WO2015027943A1 - 扫地机器人 - Google Patents

扫地机器人 Download PDF

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Publication number
WO2015027943A1
WO2015027943A1 PCT/CN2014/085527 CN2014085527W WO2015027943A1 WO 2015027943 A1 WO2015027943 A1 WO 2015027943A1 CN 2014085527 W CN2014085527 W CN 2014085527W WO 2015027943 A1 WO2015027943 A1 WO 2015027943A1
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WIPO (PCT)
Prior art keywords
dust
optical signal
dust box
signal receiver
cavity
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Application number
PCT/CN2014/085527
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English (en)
French (fr)
Inventor
佀加捷
Original Assignee
科沃斯机器人有限公司
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Application filed by 科沃斯机器人有限公司 filed Critical 科沃斯机器人有限公司
Publication of WO2015027943A1 publication Critical patent/WO2015027943A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/32—Carpet-sweepers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment

Definitions

  • the invention relates to a sweeping robot, belonging to the technical field of household small electrical appliances manufacturing. Background technique
  • the sweeping robot is widely used because of its small size and flexible movement. For the sweeping robot, it is a very important factor to determine whether the dust box is properly positioned on the base and how to determine the dust concentration of the air duct during its operation.
  • the patent document with the application number of 200410097066.3 discloses a method for judging whether the installation position of the dust box on the body is correct by the vacuum cleaner. Specifically, the magnetic body is respectively disposed on the dust box and the base on which the dust box is placed.
  • a hole sensor capable of sensing the magnetic force of the magnetic body, when the sensor determines that the dust box is installed in the correct position, the suction motor is controlled to start working, and when the sensor determines that the dust box is not installed or is not installed in place, the suction motor is controlled to stop working.
  • the patent document of the application No. 201010001817.2 discloses a technical solution for judging the dust concentration of the air passage by correspondingly providing the light-emitting element and the light-receiving element in the air passage, thereby determining the amount of dust on the ground and controlling the execution of different cleaning modes. . Since the light emitting element and the light receiving element are disposed inside the invisible air passage, when the light emitting element and/or the light receiving element are contaminated by dust, in order not to affect the sensitivity thereof, it is necessary to wipe and clean in time, and the existing vacuum cleaner is cleaned. There are two technical problems as follows: 1. The user cannot accurately locate the position of the dust sensor; 2. The user cannot determine whether the dust sensor is wiped clean.
  • the technical problem to be solved by the present invention lies in the deficiencies of the prior art, and provides a cleaning robot that sets a dust concentration sensor on a sidewall of a cavity, and when the user cleans the dust box, the light emitting component and the light of the dust sensor can be simultaneously cleaned.
  • the light-transmitting plate of the receiving component solves the problem that the prior art cannot effectively clean the light-transmitting plate of the dust sensor.
  • a sweeping robot includes: a main body and a dust box, wherein the main body is provided with a concave cavity, and the dust box is embedded in the concave cavity, and the gray inlet of the dust box and the dust passage of the main machine are correspondingly set Providing an optical signal transmitter and a first optical signal receiver for outputting a dust concentration signal to the control unit at the two ends of the dust passage ash outlet on the sidewall of the cavity; And the dust box is made of a transparent material.
  • the cleaning robot is further provided with a second optical signal receiver for outputting the dust box position signal to the control unit, and the second optical signal receiving And the first optical signal receiver is juxtaposed on the same sidewall of the cavity.
  • the optical signal transmitter is an infrared light signal transmitter as needed; and correspondingly, the first optical signal receiver and the second optical signal receiver are infrared light signal receivers.
  • the arrangement positions of the optical signal transmitter and the first optical signal receiver are aligned with each other, and the transmission center of the optical signal transmitter and the receiving center of the first optical signal receiver are connected
  • the line and the dust box are perpendicular to each other.
  • the dust-containing airflow is relatively stable, and the height of the air outlet provided on the dust box from the bottom surface of the host is greater than the height of the dust inlet of the dust box from the bottom surface of the host.
  • the dust concentration sensor is disposed outside the dust passage, in particular, on the side wall of the cavity of the dust box.
  • the light emitting element of the dust sensor and the light transmitting plate of the light receiving element can be simultaneously cleaned.
  • the invention solves the problem that the prior art cannot effectively clean the light-transmitting plate of the dust sensor.
  • the present invention integrates sensors for judging the setting position of the dust box and the dust concentration of the air duct, and has a simple structure, low cost, high sensitivity, and improved work efficiency.
  • FIG. 1 is a schematic view showing the installation structure of a host and a dust box of the cleaning robot of the present invention
  • FIG. 2 is a schematic structural view of a dust box of a cleaning robot of the present invention
  • FIG. 3 is a schematic view showing the position of the optical signal transmitter of the cleaning robot of the present invention.
  • FIG. 4 is a schematic view showing the position of the optical signal receiver of the cleaning robot of the present invention. detailed description
  • FIG. 1 is a schematic view showing the installation structure of the main body and the dust box of the cleaning robot of the present invention
  • FIG. 2 is a schematic structural view of the dust box of the cleaning robot of the present invention.
  • the present invention provides a cleaning robot, including: a main body 100 and a dust box 200.
  • the main body 100 is provided with a cavity 110, and the dust box 200 is embedded in the cavity 110.
  • Place The ash inlet 210 of the dust box 200 is correspondingly disposed with the dust passage ash port 120 of the host 100.
  • FIG. 3 is a schematic view showing the position of the optical signal transmitter of the cleaning robot of the present invention
  • FIG. 4 is a schematic view showing the position of the human optical signal receiver of the cleaning machine of the present invention.
  • an optical signal transmitter 130 and a dust concentration signal are respectively disposed at the two ends of the dust passage ash opening 120 on the sidewall of the cavity 110.
  • a first optical signal receiver 140 is provided to the control unit.
  • the cleaning robot is further provided with a second optical signal receiver 150 for outputting the dust box position signal to the control unit, the second light.
  • the signal receiver 150 is disposed in parallel with the first optical signal receiver 140 on the same sidewall of the cavity 110.
  • the optical signal transmitter 130 is an infrared light signal transmitter, and correspondingly, the first optical signal receiver 140 and the second optical signal receiver 150 are infrared light signal receivers.
  • the dust box 200 is made of a transparent material.
  • the dust box 200 is further provided with an air outlet 220. The height of the air outlet of the dust box is greater than the height of the bottom surface of the dust box 210 of the dust box. .
  • the dust concentration sensor detects a more accurate dust concentration.
  • the working process of the present invention is as follows: an optical signal transmitter 130 and a first optical signal receiver 140 respectively disposed at both ends of the dust outlet 120 of the dust passage, and the optical signal transmitter 130 And the second optical signal receiver 150 respectively constitute two sets of transmit-receive sensors.
  • the optical signal transmitter 130 and the first optical signal receiver 140 form a dust concentration sensor, which can effectively detect the dust concentration entering the dust box; the optical signal transmitter 130 and the second optical signal receiver 150 form a dust box installation detection.
  • the sensor can effectively detect whether the dust box is installed or installed correctly.
  • it can be used to analyze whether the dust box 200 is in the correct position in the host 100, in the case where the dust box 200 is installed in an incorrect position or not installed at all.
  • the sweeping robot will turn off the suction motor and/or issue a warning to the user. This will prevent the sweeping robot from working even if the dust box is not installed or the dust box is not installed properly, causing dust to contaminate the robot.
  • the dust box 200 is made of a transparent material, in the case where the dust box 200 is normally installed, the cleaning robot performs a conventional cleaning operation, and at this time, the interaction between the optical signal transmitter 130 and the first optical signal receiver 140 can be performed.
  • the dust concentration of the dust box into the ash port is analyzed and judged. When the judgment result is that the dust concentration is high, the host 100 executes a control command of the control unit to perform fine cleaning on the dirty position.
  • the positions of the optical signal transmitter 130 and the first optical signal receiver 140 are aligned with each other, the emission center of the optical signal transmitter 130 and the first optical signal receiver 140
  • the connection of the receiving center and the direction of the dust entering of the dust box 200 are perpendicular to each other. Since the installation of the dust box 200 and the increase of the dust concentration may weaken the optical signals received by the first optical signal receiver 140 and the second optical signal receiver 150 to different degrees, a predetermined threshold may be respectively set in the control unit.
  • the first optical signal receiver 140 corresponds to a first threshold
  • the second optical signal receiver 150 corresponds to a second threshold.
  • the determining process when the signal value received by the second optical signal receiver 150 is greater than the preset second threshold, determining that the dust box is not installed, controlling the suction motor to not operate, when the second optical signal receiver 150 receives
  • the obtained signal value is smaller than the second threshold or the size of the two is equal, it is judged that the dust box is installed at the correct position, and the cleaning robot can perform the cleaning operation normally.
  • the control robot performs fine cleaning on the dirty region, when the first optical signal receiver 140 When the received signal value is less than the preset first threshold, it is judged that the dust concentration is normal, and a normal cleaning operation can be performed. Since the dust concentration is a fluctuation difference, the fine sweep mode is activated only when the signal received by the first optical signal receiver 140 is greater than or equal to a certain threshold.
  • the threshold value setting of the optical signal receiver, and the size judgment between the signal value received by the optical signal receiver and the preset threshold value are common knowledge in the art, and are not described herein again.
  • the present invention sets the dust concentration sensor outside the dust passage, in particular, on the side wall of the cavity on which the dust box is mounted, and the user can clean the light emitting element and the light receiving element of the dust sensor when cleaning the dust box.
  • the light-transmitting plate solves the technical problem that the prior art cannot effectively clean the light-transmitting plate of the dust sensor.
  • the present invention integrates sensors for judging the setting position of the dust box and the dust concentration of the air duct, and combines the dust box and the dust detection into one, so that the structure is simplified, the cost is low, the sensitivity is high, and the work efficiency is improved.

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  • Investigating Or Analysing Materials By Optical Means (AREA)

Abstract

一种扫地机器人，包括：主机（100）和尘盒（200），主机上设有凹腔（110），尘盒嵌设在所述凹腔内，尘盒的进灰口（210）和主机的灰尘通道出灰口（120）对应设置，在凹腔的侧壁上、位于灰尘通道出灰口的两端处，分别设置一光信号发射器（130）和用于输出灰尘浓度信号给控制单元的一第一光信号接收器（140）；且尘盒（200）为透明材质。上述扫地机器人将灰尘浓度传感器设置在凹腔侧壁上，用户清洁尘盒时即可同时清洁了灰尘传感器的光发射元件和光接收元件的透光板，解决了现有技术无法有效清洁灰尘传感器透光板的问题。

Description

扫地机器人 技术领域
本发明涉及一种扫地机器人， 属于家用小电器制造技术领域。 背景技术
扫地机器人以其体积小巧、 动作灵活得到广泛使用。 对于扫地机器人来说， 在其 工作过程中， 集尘盒在基座上的设置位置是否恰当， 以及对于风道的灰尘浓度如何进 行判断， 都是非常重要的因素。 申请号为 200410097066.3的专利文献公开了一种真空 吸尘器判断集尘盒在机体上的安装位置是否正确的方法， 具体来说， 在集尘盒和放置 集尘盒的基座上分别对应设置磁性体及能够感知该磁性体磁力的孔传感器， 当传感器 判断集尘盒安装位置正确时， 控制抽吸电机开始工作， 当传感器判断集尘盒未安装或 安装不到位时， 则控制抽吸电机停止工作。
另外， 申请号为 201010001817.2的专利文献中公开了一种通过在风道中对应设置 光发射元件和光接收元件来判断风道灰尘浓度， 进而判定地面的灰尘量并控制对应执 行不同的清洁模式的技术方案。 由于光发射元件和光接收元件设置在不可见的风道内 部， 当光发射元件和 /或光接收元件被灰尘污染后， 为了不影响其敏感度， 需要及时擦 拭清洁， 现有吸尘器在清洁时， 存在如下两个技术难题： 1、 用户无法准确定位灰尘传 感器的位置； 2、 用户无法确定灰尘传感器是否擦拭干净。
从上述现有技术所公开的内容中可知， 在现有的扫地机器人中， 集尘盒在基座上 的设置位置是否恰当， 以及对于风道的灰尘浓度如何所进行的判断都是通过安装各自 不同的传感器， 彼此独立工作完成的。 因此， 现有技术中传感器设置种类繁多、 结构 复杂， 成本高。 发明内容
本发明所要解决的技术问题在于针对现有技术的不足， 提供一种扫地机器人， 将 灰尘浓度传感器设置在凹腔侧壁上， 用户清洁尘盒时即可同时清洁了灰尘传感器的光 发射元件和光接收元件的透光板， 解决了现有技术无法有效清洁灰尘传感器透光板的 问题。
本发明的所要解决的技术问题是通过如下技术方案实现的： 一种扫地机器人， 包括： 主机和尘盒， 所述主机上设有凹腔， 尘盒嵌设在所述凹 腔内， 所述尘盒的进灰口和主机的灰尘通道出灰口对应设置， 在所述凹腔的侧壁上、 位于所述灰尘通道出灰口的两端处， 分别设置一光信号发射器和用于输出灰尘浓度信 号给控制单元的一第一光信号接收器； 且所述尘盒为透明材质。
为了便于在感测灰尘浓度的同时对尘盒的位置进行有效监测， 所述扫地机器人还 设有用于输出尘盒位置信号给控制单元的一第二光信号接收器， 所述第二光信号接收 器与所述第一光信号接收器并列设置在所述凹腔的同一侧壁上。
根据需要， 所述光信号发射器为红外光信号发射器； 相对应地， 所述第一光信号 接收器和第二光信号接收器为红外光信号接收器。
为了保证信号的准确性， 所述光信号发射器和第一光信号接收器的设置位置彼此 对正， 所述光信号发射器的发射中心和所述第一光信号接收器的接收中心的连线与所 述尘盒的进灰方向相互垂直。
为了利于灰尘飞入尘盒内部存储， 使得含尘气流较稳定， 所述尘盒上设置的出风 口距离所述主机底面的高度大于所述尘盒的进灰口距离主机底面的高度。
本发明将灰尘浓度传感器设置在灰尘通道的外部， 特别是设置在安装尘盒的凹腔 侧壁上， 用户清洁尘盒时即可同时清洁了灰尘传感器的光发射元件和光接收元件的透 光板， 解决了现有技术无法有效清洁灰尘传感器透光板的问题。 进一步地， 本发明还 将用于判断集尘盒设置位置和风道灰尘浓度的传感器集成在一起， 结构简单， 成本低， 灵敏度高且提高工作效率。
下面结合附图和具体实施例， 对本发明的技术方案进行详细地说明。 附图说明
图 1为本发明扫地机器人主机和尘盒的安装结构示意图；
图 2为本发明扫地机器人尘盒结构示意图；
图 3为本发明扫地机器人光信号发射器设置位置示意图；
图 4为本发明扫地机器人光信号接收器设置位置示意图。 具体实施方式
图 1为本发明扫地机器人主机和尘盒的安装结构示意图； 图 2为本发明扫地机器 人尘盒结构示意图。 如图 1并结合图 2所示， 本发明提供一种扫地机器人， 包括： 主 机 100和尘盒 200， 所述主机 100上设有凹腔 110， 尘盒 200嵌设在该凹腔 110内。 所 述尘盒 200的进灰口 210和主机 100的灰尘通道出灰口 120对应设置。
图 3为本发明扫地机器人光信号发射器设置位置示意图； 图 4为本发明扫地机器 人光信号接收器设置位置示意图。如图 3并结合图 4所示， 在所述凹腔 110的侧壁上、 位于所述灰尘通道出灰口 120的两端处， 分别设置一光信号发射器 130和用于输出灰 尘浓度信号给控制单元的一第一光信号接收器 140。 为了便于在感测灰尘浓度的同时 对尘盒 200的位置进行有效监测， 所述扫地机器人还设有用于输出尘盒位置信号给控 制单元的一第二光信号接收器 150， 所述第二光信号接收器 150与所述第一光信号接 收器 140并列设置在所述凹腔 110的同一侧壁上。 根据需要， 所述光信号发射器 130 为红外光信号发射器，相对应地，所述第一光信号接收器 140和第二光信号接收器 150 为红外光信号接收器。 为了方便光信号发射器 130和第一光信号接收器 140、 第二光 信号接收器 150之间的光信号传递， 所述尘盒 200为透明材质。 另外， 结合图 2所示， 所述尘盒 200还设有出风口 220， 所述尘盒的出风口距离所述主机 100底面的高度大 于所述尘盒的进灰口 210距离主机底面的高度。 当尘盒的出风口 220距离主机 100的 底面高度比所述尘盒的进灰口 210距离主机 100的底面高度大时， 更有利于灰尘飞入 尘盒内部存储， 使得含尘气流较稳定， 灰尘浓度传感器探测到灰尘浓度较准确。
结合图 1至图 4所示， 本发明的工作过程是这样的： 分别设置在灰尘通道的出灰 口 120两端的光信号发射器 130和第一光信号接收器 140， 以及光信号发射器 130和 第二光信号接收器 150， 分别组成了两组发射-接收传感器。 其中， 光信号发射器 130 和第一光信号接收器 140组成灰尘浓度传感器， 可有效探测进入尘盒的灰尘浓度； 光 信号发射器 130和第二光信号接收器 150则组成了尘盒安装探测传感器， 可有效探测 尘盒是否安装或是否正确安装。 通过光信号发射器 130和第二光信号接收器 150的相 互作用， 可以用来分析判断尘盒 200是否处于主机 100中的正确位置， 在尘盒 200安 装位置不正确或者根本没有安装的情况下， 扫地机器人会关闭抽吸电机和 /或发出警告 提示使用者， 这样就可以避免在没有安装尘盒或者尘盒安装不到位的情况下， 扫地机 器人仍然工作而导致灰尘把机器人污染。 同时， 由于尘盒 200为透明材料制成， 在尘 盒 200正常安装情况下， 扫地机器人进行常规的清扫作业， 此时， 可以通过光信号发 射器 130和第一光信号接收器 140的相互作用， 对尘盒进灰口的灰尘浓度进行分析判 断， 当判断结果为灰尘浓度高时， 主机 100会执行控制单元的控制命令， 对此较脏的 位置进行精扫。 为了保证信号的准确性， 所述光信号发射器 130和第一光信号接收器 140的设置位置彼此对正， 所述光信号发射器 130的发射中心和所述第一光信号接收 器 140的接收中心的连线与所述尘盒 200的进灰方向相互垂直。 由于尘盒 200 的安装以及灰尘浓度的增大会不同程度的削弱第一光信号接收器 140和第二光信号接收器 150接收到的光信号， 因此， 可以在控制单元内分别对应设 置预定阈值， 第一光信号接收器 140对应为第一阈值， 第二光信号接收器 150对应为 第二阈值。 具体到判断过程， 当第二光信号接收器 150接收到的信号值大于预设的第 二阈值时， 判断未安装尘盒， 则控制抽吸电机不工作， 当第二光信号接收器 150接收 到的信号值比第二阈值小或两者大小相当时， 判断尘盒安装位置正确， 扫地机器人可 以正常进行清扫作业。 同样道理， 当第一光信号接收器 140接收到的信号值大于等于 预设的第一阈值时， 判断灰尘浓度较大， 控制机器人对较脏区域进行精扫， 当第一光 信号接收器 140接收到的信号值小于预设的第一阈值时， 判断灰尘浓度正常， 可以进 行常规的清扫作业。 由于灰尘浓度为波动差值， 因此只有在第一光信号接收器 140接 收到的信号大于等于某阈值时， 才启动精扫模式。 关于光信号接收器的阈值设定， 以 及光信号接收器所接收到的信号值与预设的阈值之间的大小判断， 属于本领域的公知 常识， 在此不再赘述。 综上所述， 本发明将灰尘浓度传感器设置在灰尘通道的外部， 特别是设置在安装 尘盒的凹腔侧壁上， 用户在清洁尘盒时即可清洁灰尘传感器的光发射元件和光接收元 件的透光板， 解决了现有技术无法有效清洁灰尘传感器透光板的技术难题。进一步地， 本发明将用于判断集尘盒设置位置和风道灰尘浓度的传感器集成在一起， 把尘盒及灰 尘检测合二为一， 使结构得到简化， 成本低， 灵敏度高且提高工作效率。

Claims

权利要求书
1、一种扫地机器人，包括：主机（100)和尘盒（200)，所述主机上设有凹腔（110)， 尘盒嵌设在所述凹腔内， 所述尘盒的进灰口 （210) 和主机的灰尘通道出灰口 （120) 对应设置， 其特征在于， 在所述凹腔的侧壁上、 位于所述灰尘通道出灰口的两端处， 分别设置一光信号发射器（130)和用于输出灰尘浓度信号给控制单元的一第一光信号 接收器 （140); 且所述尘盒 （200) 为透明材质。
2、 如权利要求 1所述的扫地机器人， 其特征在于， 所述扫地机器人还设有用于输 出尘盒位置信号给控制单元的一第二光信号接收器 （150)， 所述第二光信号接收器与 所述第一光信号接收器 （140) 并列设置在所述凹腔 （110) 的同一侧壁上。
3、 如权利要求 2所述的扫地机器人， 其特征在于， 所述光信号发射器 （130) 为 红外光信号发射器；
所述第一光信号接收器（140)和第二光信号接收器（150)为红外光信号接收器。
4、 如权利要求 1所述的扫地机器人， 其特征在于， 所述光信号发射器 （130) 和 第一光信号接收器（140) 的设置位置彼此对正， 所述光信号发射器的发射中心和所述 第一光信号接收器的接收中心的连线与所述尘盒 （200) 的进灰方向相互垂直。
5、 如权利要求 1所述的扫地机器人， 其特征在于， 所述尘盒 （200) 上设置的出 风口 （220) 距离所述主机 （100) 底面的高度大于所述尘盒的进灰口 （210)距离主机 底面的高度。
PCT/CN2014/085527 2013-08-30 2014-08-29 扫地机器人 WO2015027943A1 (zh)

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