WO2019061399A1

WO2019061399A1 - Floor identification device, and cleaning apparatus

Info

Publication number: WO2019061399A1
Application number: PCT/CN2017/104764
Authority: WO
Inventors: 杨振; 昌月娥
Original assignee: 深圳拓邦股份有限公司
Priority date: 2017-09-30
Filing date: 2017-09-30
Publication date: 2019-04-04

Abstract

A floor identification device (100), and a cleaning apparatus. The floor identification device (100) comprises: an optical emitter unit (101), an optical receiver unit (102), an image sensing unit (103), and a control unit (104). The optical emitter unit (101) emits an optical signal towards a floor surface, and the optical receiver unit (102) receives a reflected signal of the optical signal and projects the reflected signal to the image sensing unit (103) to form an electrical signal. The electrical signal is output to the control unit (104), and the control unit (104) determines a floor surface type according to the electrical signal. The present invention enables accurate identification of a current floor surface type, and immediately adjusts an operation mode of a cleaning apparatus, thus improving cleaning efficiency and effectiveness of the cleaning apparatus.

Description

Ground recognition device and cleaning device

[0001] The present invention belongs to the field of electronic devices, and in particular, to a ground recognition device and a cleaning device.

Background technique

[0002] With the continuous improvement of people's living standards, the living conditions of residents have been continuously improved, and there are more and more duplex houses and large-area houses. The demand for cleaning equipment such as vacuum cleaners is also growing.

[0003] In the prior art, cleaning equipment (such as a vacuum cleaner) mostly uses a pressure sensor in the body to detect the pressure (adsorption force) between the area to be cleaned and its suction port, and according to the pressure generated by the control circuit. Automatically adjust the suction level and power of the vacuum cleaner.

[0004] However, in the course of research and practice of the prior art, the applicant of the present application found that the existing vacuum cleaner has the following drawbacks: the existing vacuum cleaner uses a pressure recognition method for the recognition of the ground, however, the pressure The method of identification is easily affected by external environmental factors to reduce the stability and sensitivity of the pressure sensor, and it is prone to a large deviation of the recognition result, so that the vacuum cleaner cannot adjust its working mode according to the actual ground type and 吋, so that the cleaning is performed. The effect is not satisfactory.

technical problem

[0005] The present invention provides a ground recognition device and a cleaning device, which are intended to solve the problem in the prior art that the pressure recognition method is easily affected by the external environment and the recognition capability is reduced, so that the ground type cannot be accurately recognized, and the suction type is adjusted. The working mode of the dust device makes the cleaning effect unsatisfactory.

Problem solution

Technical solution

The present invention is implemented in this way, a ground recognition device, including:

[0007] an optical transmitting unit, an optical receiving unit, an image sensing unit, and a control unit;

[0008] The optical reflecting unit may emit an optical signal to the ground, receive a reflected signal of the optical signal by the optical receiving unit, and project the reflected signal to the image sensing unit to form an electrical signal, An electrical signal is output to the control unit, and the control unit determines the type of the ground based on the electrical signal. The present invention also provides a cleaning apparatus comprising the above-described ground recognition device.

[0010] Further, the cleaning device is a vacuuming device, and the cleaning device includes a motor for controlling the operation of the cleaning mechanism, and the cleaning device adjusts the motor according to a ground type or a control signal output by the ground recognition device. Working status.

Advantageous effects of the invention

Beneficial effect

The ground recognition device provided by the embodiment of the present invention can generate an image signal by transmitting an optical signal to the ground, receiving an optical signal reflected by the ground, and digitally processing the reflected optical signal, and then converting the image data into an electrical signal. Therefore, the control unit can accurately identify the type of the ground to be tested according to the electrical signal, and adjust the working mode of the cleaning device, thereby improving the cleaning efficiency and effect of the cleaning device.

Brief description of the drawing

DRAWINGS

1 is a schematic structural diagram of a ground recognition device according to an embodiment of the present invention;

2 is a schematic structural diagram of a ground recognition device according to an embodiment of the present invention;

3 is a schematic structural diagram of a vacuum cleaner device according to an embodiment of the present invention;

4 is a schematic structural diagram of a dust suction device according to an embodiment of the present invention.

Embodiments of the invention

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The ground recognition device provided by the embodiment of the present invention can form an image signal by transmitting an optical signal to the ground, receiving an optical signal reflected by the ground, and digitally processing the reflected optical signal, and then converting the image data into an electrical signal. Therefore, the control unit can accurately identify the type of the ground to be tested according to the electrical signal, and adjust the working mode of the cleaning device, thereby improving the cleaning efficiency and effect of the cleaning device.

[0018] The specific implementation of the present invention will be described in detail below with reference to FIGS. 1 to 4.

[0019] Referring to FIG. 1 and FIG. 2, in an embodiment of the present invention, the ground recognition apparatus 100 includes: optical emission The unit 101, the optical receiving unit 102, the image sensing unit 103, and the control unit 104; the optical reflecting unit 101 can emit an optical signal to the ground, receive the reflected signal of the optical signal through the optical receiving unit 102, and the reflected signal Projecting to the image sensing unit 103 forms an electrical signal that is output to the control unit 104, which determines the type of the ground based on the electrical signal. In the embodiment of the present invention, when the ground recognition device 100 starts the operation, the control unit 104 can control the optical transmission unit 101 to emit an optical signal to the ground, and the optical signal can be a beam of light, and the current measured ground is illuminated by the optical signal. The light signal is reflected, refracted, and diffused on the current ground. The optical receiving unit 102 can receive the reflected light, the refracted light, and the diffused light, and project the received reflected light signal to the image sensing unit 103. The sensing unit 103 can process and convert the reflected light signals to form an electrical signal that can be recognized by the control unit 104, and output the electrical signal to the control unit 104. The control unit 104 determines the current measured by analyzing and processing the electrical signal. Ground type.

[0020] In the embodiment of the present invention, when the optical transmitting unit 101 emits optical signals to the ground of different smoothness (for example, carpet, smooth floor, etc.), the ground of different smoothness will reflect and refract the reflected signals of different brightnesses. To the optical receiving unit 102, the optical receiving unit 102 image-projects the reflected signals of different brightness to the image sensing unit 103, that is, forms an image signal, and the image sensing unit 103 performs image processing on the received image signal, and converts it into one. The group can reflect the image data of the uniformity of the pixel brightness of the image, and send it to the control unit 104, and the control unit 104 can determine the smoothness of the current ground based on the image data. For example, when the brightness of the pixel of the image signal received by the image sensing unit 103 is X, the uniformity of the brightness of the pixel of the image signal may be represented by the variance σ2 of the brightness of the image pixel, wherein the variance of the brightness of the pixel σ2 The formula is as follows:

[0021] (where: σ2 is the variance of the brightness of the pixel; μ is the average of the brightness of the pixel; X is the brightness of the pixel

, Ν is the number of pixels. )

[0022] The image sensing unit 103 sends the processed image data to the control unit 104, and the control unit 104 can determine the smoothness of the current ground according to the size of σ2, wherein σ2 is proportional to the smoothness of the ground, that is, the σ2 is more Small, the smoother the ground, the larger the σ2, the rougher the ground. However, in a practical application, the σ2 range corresponding to different ground types may be preset according to actual conditions, and the control unit 104 may determine the current ground type according to the received σ2.

[0023] In an embodiment of the invention, the above-mentioned emitted light signal may be light in a certain frequency range, for example Visible or invisible light. The above-mentioned reflected signal includes reflected light, refracted light, diffused light, and the like of the measured incident light to the current incident light. The control unit 104 may be a controller integrated on a PCB board in the dust suction device, for example, an MCU (Micro Control Unit) or the like. Of course, the control unit 104 may not be disposed in the cleaning device, and may receive the electrical signal transmitted by the image sensing unit 103 by wire or wirelessly. For example, the control unit 104 may receive the image transmission by wireless transmission such as infrared or wifi. The electrical signal transmitted by the sensing unit 103; or the control unit 104 is connected to the image sensing unit 103 by means of a wire connection, and receives an electrical signal transmitted by the image sensing unit 103.

[0024] The ground recognition device provided by the embodiment of the present invention generates an image signal by transmitting an optical signal to the ground, receiving an optical signal reflected by the ground, and digitally processing the reflected optical signal, and then converting the image data into an electrical signal. Therefore, the control unit can accurately identify the current ground type according to the electrical signal, and adjust the working mode of the cleaning device, thereby improving the cleaning efficiency and effect of the cleaning device.

In the embodiment of the present invention, the optical emitting unit 101 may be a light emitting diode, which is simply referred to as an LED, and is made of a compound containing gallium, arsenic, phosphorus, nitrogen, etc., and can convert electrical energy into light energy. The energy states of electrons and holes in different semiconductor materials are different. The more energy is released when the electrons and holes are combined, the shorter the wavelength of the emitted light. For example, a gallium arsenide diode emits red light, a gallium phosphide diode emits green light, a silicon carbide diode emits yellow light, and a gallium nitride diode emits blue light.

In one embodiment of the present invention, the optical emitting unit 101 is a visible light emitting unit or an invisible light emitting unit, which can make the selection range and the use range of the light emitting unit 101 wider. When it is a visible light emitting unit, it can emit visible light to the ground to be measured. The visible light is the part of the electromagnetic spectrum that can be perceived by the human eye. The wavelength of the electromagnetic wave that the average human eye can perceive is between 400 nm and 760 nm. By emitting visible light to the ground, the user can be prompted whether the ground recognition device 100 is in a normal signal transmission detection state, which is convenient for the user to perform maintenance on the abnormal ground recognition device 100.

[0027] In another embodiment of the present invention, when the optical emitting unit 101 is an invisible light emitting unit, the invisible light may be emitted to the ground to be tested, wherein the invisible light generally refers to all eyes except the visible light. Electromagnetic waves of wavelengths that are not perceptible, including: radio waves, microwaves, infrared light, ultraviolet light, far infrared rays, and the like.

[0028] In an embodiment of the invention, the optical receiving unit 102 can be an optical lens assembly, wherein the optical lens assembly includes at least one concentrating lens. The concentrating lens can converge the light signal reflected by the ground and reduce The divergence angle of the light beam, thereby enhancing the intensity of the light received by the optical receiving unit 102, facilitates the ground recognition device 100 to capture a coherent high-definition image during the moving operation, thereby improving the quality of the imaging.

[0029] In conjunction with FIG. 3, in an embodiment of the present invention, the image sensing unit 103 includes a photosensitive module 1031 and an image processing module 1032. The photosensitive module 1031 can sense the reflected signal projected by the optical receiving unit 102 and form an image, and the image processing module 1032 can digitize the image to form an electrical signal, and then transmit the electrical signal to the control unit 104.

[0030] As an embodiment of the present invention, the image sensing unit 103 is a CMOS sensor or a CCD sensor. CMOS (Complementary Metal Oxide Semiconductor) sensor, CCD (Charge Coupled Device) sensor, both of which can be photoelectrically converted by a photodiode to convert an image into digital data.

[0031] As a preferred embodiment of the present invention, CMOS sensors have the advantages of higher sensitivity, shorter exposure times, and decreasing pixel size, and lower cost. It can also enable the control unit 104 to accurately determine the type of the ground to be tested in the case where the lighting conditions are poor or the imaging module 1031 is poorly imaged, and thus, the scope of application is more extensive.

[0032] In an embodiment of the invention, the ground recognition device 100 will follow the movable device movement, for example, on a movable cleaning device. Using 吋, the trajectory of the movement of the ground recognition device 100 is recorded by the image sensing unit 103 as a set of coherent images captured at high speed, and converted into electrical signals corresponding to the images, and the control unit 104 can change the characteristics according to the electrical signals. A change in the current ground roughness is identified to determine the change in the current ground type during the movement. In addition, the control unit 104 can determine whether the ground recognition device 100 is in a moving state and can detect motion data such as the moving speed by analyzing the change of the electrical signal of the feature point position in the image recorded by the image sensing unit 103. . Wherein, the above feature point position may refer to a transition boundary point of the ground recognition device 100 moving from the floor to the carpet during the movement. For example, when the ground recognition device 100 is in the process of motion detection, the control unit 104 can determine from the point where the electrical signal change curve has occurred that the current ground type has changed. When it is detected that the ground type has changed, the control unit 104 can analyze and determine the current ground type based on the electrical signal abrupt point.

[0033] In an embodiment of the present invention, the control unit 104 is further configured to determine, according to the processing of the electrical signal, And outputting a control signal for controlling the operation of the cleaning execution component corresponding to the result of the processing judgment; in combination with the above example, when the ground recognition device 100 detects that the ground type has changed, the control unit 104 thereon may be based on the electricity The signal mutation point is analyzed and judged as the current ground type, and the control signal corresponding to the result of the processing judgment is used to adjust the working mode of the vacuuming device, that is, the corresponding cleaning mode is selected according to the specific cleaning environment, and the cleaning is improved. Efficiency and effectiveness.

[0034] With reference to FIG. 3, an embodiment of the present invention further provides a cleaning device, which includes any one of the above-mentioned embodiments, the ground recognition device 100, which can be identified according to the ground recognition device 100 described above. Information such as ground type, moving speed, etc. performs related operations. For example, the control operation related to vacuuming is performed, and specific operational events are not limited.

[0035] It can be understood that the cleaning device may be a cleaning robot, a vacuum cleaning device, and related cleaning devices that can use the above ground recognition device. Hereinafter, the vacuum cleaning device is used as a specific implementation of the cleaning device, as described below. .

[0036] Referring to FIG. 4, in an embodiment of the present invention, the dust collecting device includes a main body 300, a suction head 200, and a ground recognition device 100, wherein the ground recognition device 100 can be disposed on the suction head 200 of the cleaning device. in. When the dust cleaning device is activated to perform the dust cleaning, the ground recognition device 100 can automatically identify and determine the current ground type during the process of moving the vacuum, and adjust the vacuum mode of the vacuum device according to the current judgment result. The operation is simple, intelligent cleaning can be achieved, and the cleaning effect is better.

[0037] In an embodiment of the present invention, the dust suction apparatus includes the above-described ground recognition apparatus 100, which can acquire the type of the ground currently being measured, and adjust the control of the dust collection mode according to the ground type. Wherein, the control unit may perform control in the control system, or may be a separately provided control device.

In an embodiment of the present invention, the cleaning apparatus further includes: a motor 105 for controlling the operation of the cleaning mechanism, wherein the cleaning device can adjust the working state of the motor 105 according to the type of the ground determined by the ground recognition device 100. . For example, when the ground recognition device 100 recognizes that the current ground type is floor sill, since the surface of the floor is relatively smooth, the negative pressure formed by it is small, and the 吋 can adjust the suction force of the control motor 105 to be slightly small, that is, it is good. Clean the dust on the floor and other dirt.

[0039] For another example, when the ground recognition device 100 recognizes that the current ground type is carpet rug, since the surface of the carpet is rough and not smooth, the negative pressure formed by the rug is large, and if the suction of the motor 105 is adjusted too small It is easy to suck the hair on the carpet and the resistance of the brush on the vacuuming device will become larger, and the rotation will become Difficult, and this will increase the power consumed by the motor 105; if the suction of the motor 105 is too large, it is not easy to suck the hair on the carpet, and it is easy to fly the dirt attached to the carpet hair. The ideal cleaning effect cannot be achieved. Therefore, the control unit 104 can adjust the suction force of the motor 105 according to the size of the reflective signal so that it can just suck the dirt on the carpet without sucking the hair on the carpet, thereby improving the cleaning efficiency and effect.

In an embodiment of the invention, the cleaning apparatus further includes: an output unit 106 connected to the control unit 104 for outputting a ground type. The output unit 106 can be a display unit, such as an electronic display screen. When the cleaning device is in the process of moving, the current detected ground type, path, moving speed, current working state, etc. can be normal through the electronic display screen. The parameters are output to the electronic display for easy viewing or manual adjustment.

[0041] It should be noted that the output unit 106 may also be a sound output unit, for example, a sound player, when the cleaning device is in the process of moving, the currently detected ground type, moving speed, and whether the device is in normal condition. The working status and other parameters are played through the sound player, which is convenient for the user to understand the current vacuuming device, so that an abnormality can occur and the user is reminded to perform maintenance.

[0042] It can be understood that the ground recognition device 100 provided by the embodiment of the present invention can be used not only in the cleaning device but also in other devices that are adapted thereto, which is not limited herein.

The ground recognition device provided by the embodiment of the present invention transmits an optical signal to the ground through the optical transmitting unit, and the optical receiving unit receives the optical signal reflected by the ground, and projects the reflected optical signal to the image sensing unit, and the image sensing unit The received reflected optical signal is processed to form an image, and the image is converted into an electrical signal for transmission to the control unit, and the control unit can analyze the current ground type according to the variation law of the electrical signal, so as to accurately and arbitrarily adjust the current The working mode of the cleaning device improves the cleaning efficiency and effectiveness of the cleaning device. In addition, the cleaning device provided by the embodiment of the present invention can also output the current working mode and other parameters through the output unit, so that the user can find the abnormality and repair.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the present invention. Within the scope of protection of the invention.

Claims

Claim

A ground recognition device, comprising: an optical transmitting unit, an optical receiving unit, an image sensing unit, and a control unit;

The optical reflecting unit may emit an optical signal to the ground, receive a reflected signal of the optical signal by the optical receiving unit, and project the reflected signal to the image sensing unit to form an electrical signal, and the electrical signal output To the control unit, the control unit determines the ground type based on the electrical signal.

The ground recognition device according to claim 1, wherein said optical emitting unit is a light emitting diode.

The ground recognition device according to claim 1, wherein the optical emitting unit is a visible light emitting unit or an invisible light emitting unit.

The ground recognition device according to claim 1, wherein said optical receiving unit is an optical lens assembly, and said optical lens assembly comprises at least one condensing lens.

The ground recognition device according to claim 1, wherein said image sensing unit comprises a photosensitive module and an image processing module.

The ground recognition device according to claim 1, wherein the image sensing unit is a CMOS sensor or a CCD sensor.

The ground recognition device according to claim 1, wherein the control unit is further configured to perform processing judgment on the electrical signal, and output a result corresponding to the result of the processing determination for controlling the operation of the cleaning execution component Control signal.

A cleaning apparatus, characterized in that the cleaning apparatus comprises the ground recognition apparatus according to any one of claims 1-7.

A cleaning apparatus according to claim 8, wherein said cleaning device is a dust suction device, said dust suction device includes a motor for controlling operation of a cleaning mechanism, and said cleaning device outputs according to said ground recognition device The type of ground or control signal to adjust the operating state of the motor.

A cleaning apparatus according to claim 8, wherein said cleaning apparatus further comprises: an output unit connected to said control unit to output a ground type.