TWM549595U - Sweep robot device with ultraviolet lamp - Google Patents

Description

Sweeping robot device with ultraviolet lamp

This creation is a sweeping robot device, especially a sweeping robot device with an ultraviolet lamp.

With the increasing popularity of sweeping robots, more and more users are using sweeping robots for ground cleaning. Since the current sweeping robot can only remove the garbage on the ground and does not have the sterilization function, when the sweeping robot performs the cleaning operation through the contaminated area of the bacteria, the bacteria will be attached to the sweeping robot and contaminate the area to be followed.

In order to perform the sterilization operation with the sweeping robot, it is more feasible to install the ultraviolet lamp on the sweeping robot, and the ultraviolet light emits ultraviolet light to illuminate the target area for sterilization. Because ultraviolet light can cause damage to human or animal skin, a sweeping robot with both UV light and safety protection is extremely important for user safety and consumer market acceptance.

In summary, how to provide a sweeping robot capable of carrying an ultraviolet lamp and having a protection mechanism is a technical problem that needs to be solved in the field.

In order to solve the problems disclosed above, the purpose of the present invention is to provide a cleaning robot device having an ultraviolet lamp unit and a protection mechanism.

In order to achieve the above objectives, this creation proposes a sweeping robot equipped with an ultraviolet lamp. Set. The sweeping robot device comprises a body, the body of which is provided with a bottom surface of the wind opening, a plurality of wheel grouping units disposed on the bottom surface of the body, a control module disposed in the body, and one or more ultraviolet lamp units. The control module is electrically connected to the motor unit of each wheel group unit. The ultraviolet lamp unit is connected to the control module and is selectively disposed on the bottom surface of the body, or is disposed in the body and opens to one of the bottom surfaces to provide the emitted light. Based on the safety considerations, the UV lamp unit will stop operating when the wheel group unit is abnormally moving, the control module determines the abnormal movement of the wheel group unit, the control module detects the body off the ground, or the control module determines that the body flips at least one of the conditions is established. .

In summary, the cleaning robot device of the present invention determines whether to stop the operation of the ultraviolet lamp by analyzing the operation state of the wheel group unit or whether the sweeping robot device is turned over during operation, thereby avoiding the departure of the sweeping robot device. The ground causes injuries caused by exposure to ultraviolet light.

1‧‧‧Sweeping robot

10‧‧‧ Ontology

10A‧‧‧ bottom

100‧‧‧Dust suction

101‧‧‧ bristles

102‧‧‧ openings

11‧‧‧ Wheel grouping unit

110‧‧‧Motor unit

111‧‧‧ Gear Set

112‧‧‧ wheel unit

113‧‧‧Cam outer teeth

1131‧‧‧Cam Department

11A‧‧‧Assistant wheel

12‧‧‧Control Module

13‧‧‧UV lamp unit

13A‧‧‧Optical Receiver

14‧‧‧Sensor

15‧‧‧Detection circuit

16‧‧‧Switch unit

FIG. 1 is a perspective view of a cleaning robot apparatus with an ultraviolet lamp according to an embodiment of the present invention.

FIG. 2 and FIG. 3 are respectively schematic diagrams showing the installation positions of the ultraviolet lamp unit of the creative sweeping robot device.

FIG. 4 is a schematic block diagram of a system for creating a cleaning robot device.

Fig. 5 is a schematic view showing the installation position of the optical receiver of the present cleaning robot device.

6 and 7 are schematic diagrams of an abnormality detecting scheme of the robot apparatus of the present invention.

FIG. 8 is a schematic view showing the height of the body of the present invention and the irradiation range of the ultraviolet lamp.

FIG. 9 and FIG. 10 are schematic diagrams showing the structure of the cleaning robot device capable of adjusting the illumination angle.

Specific embodiments will be described below to illustrate the implementation of the present invention, but It is not intended to limit the scope of the creation of this creation.

Please refer to FIG. 1 , which is a perspective view of a cleaning robot device 1 with an ultraviolet lamp according to an embodiment of the present invention. The cleaning robot device 1 includes a body 10, and the body 10 is provided with a bottom surface 10A of the wind opening (Fig. 2), a plurality of wheel grouping units 11 disposed on the bottom surface 10A of the body 10 (Fig. 2), and one or more ultraviolet lamps. Unit 13. The UV lamp unit 13 is connected to the control module 12 and disposed on the bottom surface 10A of the body 10 (FIG. 2) or in the body 10 and facing the opening 102 (FIG. 3) of the bottom surface 10A to provide emitted light. The ultraviolet lamp unit 13 is abnormally moved in the wheel grouping unit 11, the control module 12 determines that the wheel grouping unit 11 is abnormally moving, the control module 12 detects the body off the ground, or the control module 12 determines that the body 10 is flipped, at least one of the conditions is established. When it stops, it stops working.

In another embodiment, the illumination range of the ultraviolet lamp unit 13 is about the range of the suction port 100. Referring to FIG. 2 or FIG. 3, when the cleaning robot device 1 starts to operate, the control module 12 drives the motor of the bristles 101 (not shown) to allow the bristles 101 to sweep the ground garbage to the vacuum. The mouth 100 is sucked into the internal accommodating space by the dust suction port 100. At this time, the ultraviolet lamp unit 13 disposed near the dust suction port 100 illuminates the ground to achieve the purpose of sterilization.

In another embodiment, the ultraviolet lamp unit 13 and the bottom surface 10A of the body 10 face in the same direction. The foregoing control module 12 can adopt a micro control chip module (for example, an 8051 control circuit), a programmable digital circuit module (for example, an FPGA), and a system chip module embedded with an operating system (for example, an ARM chip module). )...etc. The electronic module with computing and control capabilities is implemented. The aforementioned wheel grouping unit 11 further includes a motor unit 110, a gear set 111, and a wheel unit 112. The gear set 111 is placed on the wheel unit 112, and the gear of the output end of the motor unit 110 meshes with the gear set 111 to cause the motor unit 110 to drive the rotation of the wheel unit 112.

In another embodiment, the aforementioned ultraviolet lamp unit 13 provides an ultraviolet-C light source. Its wavelength range is from 100nm to 280nm (for example, covering a wavelength of 254nm UV-C light source), and ultraviolet light at this wavelength can effectively destroy most of the bacterial RNA and DNA.

In another embodiment, two wheel grouping devices may be disposed at the front end of the bottom of the body 10 of the cleaning robot device 1, and an auxiliary wheel 11A may be disposed at the rear end of the bottom portion of the robot device body 10. However, the position and the number of the setting are not limited thereto.

Please refer to FIG. 4 , which is a block diagram of the system of the present cleaning robot device 1 . Referring to FIG. 1 and FIG. 4 together, the control module 12 is electrically connected to the motor unit 110, the ultraviolet lamp unit 13, and the sensor 14 of the wheel group unit 11. In order to stop the operation of the ultraviolet lamp unit 13 when the sweeping robot apparatus 1 abnormally moves the wheel grouping unit 11 or the body 10 is turned over, the present invention installs various types of sensors 14 on the cleaning robot apparatus 1 and allows the control mode The group 12 determines whether the operation of the violet light unit should be stopped according to the sensing information provided by the sensor 14; or directly, the sensor 14 is equipped with a switching element or an enabling component to disable the operation of the violet light unit. The type of the aforementioned sensor 14 includes a gravity sensing element, a ranging sensing element, a light receiving element, etc., but the category is not limited thereto. The aforementioned motor assembly, control module 12, ultraviolet lamp unit 13, and sensor 14 are connected to a battery pack (not shown) disposed inside the body 10 to obtain a working power source.

In another embodiment, the sensor 14 uses a gravity sensing component, and the control module 12 determines whether the body 10 is flipped according to the gravity sensing value provided by the gravity sensing component. For example, if the sensor 14 with three-axis (XYZ-axis) gravity sensing is used, the sensing information returned by the sensor 14 is only in the plane axis (XY) under normal operation of the cleaning robot device 1. There is a variation in the axis, and when the cleaning robot device 1 is hit, flipped, or picked up by the user, the sensed value returned from the sensor 14 at this time is known in the longitudinal axis (Z-axis) The variation sensing information is generated on the basis, and the control module 12 determines the sweeping robot device 1 when detecting the longitudinal axial variation. The condition of the body flipping is reversed, and the ultraviolet lamp unit 13 is instructed to stop operating.

In another embodiment, the sensor 14 uses a ranging sensing component, and the control module 12 determines whether the body 10 is flipped according to the ranging sensing value provided by the ranging sensing component. In another embodiment, the aforementioned ranging sensing element faces the same direction as the bottom surface 10A of the body 10. The detailed description is as follows: the ranging sensing component can be implemented by using a distance measuring scheme such as infrared rays, ultrasonic waves, electric waves, etc., and the ranging sensing component can be disposed on the bottom surface 10A of the body 10, the side surface, etc., and can face the same direction as the bottom surface 10A. Position to detect the distance between the body 10 and the ground, so when the cleaning robot device 1 is hit, flipped, or picked up by the user, the ranging sensing value of the ranging sensing component is changed, and the control mode is controlled. When the group 12 detects that the ranging sensed value is greater than the threshold value (for example, 3 cm, but the value is not limited thereto), it is judged that the cleaning robot device 1 conforms to the condition of the body flipping, and the ultraviolet lamp unit 13 is instructed to stop operating.

In another embodiment, the sensor 14 uses one or more optical receivers 13A (see FIG. 5) disposed on the bottom surface 10A to receive the ultraviolet light emitted by the ultraviolet lamp unit 13, and the control module 12 Whether the body 10 is turned over is judged by analyzing the light emission/reception time of the ultraviolet lamp unit 13 and the light receiver 13A, or transmitting/receiving the light intensity. The detailed description is as follows: When the cleaning robot device 1 is walking on a plane, the ultraviolet light (emission time T ₀ ) emitted by the ultraviolet lamp unit 13 is directly reflected after being applied to the ground, and the reflected ultraviolet light is received by the light receiver. Received by 13A (example: the light intensity received during normal operation is A ₁ , and the received time is T ₁ ); conversely, when the cleaning robot device 1 is picked up or flipped, the light receiver 13A receives The intensity of the reflected ultraviolet light and the time it is received (for example, the intensity of light received during abnormal operation is A ₂ and the time received is T ₂ ) will also change. In general, the light intensity value A ₂ will be smaller than the light intensity value A ₁ , and the receiving time T _{2 will be} longer than the receiving time T ₁ . By the above mode, the control module 12 analyzes the light intensity value or the receiving time, that is, It can be known whether the cleaning robot device 1 has exceeded the ground by a certain degree (the distance is calculated from the time and the intensity) to determine whether to instruct the ultraviolet lamp unit 13 to stop operating.

In addition, the driving end or the power end of the ultraviolet lamp unit 13 of the cleaning robot device 1 is coupled to the motor unit 110 via a switching element or an enabling element to directly dissipate the motor unit 110 or the wheel grouping unit 11 under abnormal motion. The operation of the ultraviolet lamp unit 13 is, for example, analyzing the motor operating state of the wheel grouping unit 11 through the detecting circuit 15, or detecting the gear operating state of the wheel grouping unit 11 to generate a trigger signal, and at the driving end of the ultraviolet lamp unit 13 or The power terminal is connected to the switch unit 16, and the switch unit 16 directly opens after receiving the trigger signal to disable the operation of the violet light unit.

Please refer to FIG. 6 , which is a schematic diagram of an abnormality detection scheme. In this solution, the detecting end of the detecting circuit 15 is connected to the power end of the motor unit 110, and the working current of the motor unit 110 is analyzed to know whether the cleaning robot device 1 is operating normally. The detailed description is as follows: if the motor unit 110 of the wheel grouping unit 11 stops running, its operating current I=0A, if the motor unit 110 of the wheel grouping unit 11 operates normally, its working current I=I ₁ , if the sweeping robot When the device 1 is picked up or idling, its operating current I=I ₂ , and I ₂ ≠I ₁ (for the motor unit 110, the wheel idling is different from the load when walking on the ground, so the required operating current The detection circuit 15 can determine whether the current current is normal operation (I=I ₁ ) by means of a digital logic gate, a comparison circuit, a micro control chip circuit, etc., and is not operating normally (I=0A or I). When =I ₂ ), a trigger signal is generated to trigger the switching element to open to disable the operation of the UV lamp unit 13.

Please refer to FIG. 7 , which is a schematic diagram of another abnormality detection scheme. In this solution, the driving end or the power end of the ultraviolet lamp unit 13 is coupled to the mechanism component of the wheel grouping unit 11 to stop the operation when the mechanism element is abnormally moved. For example, the detecting circuit 15 may be a circuit for detecting the rotational speed, and the detecting end thereof is coupled to the gear set 111, and the operating speed of the analyzing gear set 111 is used to know whether the current cleaning robot device 1 is operating normally. The detailed description is as follows: the detecting circuit 15 can be a rotation speed detector, and the detecting end of the detecting circuit 15 engages the gear set 111 of the wheel grouping unit 11, and if the wheel grouping unit 11 stops rotating, the detecting circuit 15 can measure the gear set. When the wheel grouping unit 11 is in normal operation, the detecting circuit 15 can measure the rotation speed V=V _{1 of the} gear set 111, and if the cleaning robot device 1 is picked up or idling, the detecting circuit 15 can The rotational speed of the gear set 111 is measured as V=V ₂ and V ₂ ≠V ₁ , and the detecting circuit 15 can determine whether the current rotational speed is normal operation by means of a digital logic gate, a comparison circuit, a micro control chip circuit (V= V ₁ ), and in the abnormal operation (V=0 or V=V ₂ ), a trigger signal is generated to trigger the opening of the switching element to disable the operation of the ultraviolet lamp unit 13.

Please refer to FIG. 8 , which is a schematic diagram of the height of the body 10 of the cleaning robot device 1 and the irradiation range of the ultraviolet lamp. The distance from the body 10 of the cleaning robot device 1 to the bottom of the wheel unit 112 (the height of the body 10 to the ground) is 2~. 4 cm, the irradiation width of the ultraviolet lamp unit 13 is 5.7 to 11.4 cm, but the size is not limited thereto.

In another embodiment, the control module 12 can also set the working period or the illumination angle of the ultraviolet lamp unit 13 according to the operating state of the wheel or motor unit 110 of the wheel grouping unit 11 to match the walking speed of the cleaning robot device 1. To adjust the sterilization time of the ultraviolet lamp unit 13. For example, the duty cycle of the ultraviolet lamp unit 13 can be increased when the rotational speed of the motor unit 110 is fast to ensure that sufficient ultraviolet light is irradiated through the path.

Please refer to FIG. 9 and FIG. 10 , which are schematic structural diagrams of the adjustable illumination angle in the cleaning robot device 1 . In order to allow the cleaning robot device 1 to dynamically adjust the irradiation range and angle of the ultraviolet lamp unit 13 while walking, the gear unit 111 may be disposed between the ultraviolet lamp unit 13 and the body 10. The engaged cam outer edge teeth 113 drive the cam outer edge teeth 113 through the gear set 111 when the motor unit 110 is in operation, and the ultraviolet lamp unit when the cam portion 1131 of the cam outer edge teeth 113 passes under the ultraviolet lamp unit 13 13 is raised at one end to change the illumination angle and direction of the ultraviolet lamp unit 13; when the cam outer edge teeth 113 of the position asymmetry are disposed under the two ends of the ultraviolet lamp unit 13, the driving through the motor unit 110 allows the ultraviolet The lamp unit 13 is swayed up and down at the left and right ends, and the purpose of adjusting the illumination angle is achieved.

The detailed description above is a detailed description of one of the possible embodiments of the present invention, and the embodiment is not intended to limit the scope of the patents, and the equivalent implementations or modifications that are not included in the spirit of the present invention should be included in The patent scope of this case.

1‧‧‧Sweeping robot

10‧‧‧ Ontology

100‧‧‧Dust suction

101‧‧‧ bristles

11‧‧‧ Wheel grouping unit

110‧‧‧Motor unit

111‧‧‧ Gear Set

112‧‧‧ wheel unit

11A‧‧‧Assistant wheel

12‧‧‧Control Module

13‧‧‧UV lamp unit

Claims (10)

A sweeping robot device with an ultraviolet lamp, comprising: a body having a bottom surface provided with a wind opening; a plurality of wheel grouping units disposed on the bottom surface of the body; a control module disposed in the body and each of the electrical connections a motor unit of the wheel grouping unit; and one or more ultraviolet lamp units connected to the control module, wherein the ultraviolet lamp unit is disposed on a bottom surface of the body or disposed in the body and facing an opening of the bottom surface Providing the emitted light; wherein the ultraviolet lamp unit is abnormally moved in the wheel group unit, the control module determines the abnormal movement of the wheel group unit, the control module detects the body off the ground or the control module determines the body Fail when at least one of the conditions is true. A cleaning robot apparatus equipped with an ultraviolet lamp according to claim 1, wherein the ultraviolet lamp unit faces the same direction as a bottom surface of the body. The apparatus of claim 1 , wherein the control module further comprises a gravity sensing component, and the control module determines whether the body is flipped according to the gravity sensing value provided by the gravity sensing component. The apparatus of claim 1 , wherein the control module further comprises a distance sensing component, and the control module determines the body according to the ranging sensing value provided by the ranging sensing component. Whether it is more than a certain degree from the ground. A cleaning robot apparatus with an ultraviolet lamp as claimed in claim 4, wherein the distance measuring element is The bottom surface of the body faces in the same direction. The cleaning robot device with an ultraviolet lamp according to claim 1, wherein the driving end or the power end of the ultraviolet lamp unit is coupled to the motor unit via a switching element or an enabling element to stop operation when the motor unit is abnormally moved. The cleaning robot device with an ultraviolet lamp according to claim 1, wherein the driving end or the power end of the ultraviolet lamp unit is coupled to the mechanism component of the wheel grouping unit to stop the operation when the mechanism component moves abnormally. The apparatus of claim 1, wherein the control module further comprises one or more optical receivers for receiving ultraviolet light emitted by the ultraviolet lamp unit, wherein the control module determines the light. The light emitting/receiving time of the receiver and the ultraviolet lamp unit or the intensity of the transmitted/received light to determine whether the body is above a certain level from the ground. The cleaning robot device with an ultraviolet lamp according to claim 1, wherein the control module sets a duty cycle or an irradiation angle of the ultraviolet lamp unit according to a wheel of the wheel group unit or an operation state of the motor unit. A cleaning robot apparatus equipped with an ultraviolet lamp according to claim 1, wherein the ultraviolet lamp unit provides an ultraviolet-C light source covering a wavelength of 254 nm.