US20130228199A1

US20130228199A1 - Cleaning robot and control method thereof

Info

Publication number: US20130228199A1
Application number: US13/731,471
Authority: US
Inventors: Shih-Che HUNG; Yao-Shih Leng
Original assignee: MSI Computer Shenzhen Co Ltd
Current assignee: MSI Computer Shenzhen Co Ltd
Priority date: 2012-03-02
Filing date: 2012-12-31
Publication date: 2013-09-05
Also published as: DE102013100771A1; CN103284665A; JP2013180205A

Abstract

A cleaning robot including a movement module, a cleaning module, a shock sensor module and a control module is disclosed. The movement module includes a plurality of rollers. The cleaning module includes a suction aperture, a cleaning brush, and a dust collection box. The shock sensor module detects a shock and generates a detection signal. The control module controls at least one of the movement module and the cleaning module according to the detection signal.

Description

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No. 61/606,106 filed on Mar. 2, 2012, and Taiwan Patent Application No. 101124360, filed on Jul. 6, 2012, the entirety of which is incorporated by reference herein.

BACKGROUND OF THE INVENTION

1. Field of the Invention
The invention relates to a cleaning robot, and more particularly to a cleaning robot comprising a shock sensor module.
2. Description of the Related Art
Cleaning floors takes a lot of time. To reduce the time for cleaning a floor, many cleaning devices have been developed, such as a broom, a mop and so forth. However, the cleaning devices must be manually operated for cleaning. Thus, conventional cleaning devices are inconvenient.
With technological development, many electronic devices have been developed, such as robots. Taking a cleaning robot as an example, the cleaning robot can autonomously execute a cleaning action. A user is not required to manually operate the cleaning robot to clean a floor. Thus, the cleaning robot has gradually replaced conventional cleaning devices. However, the conventional cleaning robot cannot satisfy with different surrounding environments. Additionally, the conventional cleaning robot is easily affected by magnetic fields, and surrounding light and voices.

BRIEF SUMMARY OF THE INVENTION

In accordance with an embodiment, a cleaning robot comprises a movement module, a cleaning module, a shock sensor module and a control module. The movement module comprises a plurality of rollers. The cleaning module comprises a suction aperture, a cleaning brush, and a dust collection box. The shock sensor module detects a shock and generates a detection signal. The control module controls at least one of the movement module and the cleaning module according to the detection signal.
In accordance with a further embodiment, a control method for a cleaning robot comprises: moving the robot; detecting a shock to generate a detection signal; and controlling an operation of the robot according to the detection signal.
A detailed description is given in the following embodiments with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention can be more fully understood by referring to the following detailed description and examples with references made to the accompanying drawings, wherein:

FIG. 1 is a schematic diagram of an exemplary embodiment of a cleaning robot;

FIG. 2 is a surface diagram of an exemplary embodiment of a cleaning robot; and

FIG. 3 is a flowchart of an exemplary embodiment of a control method for a cleaning robot.

DETAILED DESCRIPTION OF THE INVENTION

The following description is of the best-contemplated mode of carrying out the invention. This description is made for the purpose of illustrating the general principles of the invention and should not be taken in a limiting sense. The scope of the invention is best determined by reference to the appended claims.
FIG. 1 is a schematic diagram of an exemplary embodiment of a cleaning robot. The cleaning robot 100 comprises a shock sensor module 110, a control module 130, a movement module 150, and a cleaning module 170. The shock sensor module 110 detects a shock to generate a detection result and generates a detection signal S_Daccording to the detection result. The control module 130 controls at least one of the movement module 150 and the cleaning module 170 according to the detection signal S_D.
In an embodiment, the control module 130 utilizes a control signal S_C1to control the movement module 150 to adjust a traveling route of the cleaning robot 100. In another embodiment, the control module 130 utilizes a control signal S_C2to control the cleaning module 170 to adjust a cleaning function of the cleaning robot 100.
The control module 130 obtains information about the surrounding environment according to the detection signal S_Dand controls at least one of the movement module 150 and the cleaning module 170 according to the obtained information about the surrounding environment. Thus, the traveling route or the cleaning function of the cleaning robot 100 can be adjusted when the surrounding environment is changed. Additionally, the traveling route or the cleaning function of the cleaning robot 100 is not affected by magnetic fields, light or voices in the surrounding environment.
FIG. 2 is a surface diagram of an exemplary embodiment of a cleaning robot. The cleaning robot 100 comprises a base case 200. The movement module 150 is disposed under the base case 200. In this embodiment, the movement module 150 comprises rollers 151˜153.
The control module 130 controls the rotational direction and the rotational of speed of the rollers 151˜153 according to the control signal S_C1. The control module 130 sends a stop command, a start command, a speed-up command, and a speed-down command to control the rollers 151˜153 such that the cleaning robot 100 has a rotation function and a cruise function.
For example, when the cleaning robot 100 collides with an obstacle or the cleaning robot 100 is slantwise or jumps due to an external force applied to the cleaning robot 100, the shock sensor module 110 is capable of detecting a shock and generating the detection signal S_D. The control module 130 adjusts the rotational direction of the cleaning robot 100 according to the detection signal S_Dto avoid the obstacle or to leave an uneven ground area.
In this embodiment, the shock sensor module 110 comprises a gravity sensor 111 to detect the shock generated by the base case 200, but the disclosure is not limited thereto. In other embodiments, the shock sensor module 110 comprises a plurality of gravity sensors to detect other shocks generated by other sources.
The invention does not limit the type of the gravity sensor. In one embodiment, the gravity sensor 111 is a one-axis sensor to detect a shock coming from a specific direction. In other embodiments, to detect the shocks coming from multi-direction, the shock sensor module 110 comprises a plurality of one-axis sensors or the gravity sensor 111 is a multi-axis sensor.
Since the gravity sensor can detect the shocks coming from different directions, when the position of the cleaning robot 100 shifts due to an external force applied to the cleaning robot 100, the external force causes a shock and the gravity sensor can detect the shock to generate a detection signal S_D. The control module 130 obtains information about the source and the strength of the external force according to the detection signal S_Dgenerated by the gravity sensor and then controls the operation of the cleaning robot 100, such as to stop all movement or change a rotational direction.
Since the rotational direction of the cleaning robot 100 relates to the shock event, when the surrounding environment comprises magnetic fields, light or a voice and the magnetic field, the light or the voice cannot be eliminated from the surrounding environment, the rotational direction of the cleaning robot 100 is not affected by the magnetic field, the light or the voice. Furthermore, to use the cleaning robot 100, a user is not required to remove some electronic apparatuses because the cleaning robot 100 is not affected by the electronic apparatuses.
In this embodiment, the cleaning module 170 comprises a cleaning brush 171, a suction aperture 173, and a dust collection box 175. The control module 130 obtains information about the surrounding environment according to the detection signal S_Dand then controls the operation of the cleaning module 170 according to the control signal S_C2such that the cleaning module 170 provides a different cleaning effects for different surrounding environments. For example, the control module 130 controls the rotational speed of the cleaning brush 171, the suction of the suction aperture 173 or the air flow rate of the dust collection box 175 to adjust the cleaning function of the cleaning robot 100.
In other embodiments, the suction aperture 173 has an air-stream flow channel. A piezoelectric film (not shown) is disposed in the air-stream flow channel. Before particles enter the dust collection box 175, the particles first pass through the piezoelectric film. The particles collide with or are compressed into the piezoelectric film to change the shape of the piezoelectric film. Thus, the voltage of the piezoelectric film is changed due to the deformed shape. The shock sensor module 110 detects the voltage change of the piezoelectric film to generate the detection signal S_D. The control module 130 obtains information about the amount of the particles according to the detection signal S_Dand controls the operation of the cleaning module 170 according to the obtained result.
For example, when the cleaning robot 100 is in a dirty region, the voltage change of the piezoelectric film is larger. Thus, the control module 130 increases the cleaning effect of the cleaning module 170. Contrarily, when the cleaning robot 100 exists in a region, that does not have a lot of particles, the voltage change of the piezoelectric film is smaller. Thus, the control module 130 decreases or maintains the cleaning effect of the cleaning module 170.
Since the control module 130 can dynamically adjust the cleaning function of the cleaning module according to the surrounding environment, the cleaning effect of the cleaning module 170 can be maintained in an optimum effect to increase the cleaning function of the cleaning robot 100. Additionally, since the cleaning module 170 is not required to provide a high cleaning effect, the power consumption of the cleaning robot 100 is reduced.
When the cleaning robot 100 operates on a hard floor, such as a wood floor, the shock sensor module 110 can detect a first shock. When the cleaning robot 100 operates on a soft floor, such as a floor with a rug, the shock sensor module 110 can detect a second shock. The control module 130 adjusts the operation of the cleaning module 170 according to the different shocks.
Furthermore, when the cleaning robot 100 moves from the hard floor to the soft floor, since the height of the floor is changed, the shock sensor module 110 detects a shock. The control module 130 adjusts the operation of the cleaning module 170 according to the shock such that the cleaning module 170 provides a different cleaning effect for different surrounding environments.
In other embodiments, the control module 130 generates a control signal S_C3to a notice module 190 according to the detection signal S_D. The notice module 190 provides notice information according to the control signal S_C3. A user obtains information about a present cleaning status according to the notice information.
The invention does not limit the type of the notice information. In one embodiment, the type of the notice information is an image, a voice or a shock. In other embodiments, the type of the notice information is light or data.
In one embodiment, the notice module 190 is a display panel, an indicator light, a voice generator or a shock generator. A user obtains information about the current cleaning status according to the image displayed in the display panel, the on-off status of the indicator light, the voice generated by the voice generator and the status of the shock generator.
FIG. 3 is a flowchart of an exemplary embodiment of a control method for a cleaning robot. First, the cleaning robot is controlled to move (step S310). In one embodiment, the cleaning robot comprises rollers. The rotational direction and speed of the rollers are controlled to control the traveling route of the cleaning robot.
A shock is detected (step S330). In one embodiment, the shock is detected by at least one gravity sensor. The invention does not limit the type of the gravity sensor. For example, the gravity sensor is a single-axis sensor, a two-axis sensor or a three-axis sensor. The gravity sensors are arranged to detect shocks coming from different directions.
The invention does not limit the source of the shock detected by step S330. In one embodiment, the shock detected by step S330 comes from a base case of the cleaning robot. When the cleaning robot collides with an obstacle or suffers a blow from an external force, a shock is generated from the base case of the cleaning robot. Thus, the conditions of the surrounding environment can be obtained according to the shock.
In another embodiment, step S330 detects the voltage change of the piezoelectric film disposed in the suction aperture of the cleaning robot. In this case, a piezoelectric film is disposed in an air-stream flow channel of the suction aperture of the cleaning robot (step S300). When particles pass through the piezoelectric film, since the piezoelectric film is compressed or collided, the shape of the piezoelectric film is changed. Thus, the voltage of the piezoelectric film is changed. The amount of the particles can be obtained according to the voltage change of the piezoelectric film.
The operation of the cleaning robot is controlled according to the detection result (step S350). In one embodiment, step S350 controls the traveling route of the cleaning robot. For example, when the cleaning robot moves, the cleaning robot may collide with an obstacle or suffer a blow from an external force, accordingly, the position of the cleaning robot shifts such that a shock is generated. Thus, the conditions of the surrounding environment can be obtained according to the result of detecting the shock. The traveling route of the cleaning robot is adjusted to avoid the obstacle according to the obtained information about the surrounding environment.
In other embodiments, step S350 controls at least one of the suction and the air flow rate of the cleaning robot. For example, when the cleaning robot is in a region and the region has a lot of particles, the voltage change of the piezoelectric film is larger. Thus, at least one of the suction or the air flow rate of the cleaning robot or both is increased. Alternatively, if the voltage change of the piezoelectric film is smaller, at least one of the suction or the air flow rate of the cleaning robot or both is reduced or maintained to reduce the power consumption of the cleaning robot.
In another embodiment, step S350 controls one or a combination of a display light, a display panel and a voice generator of the cleaning robot to display a dynamic image, a static image, or a light or data. A user obtains information about the current cleaning status according to the displayed information. In other embodiments, the cleaning robot generates a shock according to the detection result such that the user immediately obtains information about the current cleaning status.
Since the operation of the cleaning robot is determined by the conditions of the surrounding environment, the cleaning robot provides a different cleaning effect for different surrounding environments. Further, the operation of the cleaning robot is associated with a shock such that magnetic fields, light and a voice occurring in the surrounding environment do not interfere with the cleaning robot.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
While the invention has been described by way of example and in terms of the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. To the contrary, it is intended to cover various modifications and similar arrangements (as would be apparent to those skilled in the art). Therefore, the scope of the appended claims should be accorded the broadest interpretation so as to encompass all such modifications and similar arrangements.

Claims

What is claimed is:

1. A cleaning robot, comprising:

a movement module comprising a plurality of rollers;

a cleaning module comprising a suction aperture, a cleaning brush, and a dust collection box;

a shock sensor module detecting a shock and generating a detection signal; and

a control module controlling at least one of the movement module and the cleaning module according to the detection signal.

2. The cleaning robot as claimed in claim 1, wherein the shock sensor module comprises at least one gravity sensor.

3. The cleaning robot as claimed in claim 1, wherein the shock sensor module comprises at least one piezoelectric film detecting the shock and generating the detection signal.

4. The cleaning robot as claimed in claim 1, further comprising:

a notice module providing notice information, wherein the control module controls the notice module according to the detection signal.

5. The cleaning robot as claimed in claim 1, wherein the notice information is an image or a voice.

6. The cleaning robot as claimed in claim 1, wherein the control module controls at least one of a rotational direction and a rotational speed of the rollers according to the detection signal.

7. The cleaning robot as claimed in claim 1, wherein the control module controls at least one of a suction of the suction aperture and an air flow rate of the dust collection box according to the detection signal.

8. The cleaning robot as claimed in claim 1, wherein the control module controls a rotational speed of the cleaning brush according to the detection signal.

9. The cleaning robot as claimed in claim 1, wherein the shock is generated by a base case and the movement module is disposed under the base case.

10. The cleaning robot as claimed in claim 1, wherein the shock is generated from a piezoelectric film, which is disposed in an air-stream flow channel of the suction aperture.

11. A control method for a cleaning robot, comprising:

moving the robot;

detecting a shock to generate a detection signal; and

controlling an operation of the robot according to the detection signal.

12. The control method as claimed in claim 11, wherein the step of detecting the shock is to utilize a gravity sensor to detect the shock.

13. The control method as claimed in claim 11, wherein the step of detecting the shock is to detect the shock generated by a base case of the cleaning robot.

14. The control method as claimed in claim 11, further comprising:

disposing a piezoelectric film in an air-stream flow channel of a suction aperture of the cleaning robot.

15. The control method as claimed in claim 14, wherein the step of detecting the shock is to detect a voltage of the piezoelectric film.

16. The control method as claimed in claim 11, wherein the step of controlling the operation of the cleaning robot is to control a traveling route of the cleaning robot.

17. The control method as claimed in claim 11, wherein the step of controlling the operation of the cleaning robot is to control at least one of a suction and an air flow rate of the cleaning robot.

18. The control method as claimed in claim 11, wherein the step of controlling the operation of the cleaning robot is to control at least one of a display light, a display panel and a voice generator of the cleaning robot to display a dynamic image or a static image.