CN102121900A - Method for judging pollution of dust sensor, wiping system and cleaning robot thereof - Google Patents
Method for judging pollution of dust sensor, wiping system and cleaning robot thereof Download PDFInfo
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- CN102121900A CN102121900A CN2010100018172A CN201010001817A CN102121900A CN 102121900 A CN102121900 A CN 102121900A CN 2010100018172 A CN2010100018172 A CN 2010100018172A CN 201010001817 A CN201010001817 A CN 201010001817A CN 102121900 A CN102121900 A CN 102121900A
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- 239000000428 dust Substances 0.000 title claims abstract description 206
- 238000004140 cleaning Methods 0.000 title claims abstract description 55
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- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000003287 optical effect Effects 0.000 abstract 4
- 230000009471 action Effects 0.000 description 14
- 238000010926 purge Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 230000006698 induction Effects 0.000 description 5
- 241001417527 Pempheridae Species 0.000 description 4
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- 230000035945 sensitivity Effects 0.000 description 2
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- 238000012935 Averaging Methods 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
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- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
- A47L9/2815—Parameters or conditions being sensed the amount or condition of incoming dirt or dust using optical detectors
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- 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
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Abstract
The invention provides a method for judging the pollution of a dust sensor, a wiping system and a cleaning robot thereof. The dust sensor comprises a pair of optical signal elements, wherein the pair of optical signal elements are arranged at both sides of a dust passage and respectively used for transmitting and receiving optical signals; and one sides of the optical signal elements, which are close to the dust passage, are respectively provided with a transparent plate used for keeping dust out and protecting the dust sensor. The method for judging the pollution of the dust sensor comprises the following steps of: carrying out analog/digital conversion on a real signal received by the dust sensor, and then solving an arithmetic mean value; and when the obtained arithmetic mean value is less than a certain preset value, judging that the transparent plates of the dust sensor need to be wiped. Thus the pollution degree of the transparent plates of the dust sensor is judged in real time, a wiping mechanism of the wiping system of the dust sensor is automatically started in time to wipe the transparent plates, therefore the accurate judgment of the dust sensor on dust quantity is effectively ensured, and the intelligent cleaning robot can normally work all the time.
Description
Technical field
The present invention relates to a kind of determination methods of dust sensor light-passing board pollution level, use the dust sensor self-induction mop system of this pollution level determination methods, especially a kind of intelligent cleaning robot that has this self-induction mop system.
Background technology
In existing intelligent cleaning robot product and correlation technique, most intelligent cleaning robot is the dust of perception purging zone independently.As described in U.S. Pat 2003025472, when having a certain zonule especially to clean in the purging zone, the user need be placed on clean robot this a certain zonule approximate center, and being robot selection fixed point sweeper mode, robot will clean under the condition that sets in advance.Though this method can solve the demand of zonule emphasis cleaning, this needs human intervention auxiliary, and the intelligent effect of this robot is also not really perfect.
At above-mentioned situation, the intelligent cleaning robot that occurs the technological improvement type at present, it can respond to the dust of purging zone and discern by dust sensor, when amount of dust is big, robot can be automatically in this purging zone fixed point cleaning, be that robot carries out regular in small area or irregularly cleaning, to improve cleaning efficiency.The principle of work of dust sensor mainly is to realize induction and identification to dust by infrared induction, normally a pair of light signal element is set in the dust channel both sides of robot interior, one is used for launching infrared ray, and another is used for responding to infrared ray, constitutes a pair of dust sensor.And respectively be provided with a light-passing board at each light signal element near dust channel one side, can play the effect of protection, can either realize the dust of dust sensor is blocked, can not hinder the light emission and the reception of sensor again dust sensor.When dust channel had dust to enter, the infrared induction between the two light signal elements was interfered and weakens.Dust is many more, and the infrared signal that sensing element receives is weak more, so the size of purging zone amount of dust just can be judged by robot by the power of infrared induction signal.
But because robot itself is a kind of cleaning equipment, the work of being carried out is the cleaning dust, therefore inevitable meeting more or less is stained with dust on the light-passing board of dust sensor, when the dust on the light-passing board of dust sensor runs up to when a certain amount of, infrared induction between two above-mentioned light signal elements will be affected, and it is very weak that infrared signal becomes, and this moment, which kind of working environment robot no matter be in, can think that all purging zone is very dirty by mistake, thereby carry out cleaning works in this zone always.
Summary of the invention
In view of the above problems, the object of the present invention is to provide a kind of determination methods of dust sensor light-passing board pollution level, but this method real-time judge goes out the pollution level of dust sensor light-passing board, thereby in time start the Wiping mechanism of dust sensor mop system, thereby the sensitivity that effectively keeps dust sensor to survey all the time.
The present invention also aims to provide a kind of dust sensor self-induction mop system; this system utilizes said method to monitor the pollution level of judging the dust sensor light-passing board in real time; and according to its judged result; automatically start the dust sensor Wiping mechanism dust sensor light-passing board is carried out wiping; remain the cleaning of dust sensor light-passing board, thereby guarantee the accurate judgement of dust sensor amount of dust.
The present invention also aims to provide a kind of intelligent cleaning robot, described intelligent cleaning robot has adopted above-mentioned determination methods and has had above-mentioned dust sensor self-induction mop system, therefore make the intelligent cleaning robot can under any sweeper mode, can both keep the cleaning of dust sensor light-passing board, guarantee the accurate judgement of dust sensor, the intelligent cleaning robot can normally be worked all the time amount of dust.
Specifically; the invention provides a kind of determination methods of dust sensor light-passing board pollution level; described dust sensor 1 comprises a pair of light signal element 51; 52; be used for transmitting and receiving light signal respectively; each light signal element 51; 52 respectively are provided with a light-passing board 3; be used to block dust protection dust sensor; the determination methods of described dust sensor light-passing board pollution level is that actual signal that dust sensor is received is after analog/digital conversion; ask arithmetic mean to handle,, judge that the light-passing board 3 of dust sensor need carry out wiping as the arithmetic mean Y2 that tries to achieve during less than a certain preset value.
In addition,, judge that the pollution level of light-passing board 3 of dust sensor is less, need the time of wiping short as the arithmetic mean Y2 that tries to achieve during less than first threshold and greater than second threshold value; As the arithmetic mean Y2 that tries to achieve during less than second threshold value, judge that the pollution level of light-passing board 3 of dust sensor is bigger, need the time of wiping long.
And the interchange variable quantity of the actual signal that dust sensor is received amplifies simultaneously, and the described variation value Y1 after amplifying judges that amount of dust is big, the cleaning of need fixing a point during greater than a certain preset value.
The present invention also provides a kind of dust sensor self-induction mop system, it comprises: sensor unit 101, have by a pair of light signal element 51 that transmits and receives, 52 dust sensors 1 that constitute, be used to survey amount of dust, and each light signal element 51,52 respectively is provided with a light-passing board 3, is used to block dust protection dust sensor; Wiping mechanism 301 is used for the light-passing board 3 of wiping dust sensor; And control module 201, reception is from the signal of dust sensor 1, utilize the determination methods of above-mentioned dust sensor light-passing board pollution level, the pollution level of the light-passing board 3 of dust sensor is judged in monitoring in real time, and according to its judged result, send instruction to Wiping mechanism 301, make the light-passing board 3 of 301 pairs of dust sensors of Wiping mechanism carry out wiping.
In above-mentioned dust sensor self-induction mop system, described Wiping mechanism 301 comprises a polishing piece 2 that is located at described light-passing board 3 one sides, one of described light-passing board 3 or polishing piece 2 are matched with the motor drive shaft 61 of a motor 6, driven between light-passing board 3 and the polishing piece 2 by motor 6 and produce relative displacement, will wipe out attached to the dust of light-passing board 3 inner surfaces.
Described light-passing board 3 can fix with motor drive shaft 61, light-passing board 3 is driven by motor 6 rotate.
In addition, described motor drive shaft 61 can all be fixedlyed connected with the light-passing board 3 of both sides, in order to drive described two light-passing boards 3 simultaneously.
In addition, described polishing piece 2 can maintain static, and a side of described light-passing board 3 is provided with tooth bar 31, and the front end of described motor drive shaft 61 is provided with gear 62, and described tooth bar 31 and gear 62 are meshed, and it is reciprocating to drive light-passing board 3 by motor 6.
The present invention also provides a kind of intelligent cleaning robot, comprise robot body, sensor unit, driver element, walking unit, control module, cleaning agency, described control module is controlled described cleaning agency work, and control described driver element, walk by the described walking of described drive unit drives unit, wherein, described sensor unit adopts above-mentioned determination methods that the pollution level of the light-passing board 3 of its dust sensor is judged.
In addition, described intelligent cleaning robot also comprises above-mentioned dust sensor self-induction mop system.
Beneficial effect of the present invention is: the pollution level that goes out the dust sensor light-passing board by real-time judge, thereby in time start the Wiping mechanism of dust sensor mop system automatically, light-passing board to dust sensor carries out wiping, the cleaning that keeps the dust sensor light-passing board, sensitivity with effective maintenance dust sensor detection, make the intelligent cleaning robot intelligent cleaning robot can normally be worked all the time guaranteeing the accurate judgement of dust sensor under the sweeper mode arbitrarily to amount of dust.
Description of drawings
Fig. 1 is the schematic appearance of intelligent cleaning robot.
Fig. 2 is an intelligent cleaning robot construction synoptic diagram.
Fig. 3 is the partial enlarged drawing of A part among Fig. 2.
Fig. 4 is the composition frame chart of dust sensor self-induction mop system of the present invention.
Fig. 5 is the partial cutaway schematic of first embodiment of dust sensor Wiping mechanism in the dust sensor self-induction mop system of the present invention.
Fig. 6 is along the cut-open view of A-A direction among Fig. 5.
Fig. 7 is the partial cutaway schematic of second embodiment of dust sensor Wiping mechanism in the dust sensor self-induction mop system of the present invention.
Fig. 8 is along the cut-open view of C-C direction among Fig. 7.
Fig. 9 is the partial cutaway schematic of the 3rd embodiment of dust sensor Wiping mechanism in the dust sensor self-induction mop system of the present invention.
The real signal value curve map that Figure 10 receives for dust sensor.
Figure 11 carries out the dust sensor change amount signal value curve map that obtains after the processing and amplifying for the interchange variable quantity with the real signal value curve of Figure 10.
The dust sensor signal averaging curve map of Figure 12 for the real signal value curve of Figure 10 being carried out obtain after arithmetic mean is handled.
Figure 13 is a dust sensor hardware system circuit diagram.
Figure 14 is the workflow diagram of dust sensor self-induction mop system of the present invention.
Embodiment
Below in conjunction with accompanying drawing and with the artificial example of an intelligent cleaning machine technical scheme of the present invention is elaborated.
Fig. 1 is the schematic appearance of intelligent cleaning robot.Fig. 2 is an intelligent cleaning robot construction synoptic diagram.Fig. 3 is the partial enlarged drawing of A part among Fig. 2.Fig. 4 is the composition frame chart of dust sensor self-induction mop system of the present invention.In conjunction with Fig. 3 and shown in Figure 4, dust sensor self-induction mop system of the present invention comprises: sensor unit 101, and have by a pair of and transmit and receive the dust sensor 1 that the light signal element constitutes, be used for surveying the amount of dust that enters dust channel 12; Wiping mechanism 301 is used for wiping dust sensor light-passing board; And control module 201, receive the signal that dust sensor 1 provides and send instruction and be given to dust sensor Wiping mechanism 301, make dust sensor Wiping mechanism 301 carry out wiping actions.Described control module 201 is made of integrated circuit components such as CPU, microcontroller and storeies, the control module that described control module 201 can be integrated into one is controlled cleaning agency 401 simultaneously and is carried out cleaning action and control Wiping mechanism 301 execution wiping actions; Also can be that control sub unit by several separate modular constitutes, for example comprise that control cleaning agency 401 carries out the unit of cleaning action and the unit that control Wiping mechanism 301 is carried out wiping actions.
As shown in Figures 2 and 3, the both sides at the dust channel 12 of intelligent cleaning robot are respectively equipped with photocell 51 and light receiving element 52 (see figure 5)s, and they are configured for surveying the dust sensor 1 that enters the dust channel amount of dust.Be respectively equipped with light-passing board 3 at described photocell 51 and light receiving element 52 near dust channel 12 1 sides, being used for protecting this is that dust sensor is not subjected to contamination by dust to the light signal element.Dust sensor Wiping mechanism 301 is separately positioned on the inboard of dust sensor light-passing board, promptly near dust channel 12 1 sides.
Below in conjunction with Fig. 5 to Fig. 9 several dust sensor Wiping mechanisms in the dust sensor self-induction mop system of the present invention are described.
Fig. 5 is first embodiment of the dust sensor Wiping mechanism in the dust sensor self-induction mop system of the present invention.Fig. 6 is along the cut-open view of A-A direction among Fig. 5.On the sidewall 11 of dust channel 12, have a through hole 13, be provided with a polishing piece 2 at described through hole 13 internal fixation.Described polishing piece 2 is arranged between light-passing board 3 and the sidewall 11, and is close on the surface of inboard of light-passing board 3.The inside of described polishing piece 2 is provided with a hole 21, and the light that is used for photocell 51 is sent can pass from described hole 21, and is sensed by light receiving element 52.Polishing piece 2 also can be to be strip always, only otherwise the normal transmission that stops light signal gets final product.Polishing piece 2 can be made by easy Wiping material such as sponge or woollen goods.All be provided with a hole in the center of cover plate 4 and light-passing board 3, the motor drive shaft 61 of motor 6 is inserted in the hole of light-passing board 3 after passing cover plate 4, and fixes with light-passing board 3.There is a boss inboard of light-passing board 3, rotatably is supported on the sidewall 11, and after motor 6 started, the rotation of motor drive shaft 61 can drive light-passing board 3 and rotate around motor axis.Because light-passing board was located at the passage both sides in 3 minutes, therefore two light-passing boards 3 are driven by a motor respectively.When 6 rotations of two motors, motor drive shaft 61 drives light-passing boards 3 and rotates together, because polishing piece 2 is fixed, and therefore meeting relative motion between this moment light-passing board 3 and polishing piece 2, thus will wipe out attached to the dust of light-passing board 3 inner surfaces.
Fig. 7 is second embodiment of the dust sensor Wiping mechanism in the dust sensor self-induction mop system of the present invention.Fig. 8 is along the cut-open view of C-C direction among Fig. 7.The difference of the dust sensor Wiping mechanism of this second embodiment and the dust sensor Wiping mechanism of first embodiment is that described light-passing board 3 is rectangle, the one side is provided with tooth bar 31, the front end of described motor drive shaft 61 is provided with gear 62, described tooth bar 31 and gear 62 are meshed, one side of described light-passing board 3 also is provided with the spring 7 that is used to make light-passing board 3 answers, so that make light-passing board 3 drive the to-and-fro movement of back do perpendicular to motor axis by motor 6.After wiping finished, spring 7 overcame rack-and-pinion and cooperates the resistance that is produced that light-passing board 3 is returned to initial position.Certainly, also can directly control positive and negative rotation of motor and get final product without spring 7.By revolution, rack-and-pinion cooperates makes light-passing board 3 do rectilinear motion, because polishing piece 2 is fixed, and therefore meeting relative motion between this moment light-passing board 3 and polishing piece 2, thus will wipe out attached to the dust of light-passing board 3 inner surfaces.
Fig. 9 is the 3rd embodiment of the dust sensor Wiping mechanism in the dust sensor self-induction mop system of the present invention.The difference of the dust sensor Wiping mechanism of the 3rd embodiment and the dust sensor Wiping mechanism of first embodiment is that described motor drive shaft 61 passes dust channel 12, all fixedly connected with the light-passing board 3 that is positioned at both sides, in order to drive described two light-passing boards 3 simultaneously, saved a motor.And described motor also can be replaced by the main motor of intelligent cleaning robot.
In addition, the dust sensor Wiping mechanism in the dust sensor self-induction mop system of the present invention also can be matched with the motor drive shaft 61 of motor 6 with polishing piece 2, drives the back by motor 6 and do rotation or to-and-fro movement, and light-passing board 3 is arranged on corresponding fixed position.When revolution, make between light-passing board 3 and the polishing piece 2 and produce relative motion, thereby will wipe out attached to the dust of light-passing board 3 inner surfaces.
Below, in conjunction with Figure 10 to Figure 13 the determination methods of dust sensor light-passing board pollution level of the present invention is described.
The real signal value curve of Figure 10 for receiving by the dust sensor among Figure 13, the transverse axis express time of Figure 10 (unit is " second "), longitudinal axis Y are represented dust sensor real signal value (unit is " millivolt ").
The real signal value curve that dust sensor receives is subjected to the influence of two aspects, is the influence from ground amount of dust on the one hand, and it fluctuates up and down at random, and on macroscopic view, it does not produce regular variation in time; Be the influence of polluting from light-passing board on the other hand, it clocklike changes in time, and the time is long more, and pollution level increases.Therefore, integrate, described real signal value curve is localised waving and overall downward trend.
After the interchange variable quantity of the actual signal that the hardware circuit by as shown in figure 13 receives dust sensor amplifies, obtain variation value curve as shown in figure 11, the transverse axis express time of Figure 11 (unit is " second "), longitudinal axis Y1 are represented the variation value (unit is " millivolt ") of dust sensor signal.Under the normal condition, described variation value curve is fluctuation up and down within the specific limits, reflects that each enters into the situation of change of the amount of dust of intelligent cleaning robot dust channel constantly, promptly, reflect indirectly and can the amount of dust on ground in time be detected what of floor-dust amount by means of this numerical value.Signal intensity after the processing and amplifying, the situation that can observe real signal value more clear, effectively, thus the work of purging system is controlled in the variation in the short time according to described variation value curve.
On the other hand, the actual signal that hardware circuit by as shown in figure 13 receives dust sensor is after the A/D conversion, ask arithmetic mean to handle, obtain mean value curve as shown in figure 12, the transverse axis express time of Figure 12 (unit is " second "), longitudinal axis Y2 are represented the mean value (unit is " millivolt ") of dust sensor signal.Described mean value curve is downward trend gradually, reflects that light-passing board is polluted gradually, its gradually downtrending the size mainly determine by the pollution level of light-passing board.Y2 is more little for arithmetic mean, and the pollution level of dust sensor light-passing board is serious more.Control wiping by means of described mean value curve result of variations in a long time to light-passing board.
That is, if arithmetic mean Y2 during less than a certain preset value, it is many then to judge the accompanying dust of dust sensor light-passing board, and the light-passing board pollution level is big, and light-passing board needs wiping.Described preset value can be set according to actual needs, and normally the empirical value that draws by test of the producer is stored in the corresponding memory in advance.
Below, in conjunction with Figure 14 the course of work of dust sensor self-induction mop system of the present invention is described.
After the intelligent cleaning robot started working, the amount of dust in the 1 pair of dust channel 12 of dust sensor in the dust sensor self-induction mop system of the present invention was carried out acquisition of signal, obtains real signal value (step S1).
The interchange variable quantity of the real signal value that dust sensor is received amplifies, and carries out the A/D conversion, obtains the variation value (step S2) of dust sensor signal, and this value is transfused to control module 201 (microcontroller (MCU)).
When the variation value of dust sensor signal during greater than first preset value (being "Yes" in step S3), the amount of dust of then thinking dust sensor and being detected is big, needs to carry out fixed point cleaning action.At this moment, control module 201 sends 401 pairs of ground of instruction startup cleaning agency and fixes a point to clean (step S4).Described first preset value can be set according to actual needs, and normally the empirical value that draws by test of the producer is stored in the storer of control module in advance.
Meanwhile, after the real signal value that dust sensor is received carried out the A/D conversion, Input Control Element 201 (microcontroller (MCU)) asked arithmetic mean to handle, and obtains the mean value (step S5) of dust sensor signal.
When the mean value of dust sensor signal during less than second preset value (being "Yes" in step S6), think that then the accompanying dust of dust sensor light-passing board 3 is many, the light-passing board pollution level is big, needs to carry out wiping action.At this moment, control module 201 sends and instructs 301 pairs of dust sensor light-passing boards of startup dust sensor Wiping mechanism 3 to carry out wiping (step S7).Described second preset value also can be set according to actual needs, and is stored in advance in the storer of control module.
In addition, dust sensor self-induction mop system of the present invention can be determined the length of wiping time according to the order of severity that the dust sensor light-passing board pollutes.For example can set two threshold values (first threshold is greater than second threshold value), when Y2 value (arithmetic mean) during less than first threshold and greater than second threshold values, Wiping mechanism begins wiping, and the wiping time was shorter, as wiping 2 seconds; When Y2 value during less than second threshold value, pollution grows worse can prolong the wiping time, as wiping 5 seconds.The described first threshold and second threshold value also are to set according to actual needs, are stored in the corresponding memory in advance respectively.
In addition, the dust sensor output terminal can be looked by the intelligent cleaning robot in the process of any sweeper mode output situation determines whether carrying out the wiping and the length of wiping time of dust sensor light-passing board." carrying out the fixed point cleaning moves " and " execution wiping action " can carry out synchronously, also can be when " execution wiping action ", and the intelligent cleaning robot temporarily stops " carrying out fixed point cleaning action ".In fact, in the use of intelligent cleaning robot, because the time of dust is very short on the wiping dust sensor light-passing board, in the chronomere of level second, can finish wiping work, so " fixed point cleaning action " and " action of wiping dust sensor light-passing board " are to carry out synchronously, still separately carry out, to robot work itself, without any influence.
After wiping action is finished, turn back to step S1, and the mean value of the actual signal that receives according to current dust sensor judges whether needs wiping once more.Wiping action (step S7) is then carried out in wiping once more if desired once more.
Claims (10)
1. the determination methods of a dust sensor light-passing board pollution level; described dust sensor (1) comprises a pair of light signal element (51; 52); be used for transmitting and receiving light signal respectively; each light signal element (51; 52) respectively be provided with a light-passing board (3), be used to block dust protection dust sensor, the determination methods of described dust sensor light-passing board pollution level is:
The actual signal that dust sensor is received asks arithmetic mean to handle after analog/digital conversion, when the arithmetic mean of trying to achieve (Y2) during less than a certain preset value, judges that the light-passing board (3) of dust sensor need carry out wiping.
2. the determination methods of dust sensor light-passing board pollution level according to claim 1, it is characterized in that, when the arithmetic mean of trying to achieve (Y2) during greater than first threshold and less than second threshold value, the pollution level of the light-passing board (3) of judgement dust sensor is less, needs the time of wiping short; When the arithmetic mean of trying to achieve (Y2) during less than second threshold value, judge that the pollution level of light-passing board (3) of dust sensor is bigger, need the time of wiping long.
3. the determination methods of dust sensor light-passing board pollution level according to claim 1 and 2, it is characterized in that, the interchange variable quantity of the actual signal that dust sensor is received amplifies simultaneously, described variation value (Y1) after amplifying is during greater than a certain preset value, judge that amount of dust is big, the cleaning of need fixing a point.
4. dust sensor self-induction mop system comprises:
Sensor unit (101) has the dust sensor (1) that transmits and receives light signal element (51,52) formation by a pair of, be used to survey amount of dust, and each light signal element (51,52) respectively is provided with a light-passing board (3), is used to block dust protection dust sensor;
Wiping mechanism (301) is used for the light-passing board (3) of wiping dust sensor; And
Control module (201) receives the signal from dust sensor (1);
It is characterized in that: control module (201) utilizes the determination methods of any described dust sensor light-passing board pollution level among the claim 1-2, the pollution level of the light-passing board (3) of dust sensor is judged in monitoring in real time, and according to its judged result, send instruction to Wiping mechanism (301), make Wiping mechanism (301) carry out wiping the light-passing board (3) of dust sensor.
5. dust sensor self-induction mop system according to claim 4, it is characterized in that, described Wiping mechanism (301) comprises a polishing piece (2) that is located at described light-passing board (3) one sides, one of described light-passing board (3) or polishing piece (2) are matched with the motor drive shaft (61) of a motor (6), driven between light-passing board (3) and the polishing piece (2) by motor (6) and produce relative displacement, will wipe out attached to the dust of light-passing board (3) inner surface.
6. dust sensor self-induction mop system according to claim 5 is characterized in that, described light-passing board (3) fixes with motor drive shaft (61), light-passing board (3) is driven by motor (6) rotate.
7. dust sensor self-induction mop system according to claim 5 is characterized in that, described motor drive shaft (61) is all fixedlyed connected with the light-passing board (3) of both sides, in order to drive described two light-passing boards (3) simultaneously.
8. dust sensor self-induction mop system according to claim 5, it is characterized in that, described polishing piece (2) maintains static, one side of described light-passing board (3) is provided with tooth bar (31), the front end of described motor drive shaft (61) is provided with gear (62), described tooth bar (31) and gear (62) are meshed, and it is reciprocating to drive light-passing board (3) by motor (6).
9. intelligent cleaning robot, comprise robot body, sensor unit, driver element, walking unit, control module, cleaning agency, described control module is controlled described cleaning agency work, and control described driver element, walk by the described walking of described drive unit drives unit, it is characterized in that
Any described determination methods is judged the pollution level of the light-passing board (3) of its dust sensor among the described sensor unit employing claim 1-3.
10. intelligent cleaning according to claim 9 robot is characterized in that, described intelligent cleaning robot also comprises any described dust sensor self-induction mop system among the claim 4-7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010100018172A CN102121900A (en) | 2010-01-07 | 2010-01-07 | Method for judging pollution of dust sensor, wiping system and cleaning robot thereof |
| PCT/CN2010/078764 WO2011082606A1 (en) | 2010-01-07 | 2010-11-16 | Judging method for soiling of dust sensor, wiping system and cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010100018172A CN102121900A (en) | 2010-01-07 | 2010-01-07 | Method for judging pollution of dust sensor, wiping system and cleaning robot thereof |
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| CN102121900A true CN102121900A (en) | 2011-07-13 |
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| CN2010100018172A Pending CN102121900A (en) | 2010-01-07 | 2010-01-07 | Method for judging pollution of dust sensor, wiping system and cleaning robot thereof |
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| Country | Link |
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| CN (1) | CN102121900A (en) |
| WO (1) | WO2011082606A1 (en) |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103631260A (en) * | 2012-08-22 | 2014-03-12 | 金宝电子工业股份有限公司 | Transport vehicle and control method thereof |
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| CN104487864A (en) * | 2012-08-27 | 2015-04-01 | 伊莱克斯公司 | Robot positioning system |
| CN104300890A (en) * | 2014-09-11 | 2015-01-21 | 国家电网公司 | A photovoltaic panel cleaning device |
| CN104300890B (en) * | 2014-09-11 | 2016-08-24 | 国家电网公司 | A kind of photovoltaic panel cleans device |
| CN105716131A (en) * | 2016-03-31 | 2016-06-29 | 宁波欧琳厨房电器有限公司 | Extractor hood with fume run-away prevention function and control method of extractor hood |
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| CN106725104B (en) * | 2017-01-03 | 2024-08-13 | 天佑电器（苏州）有限公司 | Dust collector floor brush with induction zone cleaning mechanism |
| CN106725104A (en) * | 2017-01-03 | 2017-05-31 | 天佑电器（苏州）有限公司 | Vacuum cleaner floor brush with induction zone cleaning mechanism |
| CN107497811A (en) * | 2017-08-31 | 2017-12-22 | 广东美的制冷设备有限公司 | Clean method, device and the computer-readable recording medium of sensor |
| CN109393998A (en) * | 2018-10-10 | 2019-03-01 | 珠海格力电器股份有限公司 | Cooking appliance and control method thereof |
| CN111134572B (en) * | 2018-11-02 | 2021-10-29 | 添可智能科技有限公司 | Dust collector |
| CN111134572A (en) * | 2018-11-02 | 2020-05-12 | 添可智能科技有限公司 | Dust collector |
| US11523722B2 (en) | 2019-05-28 | 2022-12-13 | Pixart Imaging Inc. | Dirtiness level determining method and electronic device applying the dirtiness level determining method |
| US12216063B2 (en) | 2019-05-28 | 2025-02-04 | Pixart Imaging Inc. | Electronic device which can determine a dirtiness level |
| US12133625B2 (en) | 2019-05-28 | 2024-11-05 | Pixart Imaging Inc. | Dirtiness level determining method and robot cleaner applying the dirtiness level determining method |
| CN110301867A (en) * | 2019-06-21 | 2019-10-08 | 北控滨南康健(重庆)环境工程有限公司 | Public lavatory auto cleaning system and method based on smart city |
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| CN110179399B (en) * | 2019-06-28 | 2023-11-28 | 小狗电器互联网科技（北京）股份有限公司 | Dust channel for dust collector and dust collector |
| CN114206515A (en) * | 2019-09-06 | 2022-03-18 | 三星电子株式会社 | Cleaner and control method thereof |
| CN114206515B (en) * | 2019-09-06 | 2024-05-24 | 三星电子株式会社 | Cleaning device and control method thereof |
| CN110860502B (en) * | 2019-12-25 | 2021-07-16 | 徐州双裕电子技术有限公司 | Automatic ash removal sensor |
| CN110860502A (en) * | 2019-12-25 | 2020-03-06 | 徐州双裕电子技术有限公司 | Automatic ash removal sensor |
| US11493336B2 (en) | 2020-06-22 | 2022-11-08 | Pixart Imaging Inc. | Optical navigation device which can determine dirtiness level of cover or fix multi light pattern issue |
| US11976942B2 (en) | 2020-06-22 | 2024-05-07 | Pixart Imaging Inc. | Optical navigation device which can determine dirtiness level of cover or fix multi light pattern issue |
| CN113892860A (en) * | 2020-06-22 | 2022-01-07 | 原相科技股份有限公司 | Electronic device capable of judging contamination degree |
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| CN112515577A (en) * | 2020-09-30 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | Self-cleaning method of cleaning robot, cleaning robot and cleaning system |
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