to the contour line 420 formed by the reflected waves W _R1 W W _R5 . For example, when the sound wave W _S is reflected by a hard floor (such as a tile), the intensity of the reflected wave will be within a predetermined range, as shown by the reflected waves W _R1 ~ W _R3 . However, when the sound wave W _S is reflected by a soft floor such as a carpet, the intensity of the reflected wave will not be within a preset range, as shown by the reflected wave W _R4 ~ W _R5 .

Therefore, when the control module 140 controls at least one of the moving module 110 and the cleaning module 120 according to the contour line 420 formed by the reflected waves W _R1 WW _R5 , the cleaning robot 100 can be combined with the external environment state. Cleaning action. For example, when the cleaning robot 100 is to be moved from the tile area to the carpet area, the control module 140 may first increase the rotational speed of the roller for smooth entry into the carpet area. After entering the carpet area, the control module 140 slows down the rotation speed of the roller and increases the cleaning capability of the cleaning module 120 for thoroughly cleaning the carpet area.

In addition, as shown in FIG. 4A, there is a gap 432 between the tiles 431 and 433. The control module 140 can know the existence of the gap 432 according to the intensity of the reflected wave W _R2 . Since the gap 432 easily accumulates dust, the control module 140 increases the cleaning capability of the cleaning module 120 for the gap 432.

Since the time when the reflected waves are generated by the objects of different types and materials is different, when the control module 140 generates a contour according to the plurality of reflected waves, the control module 140 can be based on the slope, curvature, or Other characteristics determine the type and material of the external object, or a physical property between the external object and the cleaning robot 100, such as position, direction, angle, and speed.

When the control module 140 controls at least one of the traveling path and the cleaning ability of the cleaning robot 100 according to the determination result, the cleaning operation of the cleaning robot 100 can be matched with the external environmental state. Since the cleaning robot 100 can provide different cleaning capabilities according to the external environmental conditions, the strainability to the external environment is greatly improved.

For example, the control module 140 can control the rotation speed and steering of the moving module 110 according to the contour line to control the operation of the cleaning robot 100, such as stopping, starting, accelerating, decelerating, rotating or cruising. In addition, the control module 140 can control the cleaning module 120 according to the contour line to control the dust suction force, the air flow rate or the rotation speed of a cleaning brush.

In other embodiments, the cleaning robot 100 further includes an AV sound and light module 150 for presenting at least one of a sound effect and a light effect. The control module 140 controls the audio-visual sound and light module 150 according to the outline to adjust at least one of the sound and the light effect presented by the audio-visual sound and light module 150. By. In a possible embodiment, the AV sound and light module 150 includes a speaker device (not shown) and a display device (not shown) for presenting corresponding sound or light effects. Therefore, the user can know the operating state of the cleaning robot 100 according to different sound and light effects, such as the cleaning robot 100 is trapped in a special terrain.

By the outline of the environment, the control module 140 can be used for a special dynamic or static environment or object (such as a charging station, a remote controller, a virtual wall, a person, or a facility having the ability to exchange data with the cleaning robot 100 or The component is identified and the data transfer between the cleaning robot 100 and the surrounding environment can be adjusted.

For example, the cleaning robot 100 first uses sound waves to transmit data (such as sound waves and reflected light) with objects in the surrounding environment. After the contour is obtained, the cleaning robot 100 changes the data transmission to another object (such as optical or magnetic). In other embodiments, the cleaning robot 100 performs data transmission with objects of the surrounding environment by changes in its own motion behavior.

In the embodiment, the cleaning robot 100 further includes a detecting module 160 for detecting the environmental state of the cleaning robot 100. The control module 140 enables the detection module 160 according to the contour line, and in another way, performs data transmission with an object in the environment surrounding the cleaning robot 100. In a possible embodiment, the control module 140 controls at least one of the mobile module 110, the cleaning module 120, and the audio-visual sound and light module 150 according to the detection result of the detection module 160.

In a possible embodiment, the user can know the wireless transmission mode of the cleaning robot 100 through the audio-visual or acousto-optic effect presented by the audio-visual sound and light module 150, and perform data transmission with the objects in the surrounding environment.

Figure 5 is a schematic flow chart of one of the control methods of the present invention. The control method of the present invention is used to control a cleaning robot to perform a cleaning action. First, the cleaning robot is moved (step S510), and while the robot is being moved, an acoustic wave is emitted (step S520). In a possible embodiment, the acoustic wave is an ultrasonic wave.

The reflected wave is received (step S530). When an external object receives the sound wave, at least one corresponding reflected wave will be generated. An outline is generated based on the at least two reflected waves (step S530). The invention does not limit the method of generating contours. As shown in Figures 2, 3 and 4B, a plurality of contours are formed by joining together the positions of a plurality of objects close to the cleaning robot. The connection described here does not really connect the objects around the cleaning robot, but the cleaning robot forms a map based on the reflected waves, which contains objects around the cleaning robot. By connecting at least two locations in the map together, a contour can be formed.

At least one of the movement and the cleaning ability of the cleaning robot is controlled according to the outline (step S540). In a possible embodiment, since the time at which the cleaning robot receives the reflected wave is related to the position, type, and material of the object, the position, type, and material of the object can be determined based on the contour formed by the reflected wave. In a possible embodiment, the position, type and material of the object can be determined according to the slope or curvature of the contour.

In the present embodiment, when at least one of the movement and the cleaning ability of the cleaning robot is controlled according to the contour line, the ability of the cleaning robot to respond to the external environment can be improved. For example, according to the outline, the type of the object can be known, such as a wall surface, an obstacle or a raised area of the floor.

In a possible embodiment, if it is determined that the external object system is a wall surface The cleaning robot walks along the wall. In other embodiments, if the external object system is a raised area, the cleaning robot can avoid the raised area or enhance the cleaning ability of the raised area.

In another possible embodiment, according to the outline, the material of the area cleaned by the cleaning robot, such as a tile floor or a carpet, can be known. The cleaning robot provides different walking modes (such as slowing down or speeding up) or different cleaning capabilities (such as weakening or strengthening) depending on the area of the material.

Furthermore, according to the outline, the state of the volts of the area cleaned by the cleaning robot can be known. If at least one of the movement and the cleaning ability of the cleaning robot is controlled according to the regional fluctuation state, the strainability of the cleaning robot can be greatly improved.

Unless otherwise defined, all terms (including technical and scientific terms) are used in the ordinary meaning Moreover, unless expressly stated, the definition of a vocabulary in a general dictionary should be interpreted as consistent with the meaning of an article in its related art, and should not be interpreted as an ideal state or an overly formal voice.

Although the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the invention, and any one of ordinary skill in the art can make some modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of the invention is defined by the scope of the appended claims.

100‧‧‧ cleaning robot

110‧‧‧Mobile Module

120‧‧‧ cleaning module

130‧‧‧Sonic Module

131‧‧‧Sonic transmitter

132‧‧‧Sonic Receiver

140‧‧‧Control Module

150‧‧‧Video Sound and Light Module

160‧‧‧Detection module

220, 320, 420‧‧‧ outline

231~234, 331~332‧‧‧ objects

431, 433‧‧‧

432‧‧‧ gap

434‧‧‧Carpet

W _S ‧‧‧Sonic

W _R1 ~W _R5 ‧‧‧ reflected wave

P1~P3‧‧‧ position

S510~S540‧‧‧Steps

Figure 1 is a schematic illustration of one of the cleaning robots of the present invention.

Figures 2 and 3 are possible schematic diagrams of the outline.

Figure 4A shows the other possible external environmental conditions of the cleaning robot.

Figure 4B shows other possible contours produced by different environmental conditions.

Figure 5 is a schematic flow chart of one of the control methods of the present invention.

100‧‧‧ cleaning robot

110‧‧‧Mobile Module

120‧‧‧ cleaning module

130‧‧‧Sonic Module

131‧‧‧Sonic transmitter

132‧‧‧Sonic Receiver

140‧‧‧Control Module

150‧‧‧Video Sound and Light Module

160‧‧‧Detection module

W _S ‧‧‧Sonic

W _R1 ~W _R5 ‧‧‧ reflected wave

Claims (12)

A cleaning robot for cleaning a specific area, comprising: a moving module having a plurality of rollers; an acoustic module emitting an acoustic wave and receiving a plurality of reflected waves; a cleaning module for performing a cleaning task; and a control The module generates an outline according to the reflected waves, and controls at least one of the moving module and the cleaning module according to the contour. The cleaning robot of claim 1, wherein the sound wave module comprises: an acoustic wave transmitter for transmitting the sound wave; and a sound wave receiver for receiving the reflected wave. The cleaning robot of claim 1, wherein the reflected waves are generated by at least one object. The cleaning robot of claim 3, wherein the control module knows a physical characteristic between the cleaning robot and the object according to the contour, and controls the mobile module according to the physical characteristic. At least one of the cleaning modules. The cleaning robot of claim 3, wherein the control module knows the type of the object according to the contour, and controls at least one of the mobile module and the cleaning module according to the result of the learning. . The cleaning robot of claim 3, wherein the control module knows the material of the specific area according to the contour, and controls at least one of the moving module and the cleaning module according to the result of the learning. By. The cleaning robot of claim 3, wherein the control module knows the volt state of the specific region according to the contour line, and According to the undulating state, at least one of the moving module and the cleaning module is controlled. The cleaning robot of claim 1, wherein the control module controls at least one of the moving module and the cleaning module according to a slope or a curvature of the contour. The cleaning robot of claim 1, wherein the control module controls at least one of a rotational speed and a steering of the rollers according to the contour. The cleaning robot of claim 1, wherein the control module controls the cleaning capability of the cleaning module according to the contour. The cleaning robot of claim 1, further comprising: an audio-visual sound and light module for presenting at least one of a sound effect and a light effect; wherein the control module controls the sound according to the contour line The audio-visual sound and light module is configured to adjust at least one of the sound and the light effect. The cleaning robot of claim 11, further comprising: a detecting module for detecting an environmental state, wherein the control module enables the detecting module according to the contour, and according to the detecting The detection result of the module controls at least one of the mobile module, the cleaning module, and the audio-visual sound and light module.