WO2019119554A1 - 清洁墙体边缘的方法及其清洁装置 - Google Patents

清洁墙体边缘的方法及其清洁装置 Download PDF

Info

Publication number
WO2019119554A1
WO2019119554A1 PCT/CN2018/072010 CN2018072010W WO2019119554A1 WO 2019119554 A1 WO2019119554 A1 WO 2019119554A1 CN 2018072010 W CN2018072010 W CN 2018072010W WO 2019119554 A1 WO2019119554 A1 WO 2019119554A1
Authority
WO
WIPO (PCT)
Prior art keywords
wall
side brush
distance
cleaning
cleaning device
Prior art date
Application number
PCT/CN2018/072010
Other languages
English (en)
French (fr)
Inventor
王声平
周毕兴
Original Assignee
深圳市沃特沃德股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市沃特沃德股份有限公司 filed Critical 深圳市沃特沃德股份有限公司
Publication of WO2019119554A1 publication Critical patent/WO2019119554A1/zh

Links

Images

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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present invention relates to the field of cleaning, and more particularly to a method of cleaning a wall edge and a cleaning device therefor.
  • the cleaning of the edge of the wall sweeping machine is generally carried out by direct contact or ranging, wherein the direct contact type is performed by an external triggering method, that is, the mechanical contact bar directly contacts the wall to perform cleaning, and the distance measurement is performed.
  • the formula is combined with an infrared transmitting and receiving module, and then the distance is measured and then cleaned.
  • the main object of the present invention is to provide a method for cleaning the edge of a wall and a cleaning device thereof, aiming at solving the technical problem that the cost of the existing cleaning device is relatively high.
  • the invention provides a cleaning device for cleaning the edge of a wall, which is applied to the cleaning device including a side brush, and the method for cleaning the edge of the wall comprises the following steps:
  • the side brush is controlled to move along the wall according to a comparison result according to a preset manner.
  • the detection signal is an ultrasonic wave or a laser.
  • the predetermined value is 0 or less than 1 mm.
  • step of controlling the cleaning of the side brush along the edge of the wall according to the comparison result includes:
  • the side brush is controlled to move directly along the cleaning wall.
  • comparison result includes L ⁇ predetermined value
  • step of controlling the side brush to clean along the edge of the wall according to the comparison result includes:
  • the side brush is controlled to move outside the wall.
  • the comparison result includes L>predetermined value
  • the step of controlling the cleaning of the side brush along the edge of the wall according to the comparison result comprises:
  • the side brush is controlled to move toward the wall.
  • the present invention also provides a cleaning device comprising a side brush, the cleaning device comprising:
  • a calculating module calculating a distance L between the side brush and the wall according to the distance L2 and the preset distance L1 of the side brush;
  • a comparison module configured to compare a distance L between the side brush and the wall with a predetermined value
  • control module configured to control, according to the comparison result, the side brush to move along the wall according to a preset manner.
  • analysis module includes:
  • Transmitting submodule for transmitting a detection signal at a preset speed and starting a timer
  • a receiving submodule a feedback signal for receiving feedback when the detection signal reaches the wall;
  • a monitoring submodule configured to monitor a duration of the timer when the feedback signal is received
  • the calculation sub-module is configured to calculate a distance L2 from the wall according to the preset speed and the duration.
  • the detection signal is an ultrasonic wave or a laser.
  • calculation module includes:
  • the comparison result includes L being equal to a preset value
  • the control module is further configured to:
  • the side brush is controlled to move directly along the wall.
  • the comparison result includes L ⁇ predetermined value
  • the control module is configured to:
  • the comparison result includes L>predetermined value
  • the control module is configured to:
  • the side brush is controlled to move toward the wall.
  • the cleaning device provided by the invention cleans the edge of the wall, and the method of detecting the distance between the cleaning device and the wall by transmitting the ultrasonic wave by the distance detecting sensor, and then adjusting the distance between the cleaning device and the wall and cleaning, the method for cleaning the edge of the wall
  • the identification function is strong, the environment requirements are relatively low, the scope of application is wide, and the material requirements are not high, and the material loss rate is also reduced.
  • FIG. 1 is a schematic view showing a method of cleaning a wall edge of a cleaning device according to an embodiment of the present invention
  • step S1 is a schematic diagram of a method of step S1 in the first embodiment of the present invention
  • Figure 3 is a schematic view showing the cleaning device and the wall in the first embodiment and the second embodiment of the present invention.
  • FIG. 4 is a schematic structural view of a cleaning device in Embodiment 2 of the present invention.
  • FIG. 5 is a schematic structural diagram of an analysis module according to Embodiment 2 of the present invention.
  • FIG. 6 is a schematic structural diagram of a computing module in Embodiment 2 of the present invention.
  • first, second, and the like in the present invention are used for the purpose of description only, and are not to be construed as indicating or implying their relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the technical solutions between the various embodiments may be combined with each other, but must be based on the realization of those skilled in the art, and when the combination of the technical solutions is contradictory or impossible to implement, it should be considered that the combination of the technical solutions does not exist. It is also within the scope of protection required by the present invention.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the present invention provides a cleaning apparatus 1 which may be a cleaning robot including a side brush 11, a middle sweep, a vacuum cleaner, a walking wheel, and a distance detecting sensor 10.
  • the side brush 11 is a brush having a hair, a cloth, a plastic strip or a steel wire for cleaning, for example, cleaning dust and dust on the wall to enter the air inlet, and specifically, the side brush 11 is disposed at the lower end of the cleaning device 1. It can also be stretched out a certain distance to clean the edges of the wall.
  • the walking wheel is disposed at the lower end of the cleaning device for moving and walking.
  • the distance detecting sensor 10 is used to measure the distance of the cleaning device to the wall, which is disposed on the cleaning device and at any position capable of measuring the distance between the distance detecting sensor 10 and the wall 2, preferably perpendicular to the wall.
  • the method for cleaning the edge of the wall by the above cleaning device comprises the following steps:
  • Step S1 analyzing the distance L2 from the wall 2;
  • Step S2 calculating the distance L between the side brush 11 and the wall 2 according to the distance L2 and the preset distance L1 of the side brush 11;
  • Step S3 comparing the distance L between the side brush 11 and the wall 2 with a predetermined value
  • Step S4 The side brush 11 is controlled to move along the wall according to a comparison result according to a preset manner.
  • the cleaning device 1 determines the distance L2 of the distance detecting sensor 10 and the wall 2 provided in the cleaning device 1 by analysis.
  • the distance detecting sensor 10 is disposed at the side end of the cleaning device 1, and is disposed on the same side as the side brush 11, the side brush 11 has a handle, and the handle is controlled by the cleaning device 1 to move telescopically.
  • the cleaning device 1 performs the cleaning of the wall 2
  • the cleaning device 1 gathers the garbage at the edge of the wall to the middle sweep by extending the side brush 11, and sweeps it into the air inlet of the vacuum cleaner, and the cleaning device 1 passes the cleaning when cleaning.
  • the wheel moves along the wall 2 to complete a wide range of wall edge cleaning.
  • the side brush 11 may be provided in plurality, for example, the side brush 11 is provided with two, and the two side brushes 11 are respectively disposed on the left and right sides of the cleaning device 1, so that the cleaning is more convenient.
  • step S2 the cleaning device 1 calculates the distance L between the side brush 11 and the wall 2 according to the distance L2 and the preset distance L1 of the side brush 11, which is the distance detecting sensor 10 parallel to the wall 2.
  • the distance between the surface and the side brush 11, L1 can be set in advance at the time of manufacture.
  • the direction in which the side brush 11 protrudes from the cleaning device 1 coincides with the direction of the vertical wall 2 of the distance detecting sensor 10, and is calculated according to L1.
  • step S3 the cleaning device 1 compares the distance L of the side brush 11 with the wall 2 with a predetermined value which can be set in advance at the time of production production, specifically, the predetermined value can be set to 0 or 1 mm.
  • the predetermined value may be 0 or may be set to other parameters, and the cleaning device 1 adjusts the distance from the wall 2 according to the comparison result of the parameter with L.
  • step S1 specifically includes the following steps:
  • Step S11 transmitting a detection signal at a preset speed, and starting a timer
  • Step S12 receiving a feedback signal fed back when the detection signal reaches the wall 2;
  • Step S13 monitoring the duration of the timer when the feedback signal is received
  • Step S14 Calculating the distance L2 from the wall 2 according to the preset speed and the duration.
  • step S11 when the distance detecting sensor 10 in the cleaning device 1 emits the detection signal at a preset speed, while the cleaning device 1 starts the timer, the detection signal may be an ultrasonic wave, and the corresponding preset speed is the ultrasonic transmission speed.
  • step S12 and step S13 a feedback signal is sent to the cleaning device 1, and the cleaning device 1 receives the feedback signal while monitoring the duration of the process timer.
  • the side brush 11 can treat the dust garbage at the edge of the wall while preventing the side brush 11 from excessively rubbing the wall and damaging the side brush 11, reducing the material consumption of the damaged side brush 11, and the environmental requirements and the requirements of the cleaning device 1 are relatively high. Low, the scope of application is expanded, and the production cost is also reduced.
  • the cleaning device 1 can also re-adjust the distance between the side brush 11 and the wall 2 after a preset time, that is, repeating step S1 periodically. -S4.
  • the preset time is a preset time. For example, after the preset time is 2 minutes, the cleaning device 1 repeats the steps S1 - S4 to adjust the side brush 11 to the cleaning environment to prevent the cleaning of the wall 2 from being cleaned. Keep the side brush 11 clean along the edge of the wall.
  • the distance detecting sensor 10 may be an ultrasonic sensor or a laser module.
  • the detecting signal is a laser, and the method for cleaning the edge of the wall is consistent with the above method. .
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the present invention also provides a cleaning device 1 to which the cleaning method 1 is applied, the cleaning device 1 having a side brush 11, a middle sweep, a vacuum cleaner, a walking wheel, and a distance detecting sensor 10.
  • the side brush 11 is used for cleaning the edge of the wall. For example, the dust and debris on the wall side are cleaned to enter the air inlet.
  • the side brush 11 can be disposed at the lower end of the cleaning device 1 and can be extended outward by a certain distance for the purpose. Clean the edges of the wall.
  • the cleaning device 1 includes a distance detecting sensor 10, a calculation module 200, a comparison module 300, and a control module 400.
  • a distance detecting sensor 10 for analyzing the distance L2 from the wall 2;
  • the calculation module 200 is configured to calculate the distance L between the side brush 11 and the wall 2 according to the distance L2 and the preset distance L1 of the side brush 11;
  • the comparison module 300 is configured to compare the distance L between the side brush 11 and the wall 2 with a predetermined value
  • the control module 400 is configured to control the side brush 11 to move along the wall according to a comparison result according to a preset manner.
  • the calculation module 200 of the cleaning device includes:
  • the preset distance L1 is the distance between the surface of the distance detecting sensor 10 and the side brush 11 parallel to the wall 2, and L1 can be preset at the time of production.
  • the side brush 11 protrudes from the cleaning device 1.
  • the direction coincides with the direction in which the distance detecting sensor 10 is perpendicular to the wall 2.
  • L ⁇ predetermined value the control module 400 controls the side brush 11 to face the wall 2 Moving, that is, slightly away from the wall 2, the side brush 11 can further clean the edge of the wall.
  • the control module 400 controls the side brush to move directly toward the wall 2, and the side brush 11 can further accurately clean the edge of the wall to prevent the wall from being excessively brushed, and also prevent the side brush from excessively squeezing the wall to cause damage. .
  • the distance detecting sensor 10 is disposed on the cleaning device 1 and is disposed at any position capable of measuring the distance between the distance detecting sensor 10 and the wall 2. In the embodiment, the distance detecting sensor is convenient for measurement. 10 is disposed at the side end of the cleaning device 1, and is disposed on the same side as the side brush 11, the side brush 11 has a handle, and the handle is controlled by the cleaning device 1 for telescopic movement. When the cleaning device 1 performs cleaning of the wall 2, the cleaning device 1 is extended. The exit side brush 11 gathers the garbage at the edge of the wall to the middle sweep, and sweeps it into the air inlet of the vacuum cleaner, and the cleaning device 1 moves along the wall 2 through the walking wheel during cleaning, thereby completing a wide range of wall edge cleaning. .
  • the side brush 11 may be provided in plurality.
  • the side brush 11 is provided with two, and the two side brushes 11 are respectively disposed on the left and right sides of the cleaning device 1, so that the cleaning is more convenient.
  • the distance detecting sensor 10 of the cleaning device includes:
  • a transmitting submodule 1001 configured to transmit a detection signal at a preset speed and start a timer;
  • the receiving submodule 1002 is configured to receive a feedback signal that is feedback when the detection signal arrives at the wall;
  • a monitoring submodule 1003 configured to monitor a duration of the timer when the feedback signal is received;
  • the calculation sub-module 1004 is configured to calculate a distance L2 from the wall 2 according to the preset speed and the duration.
  • the transmitting sub-module 1001 transmits a detection signal at a preset speed, and starts a timer, which may be an ultrasonic transmitting speed, correspondingly detecting the signal.
  • the receiving sub-module 1002 receives the feedback signal fed back when the detection signal reaches the wall 2, and the monitoring sub-module 1003 monitors the duration of the timer when the feedback information is received; the calculation sub-module 1004 calculates the wall according to the preset speed and duration.
  • the distance detecting sensor 10 may be an ultrasonic sensor or a laser sensor.
  • the detection signal is a laser.
  • the above cleaning device 1 is measured by the distance detecting sensor 10, is more flexible than the cleaning device 1 using infrared measurement, has relatively low environmental requirements, is more widely used, and can prevent the side brush while cleaning the edge of the wall. 11 Over-touch the wall to avoid damage, especially in the long-walled straight wall environment, it can effectively parallel clean along the wall 2 to maximize the effect.
  • the cleaning device 1 can re-adjust the distance between the side brush 11 and the wall 2 after a predetermined time after cleaning along the edge of the wall; the preset time can be 2 minutes to time the side brush 11 Adapt to the clean environment, to prevent cleaning is not straight wall 2, it will not be cleaned.
  • the cleaning device of the present invention cleans the edge of the wall, and the distance detecting sensor 10 emits ultrasonic waves to measure the distance between the cleaning device 1 and the wall 2, and then adjusts the distance between the cleaning device 1 and the wall 2
  • the present invention also provides a corresponding
  • the cleaning device 1 of the cleaning method includes a distance detecting sensor 10, a calculating module 200, a comparing module 300, and a control module 400.
  • the distance L2 between the distance detecting sensor 10 and the wall 2 is measured by the detecting module 100, and the calculating module 200 is based on the distance L2.
  • the positional relationship between the distance detecting sensor 10 and the side brush 11 calculates the distance L between the outer edge of the side brush 11 and the wall 2, and is compared with the predetermined value by the comparison module 300, and the control module 400 controls the side brush 11 along the wall according to the comparison result.
  • the cleaning of the body edge is not only low in production cost, low in loss, but also has a good market application prospect.

Abstract

本发明揭示了一种清洁装置清洁墙体边缘的方法，应用于包括侧刷的清洁装置，该清洁墙体边缘方法的包括如下步骤：分析与墙体的距离L2；根据距离L2以及所述侧刷的预设距离L1计算出所述侧刷与墙体的距离L；将侧刷与墙体的距离L跟预定值进行比较；根据比较结果按预设方式控制侧刷沿墙体移动；这样的墙体边缘清洁方法不但识别功能强，对环境要求相对较低，适用范围广，且对材料要求也不高，同时还降低了材料损耗率。

Description

清洁墙体边缘的方法及其清洁装置 技术领域
本发明涉及到清洁的技术领域，特别是涉及到清洁墙体边缘的方法及其清洁装置。
背景技术
当前扫地机对于墙体边沿的清洁一般都通过直接接触式或测距式来进行，其中直接接触式是通过外部触发方式来进行，即是通过机械碰杆直接接触墙体从而进行清扫，测距式则是采用红外发射和接收模块结合，然后模糊测出距离再进行清扫。
但是，直接抵住墙体进行清洁的方式需要机器长时间或者频繁触碰墙壁，给机器前板带来材料上的消耗和材料本身的成本；而现有的测距式，即红外发射和接收模块结合的方式对环境要求相对较高，且对机器软件识别也造成一定的困难，难以满足实际需要。
技术问题
本发明的主要目的为提供一种清洁墙体边缘的方法及其清洁装置，旨在解决现有清洁装置消耗成本相对过高的技术问题。
技术解决方案
本发明提出一种清洁装置清洁墙体边缘的方法，应用于包括侧刷的所述清洁装置，所述清洁墙体边缘方法的包括如下步骤：
分析与墙体的距离L2；
根据所述距离L2以及所述侧刷的预设距离L1，计算出所述侧刷与墙体的距离L；
将所述侧刷与墙体的距离L跟预定值进行比较；
根据比较结果按预设方式控制所述侧刷沿墙体移动。
进一步地，所述分析与墙体的距离L2的方法如下：
以预设速度发射检测信号，并启动计时器；
接收所述检测信号抵达墙体时反馈的反馈信号；
监测接收到所述反馈信号时所述计时器的时长；
根据所述预设速度与所述时长计算与墙体的距离L2。
进一步地，所述检测信号为超声波或激光。
进一步地，根据所述距离L2以及所述侧刷的预设距离L1，计算出所述侧刷与墙体的距离L的方法如下：根据公式L＝L2-L1得出所述侧刷与墙体的距离L。
进一步地，所述预定值为0或小于1毫米。
进一步地，所述比较结果包括L＝预设值，所述根据比较结果控制侧刷沿墙体边缘进行清洁的步骤包括：
当L等于预设值时，控制所述侧刷直接沿清洁墙体移动。
进一步地，所述比较结果包括L＜预定值，所述根据比较结果控制侧刷沿墙体边缘进行清洁的步骤包括：
当L＜预定值时，控制所述侧刷朝墙体外移动。
进一步地，所述比较结果包括L>预定值，所述根据比较结果控制侧刷沿墙体边缘进行清洁的步骤包括：
当L>预定值时，控制所述侧刷朝墙体移动。
本发明还提供了一种清洁装置，所述清洁装置包括侧刷，所述清洁装置包括：
分析模块，分析与墙体的距离L2；
计算模块，根据所述距离L2以及所述侧刷的预设距离L1，计算所述侧刷与墙体的距离L；
对比模块，用于将所述侧刷与墙体的距离L跟预定值进行比较；
控制模块，用于根据比较结果按预设方式控制所述侧刷沿墙体移动。
进一步地，所述分析模块包括：
发射子模块：用于以预设速度发射检测信号，并启动计时器；
接收子模块：用于接收所述检测信号抵达墙体时反馈的反馈信号；
监测子模块：用于监测接收到所述反馈信号时所述计时器的时长；
计算子模块：用于根据所述预设速度与所述时长计算与墙体的距离L2。
进一步地，所述检测信号为超声波或激光。
进一步地，所述计算模块包括：
运算子模块：用于根据公式L＝L2-L1得出所述侧刷与墙体的距离L。
进一步地，所述比较结果包括L等于预设值，控制模块还用于：
当L等于预设值时，控制所述侧刷直接沿墙体移动。
进一步地，所述比较结果包括L＜预定值，所述控制模块用于：
当L＜预定值时，控制侧刷朝墙体外移动。
进一步地，所述比较结果包括L>预定值，所述控制模块用于：
当L>预定值时，控制所述侧刷朝墙体移动。
有益效果
本发明提供的清洁装置清洁墙体边缘的方法，通过距离检测传感器发射超声波进而测出清洁装置与墙体距离的方式，然后调整清洁装置与墙体距离并进行清洁，这样的墙体边缘清洁方法不但识别功能强，对环境要求相对较低，适用范围广，且对材料要求也不高，同时还降低了材料损耗率。
附图说明
图1是本发明实施例一清洁装置清洁墙体边缘的方法步骤图；
图2是本发明实施例一中步骤S1的方法步骤图；
图3是本发明实施例一和实施例二中清洁装置与墙体的示意图；
图4是本发明实施例二中清洁装置的结构示意图；
图5是本发明实施例二中分析模块的结构示意图；
图6是本发明实施例二中计算模块的结构示意图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
本发明的最佳实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，本发明实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，在本发明中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
实施例一：
参照图1-3，本发明提供的一种清洁装置1，清洁装置1可以为扫地机器人，包括侧刷11、中扫、吸尘器、行走轮，以及距离检测传感器10。侧刷11为具有毛、布料、塑料条或钢丝的刷子，其用于清洁，例如会将墙边的灰尘杂物进行清扫以便进入进风口，具体地侧刷11设置在清洁装置1的下端，并可以向外伸展出一定的距离，以便进行清洁墙体边缘。行走轮设置在清洁装置的下端，用于移动行走。距离检测传感器10用于测量清洁装置到墙体的距离，其设置清洁装置上且在能测量到距离检测传感器10与墙体2之间距离的任意位置，优选与墙体的垂直距离。
上述清洁装置清洁墙体边缘的方法，具体步骤包括：
步骤S1：分析与墙体2的距离L2；
步骤S2：根据距离L2以及侧刷11的预设距离L1，计算出侧刷11与墙体2的距离L；
步骤S3：将侧刷11与墙体2的距离L跟预定值进行比较；
步骤S4：根据比较结果按预设方式控制侧刷11沿墙体移动。
在步骤S1中，清洁装置1通过分析得出设置在清洁装置1中的距离检测传感器10与墙体2的距离L2。参照图3，本实施例中，为了方便测量，距离检测传感器10设置在清洁装置1的侧端，与侧刷11设置在同一侧，侧刷11具有手柄，手柄由清洁装置1控制伸缩移动，当清洁装置1进行墙体2清洁时，清洁装置1通过伸出侧刷11将墙体边缘的垃圾收拢至中扫，并由中扫送进吸尘器的进风口，且清洁时清洁装置1通过行走轮沿墙体2移动，从而完成大范围的墙体边缘清洁。
具体地，侧刷11可以设置有多个，如侧刷11设置有两个，两个侧刷11分别设于清洁装置1的左右两侧，使得清洁更加方便。
在步骤S2中，清洁装置1根据距离L2以及侧刷11的预设距离L1计算出侧刷11与墙体2的距离L，该预设距离L1为与墙体2平行的距离检测传感器10所在面与侧刷11的距离，L1可以在生产制造时预先设定，在本实施例中，侧刷11伸出清洁装置1的方向与距离检测传感器10垂直墙体2的方向一致，根据L1计算侧刷11与墙体2的距离L的具体方法为：根据公式L＝L2-L1得出侧刷11外边沿与墙体2的距离L。
在步骤S3中，清洁装置1将侧刷11与墙体2的距离L与预定值进行比较，该预定值可以在生产制作时预先设置，具体地，预定值可以设置为0或1毫米。
在步骤S4中，根据比较结果按预设方式控制侧刷11沿墙体移动，该比较结果包括L＜预定值、L＝预定值、L＞预定值三种情况，即则根据比较结果按预设方式控制侧刷11沿墙体2移动，进而清洁的具体步骤为：当L＝预定值时，清洁装置1控制侧刷11直接沿墙体2移动并清洁墙体边缘；当L>预定值时，清洁装置1控制侧刷11朝墙体2移动，侧刷11进而可以清洁墙体边缘；L＜预定值时，清洁装置1控制侧刷11朝墙体2外移动，侧刷11进而可以准确清洁墙体边缘，防止过力刷坏墙体，同时也防止侧刷过度挤压墙体导致容易损坏。
当然，预定值可以是0，也可以设定为其他参数，清洁装置1再根据该参数与L的比较结果来进行调整与墙体2的距离。
进一步地，上述步骤S1具体包括如下步骤：
步骤S11：以预设速度发射检测信号，并启动计时器；
步骤S12：接收检测信号抵达墙体2时反馈的反馈信号；
步骤S13：监测接收到所述反馈信号时所述计时器的时长；
步骤S14：根据预设速度与时长计算与墙体2的距离L2。
在步骤S11中，当清洁装置1中的距离检测传感器10以预设速度发射检测信号，同时清洁装置1启动计时器，该检测信号可以为超声波，对应地预设速度为超声波发射速度。
在步骤S12以及步骤S13中检测信号抵达墙体2时会将反馈信号发至清洁装置1，清洁装置1接收该反馈信号同时监测到这一过程计时器的时长。
在步骤S14中，清洁装置1根据预设的速度与时长计算出与墙体2的距离L2，具体地，可以根据公式L2＝Speed*Time/2计算出距离检测传感器10与墙体2的距离L2，其中Speed为发射速度，Time为超声波从发出到接触墙体2再将反馈信号反馈至距离检测传感器10的时间。
这样在侧刷11可处理墙体边缘的灰尘垃圾同时防止侧刷11过度碰刷墙壁、损伤侧刷11，降低了损坏侧刷11的材料消耗，且对环境要求以及清洁装置1的要求相对较低，适用范围扩大，制作成本也降低。
本实施例中，在步骤S4清洁装置1的侧刷11沿墙体边缘进行清洁之后，清洁装置1还可以在预设时间后重新调整侧刷11与墙体2的间距，即定时重复步骤S1-S4。这里预设时间为预先设定的时间，例如预先设定2min后清洁装置1重复步骤S1-S4，以使侧刷11定时适应清洁环境，防止清洁的不是直墙体2时，会清洁不到位，保持侧刷11时刻沿墙体边缘清洁。
在另一实施例中，上述距离检测传感器10可以是超声波传感器，还可以为激光模块，当距离检测传感器10为激光传感器时，上述检测信号为激光，且清洁墙体边缘的方法与上述方法一致。
实施例二：
参照图3-5，本发明还提供了一种清洁装置1，上述清洁方法应用于该清洁装置1，该清洁装置1具有侧刷11、中扫、吸尘器、行走轮，以及距离检测传感器10。侧刷11用于清洁墙体边缘，例如会将墙边的灰尘杂物进行清扫以便进入进风口，侧刷11可以设置在清洁装置1的下端，并可以向外伸展出一定的距离，以便进行清洁墙体边缘。
具体地，该清洁装置1包括距离检测传感器10、计算模块200、对比模块300以及控制模块400。
距离检测传感器10，用于通分析与墙体2的距离L2；
计算模块200，用于根据距离L2以及侧刷11的预设距离L1，计算出侧刷11与墙体2的距离L；
对比模块300，用于将侧刷11与墙体2的距离L跟预定值进行比较；
控制模块400，用于根据比较结果按预设方式控制侧刷11沿墙体移动。
本实施例中，上述清洁装置的计算模块200包括：
运算子模块2001，用于根据公式L＝L2-L1得出所述侧刷11与墙体2的距离L。
上述预设距离L1为与墙体2平行的距离检测传感器10所在面与侧刷11的距离，L1可以在生产制造时预先设定，在本实施例中，侧刷11伸出清洁装置1的方向与距离检测传感器10垂直墙体2的方向一致。
上述预定值为0或1毫米，其中比较结果包括L＜预定值、L＝预定值、L＞预定值三种情况，当L＜预定值时，控制模块400控制侧刷11朝墙体2外移动，即稍微远离墙体2，侧刷11进而可以清洁墙体边缘，当L＝预定值时，控制模块400控制侧刷直接沿墙体2移动，使侧刷沿墙体边缘清洁；当L＞预定值时，控制模块400控制侧刷直接朝向墙体2移动，侧刷11进而可以准确清洁墙体边缘，防止过力刷坏墙体，同时也防止侧刷过度挤压墙体导致容易损坏。
可以理解的是，距离检测传感器10设置在清洁装置1上，且是设置在能测量到距离检测传感器10与墙体2之间距离的任意位置，本实 施例中，为了方便测量，距离检测传感器10设置在清洁装置1的侧端，与侧刷11设置在同一侧，侧刷11具有手柄，手柄由清洁装置1控制伸缩移动，当清洁装置1进行墙体2清洁时，清洁装置1通过伸出侧刷11将墙体边缘的垃圾收拢至中扫，并由中扫送进吸尘器的进风口，且清洁时清洁装置1通过行走轮沿墙体2移动，从而完成大范围的墙体边缘清洁。
侧刷11可以设置有多个，如侧刷11设置有两个，两个侧刷11分别设于清洁装置1的左右两侧，使得清洁更加方便。
本实施例中，上述清洁装置的距离检测传感器10包括：
发射子模块1001：用于以预设速度发射检测信号，并启动计时器；
接收子模块1002：用于接收所述检测信号抵达墙体时反馈的反馈信号；
监测子模块1003：用于监测接收到所述反馈信号时所述计时器的时长；
计算子模块1004：用于根据所述预设速度与所述时长计算与墙体2的距离L2。
当距离检测传感器10分析距离检测传感器10与墙体2的距离L2时，发射子模块1001以预设速度发射检测信号，并启动计时器，该预设速度可以为超声波发射速度，对应地检测信号可以为超声波；接收子模块1002接收检测信号抵达墙体2时反馈的反馈信号，监测子模块1003监测接收到反馈信息时计时器的时长；计算子模块1004根据预设速度与时长计算与墙体的距离L2。
据公式L2＝Speed*Time/2计算出距离检测传感器10与墙体2的距离L2；其中Speed为发射速度，Time为超声波从发出到接触墙体2再将反馈信息反馈至距离检测传感器10的时间。
另外，上述距离检测传感器10可以为超声波传感器，也可以为激光传感器，当距离检测传感器为激光传感器时，上述检测信号为激光。
上述清洁装置1采用距离检测传感器10进行测量，与采用红外 线测量的清洁装置1相比，更加灵活，对环境的要求相对较低，应用更加广泛，且可以在清洁墙体边缘的同时防止侧刷11过度碰触墙壁，免其损坏，特别是在长边的直墙环境下，可以有效地沿墙体2进行平行式清洁，发挥最大的效果。
本实施例中，上述清洁装置1可以在沿墙体边缘进行清洁之后，预设时间后重新调整侧刷11与墙体2的间距；这里预设时间为可以为2分钟以使侧刷11定时适应清洁环境，防止清洁的不是直墙体2时，会清洁不到位。
综上所述，本发明提供的清洁装置清洁墙体边缘的方法，通过距离检测传感器10发射超声波进而测出清洁装置1与墙体2距离的方式，然后调整清洁装置1与墙体2距离并进行清洁，这样的墙体边缘清洁方法不但识别功能强，对环境要求相对较低，适用范围广，且对材料要求也不高，同时还降低了材料损耗率，本发明还提供一种对应上述清洁方法的清洁装置1，包括距离检测传感器10、计算模块200、对比模块300以及控制模块400，通过检测模块100测出距离检测传感器10与墙体2的距离L2，由计算模块200根据距离L2以及距离检测传感器10与侧刷11的位置关系计算出侧刷11外边沿与墙体2的距离L，并由对比模块300与预定值进行对比，控制模块400根据对比结果控制侧刷11沿墙体边缘进行清洁，这样的清洁装置1不但制作成本低，损耗低，有较好的市场应用前景。
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (15)

  1. 一种清洁墙体边缘的方法，其特征在于，应用于包括侧刷的所述清洁装置，所述清洁墙体边缘的方法的包括如下步骤：
    分析与墙体的距离L2；
    根据所述距离L2以及所述侧刷的预设距离L1，计算所述侧刷与墙体的距离L；
    将所述侧刷与墙体的距离L跟预定值进行比较；
    根据比较结果按预设方式控制所述侧刷沿墙体移动。
  2. 如权利要求1所述清洁墙体边缘的方法，其特征在于，所述分析与墙体的距离L2步骤包括：
    以预设速度发射检测信号，并启动计时器；
    接收所述检测信号抵达墙体时反馈的反馈信号；
    监测接收到所述反馈信号时所述计时器的时长；
    根据所述预设速度与所述时长计算与墙体的距离L2。
  3. 如权利要求2所述清洁墙体边缘的方法，其特征在于，所述检测信号为超声波或激光。
  4. 如权利要求1所述的清洁墙体边缘的方法，其特征在于，所述根据所述距离L2以及所述侧刷的预设距离L1，计算所述侧刷与墙体的距离L的方法如下：
    根据公式L＝L2-L1得出所述侧刷与墙体的距离L。
  5. 如权利要求1所述的清洁墙体边缘的方法，其特征在于，所述预定值为0或小于1毫米。
  6. 如权利要求1所述的清洁墙体边缘的方法，其特征在于，所述比较结果包括L＝预设值，所述根据比较结果控制侧刷沿墙体边缘 进行清洁的步骤包括：
    当L等于预设值时，控制所述侧刷直接沿墙体移动。
  7. 如权利要求1所述的清洁墙体边缘的方法，其特征在于，所述比较结果包括L＜预定值，所述根据比较结果控制侧刷沿墙体边缘进行清洁的步骤包括：
    当L＜预定值时，控制所述侧刷朝墙体外移动。
  8. 如权利要求1所述的清洁墙体边缘的方法，其特征在于，所述比较结果包括L>预定值，所述根据比较结果控制侧刷沿墙体边缘进行清洁的步骤包括：
    当L>预定值时，控制所述侧刷朝墙体移动。
  9. 一种清洁装置，其特征在于，所述清洁装置包括侧刷以及：
    分析模块，分析与墙体的距离L2；
    计算模块，根据所述距离L2以及所述侧刷的预设距离L1，计算所述侧刷与墙体的距离L；
    对比模块，用于将所述侧刷与墙体的距离L跟预定值进行比较；
    控制模块，用于根据比较结果按预设方式控制所述侧刷沿墙体移动。
  10. 如权利要求9所述的清洁装置，其特征在于，所述分析模块包括：
    发射子模块：用于以预设速度发射检测信号，并启动计时器；
    接收子模块：用于接收所述检测信号抵达墙体时反馈的反馈信号；
    监测子模块：用于监测接收到所述反馈信号时所述计时器的时长；
    计算子模块：用于根据所述预设速度与所述时长计算与墙体的距离L2。
  11. 如权利要求10所述的清洁装置，其特征在于，所述检测信号为超声波或激光。
  12. 如权利要求9所述的清洁装置，其特征在于，所述计算模块包括：
    运算子模块：用于根据公式L＝L2-L1得出所述侧刷与墙体的距离L。
  13. 如权利要求9所述的清洁装置，其特征在于，所述比较结果包括L等于预设值，控制模块还用于：
    当L等于预设值时，控制所述侧刷直接沿墙体移动。
  14. 如权利要求9所述的清洁墙体边缘的方法，其特征在于，所述比较结果包括L＜预定值，所述控制模块用于：
    当L＜预定值时，控制侧刷朝墙体外移动。
  15. 如权利要求9所述的清洁墙体边缘的方法，其特征在于，所述比较结果包括L>预定值，所述控制模块用于：
    当L>预定值时，控制所述侧刷朝墙体移动。
PCT/CN2018/072010 2017-12-20 2018-01-09 清洁墙体边缘的方法及其清洁装置 WO2019119554A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711386988.XA CN107913035A (zh) 2017-12-20 2017-12-20 清洁墙体边缘的方法及其清洁装置
CN201711386988.X 2017-12-20

Publications (1)

Publication Number Publication Date
WO2019119554A1 true WO2019119554A1 (zh) 2019-06-27

Family

ID=61893818

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/072010 WO2019119554A1 (zh) 2017-12-20 2018-01-09 清洁墙体边缘的方法及其清洁装置

Country Status (2)

Country Link
CN (1) CN107913035A (zh)
WO (1) WO2019119554A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111513630B (zh) * 2020-04-27 2021-10-08 小狗电器互联网科技（北京）股份有限公司 扫地机器人的沿边清扫方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003131737A (ja) * 2001-10-24 2003-05-09 Matsushita Electric Ind Co Ltd 移動作業ロボット
CN102613947A (zh) * 2011-01-28 2012-08-01 恩斯迈电子(深圳)有限公司 清洁机器人及其控制方法
CN103654619A (zh) * 2012-09-19 2014-03-26 德国福维克控股公司 可自动行走的地面清洁装置及其运行方法
CN106406298A (zh) * 2015-07-27 2017-02-15 深圳市智宝人工智能科技有限公司 清洁装置及其控制方法
CN106572776A (zh) * 2014-07-01 2017-04-19 三星电子株式会社 清洁机器人及其控制方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10231386B4 (de) * 2002-07-08 2004-05-06 Alfred Kärcher Gmbh & Co. Kg Sensorvorrichtung sowie selbstfahrendes Bodenreinigungsgerät mit einer Sensorvorrichtung
JP2005211364A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自走式掃除機
JP2006026028A (ja) * 2004-07-14 2006-02-02 Sanyo Electric Co Ltd 掃除機
KR100902929B1 (ko) * 2007-07-18 2009-06-15 엘지전자 주식회사 이동 로봇 및 그 제어방법
CN203705874U (zh) * 2014-02-14 2014-07-09 南京交通职业技术学院 一种隧道清洗车控制装置
EP3167341B1 (en) * 2014-07-10 2018-05-09 Aktiebolaget Electrolux Method for detecting a measurement error in a robotic cleaning device
CN106821150A (zh) * 2016-12-28 2017-06-13 圆融健康科技（深圳）有限公司 扫地机器人
CN107080498B (zh) * 2017-05-15 2019-03-26 意诺科技有限公司 一种滚刷装置及其控制方法和清洁设备

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003131737A (ja) * 2001-10-24 2003-05-09 Matsushita Electric Ind Co Ltd 移動作業ロボット
CN102613947A (zh) * 2011-01-28 2012-08-01 恩斯迈电子(深圳)有限公司 清洁机器人及其控制方法
CN103654619A (zh) * 2012-09-19 2014-03-26 德国福维克控股公司 可自动行走的地面清洁装置及其运行方法
CN106572776A (zh) * 2014-07-01 2017-04-19 三星电子株式会社 清洁机器人及其控制方法
CN106406298A (zh) * 2015-07-27 2017-02-15 深圳市智宝人工智能科技有限公司 清洁装置及其控制方法

Also Published As

Publication number Publication date
CN107913035A (zh) 2018-04-17

Similar Documents

Publication Publication Date Title
KR102015325B1 (ko) 청소 로봇 및 그 제어 방법
KR100759919B1 (ko) 로봇청소기 및 그 제어방법
KR102015311B1 (ko) 청소 로봇 및 그 제어 방법
WO2018041191A1 (zh) 清洁机器人及其控制方法
US8761939B2 (en) Robot system and control method thereof
KR940006561B1 (ko) 자동주행 청소용 로버트의 장애물 감지장치
KR100480144B1 (ko) 이동로봇의 위치검출장치 및 방법
US20190204847A1 (en) Moving apparatus for cleaning and method of controlling the same
JP7124886B2 (ja) 洗浄装置、洗浄装置を備える撮像ユニット、および洗浄方法
EP3097835B1 (en) Robot
US20230200617A1 (en) Autonomous Cleaning Device
JP2013085964A (ja) ロボット清掃機及びその制御方法
WO2019119554A1 (zh) 清洁墙体边缘的方法及其清洁装置
KR101620449B1 (ko) 로봇 청소기 및 로봇 청소기의 제어방법
CN108378779A (zh) 一种基于超声波的清洁装置控制方法及清洁装置
US20210127932A1 (en) Robot cleaner and method for controlling same
JP2009095361A (ja) 自走式掃除機とその制御方法
JP2004358451A (ja) 形状を自動的に認識するスプレー式洗浄ロボット
KR20190109659A (ko) 유리벽 세척을 위한 로봇 청소 장치
KR20100077170A (ko) 탈진방법 및 그에 따른 탈진장치
JPH09278340A (ja) 乗客コンベアの手摺清掃装置
CN108309153B (zh) 扫地机器人的清扫除尘装置
JP2014188062A (ja) 自走式掃除機
CN204052399U (zh) 可调整开口度的边部吹扫装置
CN205671988U (zh) 一种智能清洁机器人

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18891257

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18891257

Country of ref document: EP

Kind code of ref document: A1