CN103284662B - Cleaning system and control method thereof - Google Patents
Cleaning system and control method thereof Download PDFInfo
- Publication number
- CN103284662B CN103284662B CN201210452184.6A CN201210452184A CN103284662B CN 103284662 B CN103284662 B CN 103284662B CN 201210452184 A CN201210452184 A CN 201210452184A CN 103284662 B CN103284662 B CN 103284662B
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- task
- sweeping robot
- detection signal
- module
- purging system
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- 238000004140 cleaning Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000010408 sweeping Methods 0.000 claims abstract description 65
- 238000001514 detection method Methods 0.000 claims abstract description 44
- 238000010926 purge Methods 0.000 claims description 18
- 238000004146 energy storage Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- ZOXJGFHDIHLPTG-UHFFFAOYSA-N Boron Chemical compound [B] ZOXJGFHDIHLPTG-UHFFFAOYSA-N 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 2
- 229910052796 boron Inorganic materials 0.000 claims description 2
- 229910052701 rubidium Inorganic materials 0.000 claims description 2
- IGLNJRXAVVLDKE-UHFFFAOYSA-N rubidium atom Chemical compound [Rb] IGLNJRXAVVLDKE-UHFFFAOYSA-N 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 241000256844 Apis mellifera Species 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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
- A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
- A47L13/42—Details
-
- 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
-
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a cleaning system and a control method thereof. The cleaning system comprises a guide object and a sweeping robot. The guiding object is provided with a magnet module for forming a magnetic field. The sweeping robot comprises an operation module, a first sensing module and a control module. The operation module performs a cleaning task and a moving task according to a control signal. The first sensing module generates a first detection signal according to the magnetic field. The control module generates a control signal according to the first detection signal for adjusting the performance of at least one of the cleaning task and the moving task.
Description
Technical field
The present invention relates to a kind of purging system, particularly relate to a kind of cleaning system with sweeping robot
System.
Background technology
Cleaning floor is the most laborious a kind of work.In order to improve the time that cleaning floor is spent, send out
Put on display many cleaning devices, such as besom, rag ... etc..But, user still needs to hand held device for cleaning,
Can be cleaned action, therefore, existing cleaning device does not reduce the inconvenience of user.
Along with the progress of science and technology, the kind of electronic product is the most, and wherein robot (robot) is exactly it
Middle one.As a example by sweeping robot, it can be cleaned action automatically, operates without user,
The most gradually replace existing cleaning device.It is said that in general, existing way is to utilize at least one virtual wall
(virtual wall), limits the purging zone of sweeping robot, and utilizes a base station (docking station),
Sweeping robot is charged.But, if sweeping robot cannot learn exactly virtual wall or base station or
The position of other are wireless guiding device, will cause sweeping robot false hit to virtual wall or cannot be instant
Return to base station charging.
Summary of the invention
The present invention provides a kind of purging system, including a guiding object and a sweeping robot.Guide thing
Body has a Magnet module, in order to form a magnetic field.Sweeping robot includes, an operation module, one
One sensing module and a control module.Operation module according to a control signal, carry out a clean up task with
And one move task.First sensing module, according to this magnetic field, produces one first detection signal.Control module
According to the first detection signal, produce control signal, in order to adjust clean up task and mobile task at least
The usefulness of one.
The present invention also provides for a kind of control method, it is adaptable to a sweeping robot, including, a Magnet is set
Module guides in object in one, in order to form a magnetic field；Detection magnetic field, and produce one according to testing result
First detection signal；According to the first detection signal, the clean up task and controlling sweeping robot moves
The usefulness of at least one of task.
For making the features and advantages of the present invention to become apparent, cited below particularly go out preferred embodiment, and tie
Close accompanying drawing and describe in detail as follows.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the purging system of the present invention.
Fig. 2 is that the one of the control method of the present invention may embodiment.
Fig. 3 is another possible embodiment of the control method of the present invention.
Reference numeral explanation
100: purging system；
110: guide object；
130: sweeping robot；
111: Magnet module；
113: nd-fe-b magnet；
131: operation module；
132: sensing module；
133: control module；
134: cleaning brush；
135,136: roller；
137: suction port；
S210 ~ S230, S310 ~ S350: step.
Detailed description of the invention
Fig. 1 is the schematic diagram of the purging system of the present invention.As it can be seen, purging system 100 includes that one draws
Lead object 110 and a sweeping robot 130.In the present embodiment, object 110 is guided to have a magnetic
Swage block 111, in order to form a magnetic field.In a possible embodiment, Magnet module 111 includes at least
One nd-fe-b magnet 113.
The present invention does not limit the function guiding object 110.In the present embodiment, guiding object 110 can
Guide sweeping robot 130.In a possible embodiment, guiding object 110 is a virtual wall, in order to
Limit the moving direction of sweeping robot 130.In another possible embodiment, guiding object 110 is one
Charging base platform or wireless guiding device, carried out in order to guide sweeping robot 130 to return to charging base platform
Charging action or radio control program.
Sweeping robot 130 includes operation module 131, sensing module 132 and a control module
133.Operation module 131, according to a control signal, carries out a clean up task and and moves task.This
Invention does not limit the composed component of operation module 131, as long as can be cleaned and the unit of mobile task
Part, all may be provided among operation module 131.In the present embodiment, operation module 131 includes that one is clear
Clean brush 134 and roller 135,136 and suction port 137.Cleaning brush 134 and suction port 137 in order to
Carry out a clean up task.Roller 135 and 136 moves task in order to carrying out.
Sensing module 132, according to magnetic field produced by Magnet module 111, produces a detection signal.At this
In embodiment, sensing module 132 is arranged at the side of sweeping robot 130, but and is not used to limit this
Invention.In other embodiments, as long as the position in magnetic field can be sensed, sensing module 132 all can be set.
It addition, the present invention does not the most limit the inside structure of sensing module 132.In a possible embodiment, sensing
Module 132 include a compass sensor (compass sensor), a Hall sensor (Hall sensor),
At least one of one gyroscope and an accelerometer (g sensor).
Control module 133, according to sensing module 132 produced detection signal, produces a control signal and gives
Operation module 131, in order to adjust clean up task that operation module 131 carried out and mobile task extremely
The usefulness of few one.
For example, control module 133, according to sensing module 132 produced detection signal, controls rolling
Take turns the rotating speed of 135 and 136, turn to, in order to stop or starting the movement of sweeping robot 130, or
Adjust translational speed (acceleration or deceleration) or the moving direction (turn round or cruise) of sweeping robot 130.
It addition, control module 133 more can control clear according to sensing module 132 produced detection signal
The rotating speed of clean brush 134 or the suction of suction port 137, air mass flow, in order to adjust sweeping robot
The cleaning usefulness of 130.
In the present embodiment, when sweeping robot 130 close control object 110, sense module 132
Just strong magnetic field can be sensed.On the contrary, when sweeping robot 130 is away from guiding object 110,
Sensing module 132 just cannot sense magnetic field, or can only sense small magnetic field.Therefore, according to
Sensing module 132 produced detection signal, just can learn the position guiding object 110.
In a possible embodiment, if guide object 110 as a virtual wall, then sweeping robot
130 when close control object 110, and control module 133 is just according to the produced inspection of sensing module 132
Survey signal, the mobile route of planning sweeping robot 130, namely control turning of roller 135 and 136
Speed and turn to.
In another possible embodiment, if guide object 110 as a charging base platform, then when sweeping the floor
When one electric energy of the energy-storage module (such as battery, do not show) in robot 130 is less than a preset value, control
Molding block 133 controls roller 135 and 136 toward guiding object 110 to move.Owing to guiding object 110 to have
Having Magnet module 111, therefore, by the detection of sensing module 132, sweeping robot 130 can be accurate
Learn guide object 110 position, and towards guide object 110 and move.
In other embodiments, no matter why guiding the role of object 110, control module 133 can basis
Sensing module 132 produced detection signal, learns the state of current sweeping robot 130.Citing and
Speech, when the change of sensing module 132 produced detection signal is less than a preset value, and is continued above
During one Preset Time, represent that sweeping robot 130 stays in same place always motionless, as robot blocks
Or idle running.In this instance, control module 133 can control turning to of roller 135 and 136 so that sweeps the floor
Robot 130 moves in an oscillating manner.
It addition, control module 133 also may utilize the effect of sound or light, present sweeping robot 130
Use state.For example, when sweeping robot 130 blocks, control module 133 drives a honeybee
Ring device (not shown), in order to send warning message, or lights warning lamp, allows user immediately learn well
And get rid of abnormality.
In order to allow sweeping robot 130 move in optimal mode, in a possible embodiment, sweep the floor
Robot 130 also includes a sensing module 137.Sensing module 137 is according to outside sweeping robot 130
Portion's environment, produces a detection signal.Control module 133 is according to sensing module 137 produced detection letter
Number, adjust at least one usefulness of the clean up task of operation module 131 and mobile task.
For example, if control module 133 is according to sensing module 132 produced detection signal, learn
Sweeping robot 130 is stuck, turning to of control module 133 adjustable roller 135 and 136, in order to
Sweeping robot 130 is made to move in an oscillating manner, further according to sensing module 137 produced detection letter
Number, adjust the mobile route of sweeping robot 130, make sweeping robot 130 depart from and block state.
The present invention does not limit the inside structure of sensing module 137.In a possible embodiment, sense mould
Block 137 includes an OPTICAL SENSORS (photo sensor), according to the reflection light around sweeping robot 130,
Produce detection signal.In another possible embodiment, sensing module 137 includes a sound sensor, as
Ultrasonic sensing method (ultrasonic sensor), according to the reflection sound wave around sweeping robot 130,
Produce detection signal.In addition, sensing module and the guiding device that can sense wireless signal are all possible
Embodiment.
Fig. 2 is that the one of the control method of the present invention may embodiment.First, a Magnet module is set in one
Guide in object, in order to form a magnetic field (step S210).In a possible embodiment, can be by least one rubidium
Ferrum boron magnets is arranged in guiding object, but and is not used to limit the present invention.In other embodiments, may be used
The Magnet of other kind is set in guiding in object.
Detection guides the magnetic field of object, and according to testing result, produces detection signal (step S220).
In a possible embodiment, it is to utilize a compass sensor, a Hall sensor, a gyroscope and
At least one detection magnetic field of accelerometer.
According to detection signal, the clean up task and controlling a sweeping robot moves at least the one of task
Individual usefulness (step S230).May be in embodiment one, by the cleaning brush controlling sweeping robot
Rotating speed, the suction of suction port or air mass flow, just can reach a clean up task of control sweeping robot
Purpose.It addition, by controlling the rotating speed of roller of sweeping robot and turning to, just can reach control and sweep the floor
The one of robot moves the purpose of task.
Fig. 3 is another possible embodiment of the control method of the present invention.Fig. 3 similar diagram 2, difference
It is Fig. 3 many step S340 and S350.Step due to step S310 ~ S330 Yu Fig. 2 of Fig. 3
S210 ~ S230 is identical, therefore repeats no more.
In step S340, it is judged that the change of step S220 produced detection signal is the most pre-less than one
If value, and it is continued above a Preset Time.When the change detecting signal produced by step S220 is little
In a preset value, and when being continued above a Preset Time, represent that sweeping robot may be stuck.Cause
This, an external environment condition of detection sweeping robot, and the cleaning of sweeping robot is adjusted according to testing result
Task and one moves at least one (step S350) of task.
For example, when sweeping robot blocks, can first adjust the mobile task of sweeping robot, make
Sweeping robot moves with a swingable manner, recycles the outside of another sensing module detection sweeping robot
Environment, and the travel path of sweeping robot is adjusted according to testing result so that sweeping robot leaves card
Live state.It addition, after learning that sweeping robot blocks, can first suspend clean up task, state solution to be blocked
After removing, then start clean up task.
In a possible embodiment, step S350 utilizes outside an OPTICAL SENSORS detection sweeping robot
One reflection light of portion's environment.In another possible embodiment, step S350 is to utilize a sound sensor,
One reflection sound wave of the external environment condition of detection sweeping robot.
Time when detecting the change of signal produced by step S220 less than a preset value or lasting
Between not less than a Preset Time time, represent sweeping robot normal operation, therefore, return to step S320,
Continue the change according to magnetic field, control sweeping robot.It addition, after step S350, also return to step
Rapid S320, continues the change in detection magnetic field.
Unless otherwise defined, at this, all vocabulary (comprising technology and scientific terms) all belong to skill belonging to the present invention
Art field has being commonly understood by of usually intellectual.Additionally, unless clear expression, vocabulary is in general word
Definition in allusion quotation should be interpreted that in the article of technical field associated therewith, meaning is consistent, and should not be construed as reason
Think state or the most formal voice.
Although the present invention discloses as above with preferred embodiment, so it is not limited to the present invention, ability
The technical staff in territory, under the premise without departing from the spirit and scope of the present invention, can make some changes with
Retouching, therefore protection scope of the present invention is to be as the criterion with the claim of the present invention.
Claims (11)
1. a purging system, including:
One guides object, has a Magnet module, in order to form a magnetic field；And
One sweeping robot, including:
One operation module, according to a control signal, carries out a clean up task and and moves task；
One first sensing module, according to this magnetic field, produces one first detection signal；And
One control module, according to this first detection signal, produces this control signal, in order to adjust this cleaning
Task and this move the usefulness of at least one of task,
Wherein this sweeping robot also includes:
One second sensing module, according to an external environment condition of this sweeping robot, produces one second detection letter
Number, wherein when the change of this first detection signal is less than a preset value, and it is continued above a Preset Time
Time, this control module, according to this second detection signal, adjusts this clean up task and this moves task at least
The usefulness of one.
2. purging system as claimed in claim 1, wherein this guiding object is a virtual wall.
3. purging system as claimed in claim 1, wherein this guiding object is a charging base platform.
4. purging system as claimed in claim 1, wherein this guiding object is a wireless guiding device.
5. purging system as claimed in claim 3, wherein this operation module includes multiple roller, in order to
Carrying out this and move task, this sweeping robot also includes an energy-storage module, when an electric energy of this energy-storage module
During less than a preset value, this control module controls the plurality of roller and moves toward this charging base platform.
6. purging system as claimed in claim 1, wherein this first sensing module includes a compass sense
At least one of survey device, a Hall sensor, a gyroscope and an accelerometer.
7. purging system as claimed in claim 1, wherein this second sensing module includes an OPTICAL SENSORS,
A reflection light according to this external environment condition, produces this second detection signal.
8. purging system as claimed in claim 1, wherein this second sensing module includes a sound sensing
Device, according to a reflection sound wave of this external environment condition, produces this second detection signal.
9. purging system as claimed in claim 1, wherein this second sensing module includes a wireless sensor
Device, according to a wireless signal of this external environment condition, produces this second detection signal.
10. purging system as claimed in claim 1, wherein this Magnet module includes at least one rubidium ferrum boron
Magnet.
11. 1 kinds of control methods a, it is adaptable to sweeping robot, including:
One Magnet module is set and guides in object in one, in order to form a magnetic field；
Detect this magnetic field, and according to testing result, produce one first detection signal；
According to this first detection signal, the clean up task and controlling this sweeping robot moves task
The usefulness of at least one；And
When the change of this first detection signal is less than a preset value, and when being continued above a Preset Time,
Detect an external environment condition of this sweeping robot, produce one second detection signal, according to this second detection letter
Number, adjust this clean up task and this moves the usefulness of at least one of task.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201261606106P | 2012-03-02 | 2012-03-02 | |
| US61/606,106 | 2012-03-02 | ||
| TW101127709A TW201336457A (en) | 2012-03-02 | 2012-08-01 | Cleaning system and control method thereof |
| TW101127709 | 2012-08-01 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103284662A CN103284662A (en) | 2013-09-11 |
| CN103284662B true CN103284662B (en) | 2016-09-21 |
Family
ID=48985190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210452184.6A Active CN103284662B (en) | 2012-03-02 | 2012-11-13 | Cleaning system and control method thereof |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20130228198A1 (en) |
| JP (1) | JP2013180204A (en) |
| CN (1) | CN103284662B (en) |
| DE (1) | DE102013101700A1 (en) |
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| US12233734B2 (en) | 2015-06-26 | 2025-02-25 | Positec Power Tools (Suzhou) Co., Ltd. | Autonomous mobile device and wireless charging system thereof |
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| CN102087529A (en) * | 2009-12-04 | 2011-06-08 | 恩斯迈电子(深圳)有限公司 | Movable device and control method thereof |
| CN102169345A (en) * | 2011-01-28 | 2011-08-31 | 浙江亚特电器有限公司 | Setting system and setting method of action area of robot |
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2012
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- 2012-12-21 US US13/724,140 patent/US20130228198A1/en not_active Abandoned
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2013
- 2013-02-20 DE DE102013101700A patent/DE102013101700A1/en not_active Withdrawn
- 2013-02-27 JP JP2013036716A patent/JP2013180204A/en active Pending
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| CN102087529A (en) * | 2009-12-04 | 2011-06-08 | 恩斯迈电子(深圳)有限公司 | Movable device and control method thereof |
| CN102262407A (en) * | 2010-05-31 | 2011-11-30 | 恩斯迈电子(深圳)有限公司 | Guide device and operating system |
| KR101021267B1 (en) * | 2010-09-20 | 2011-03-11 | 주식회사 모뉴엘 | Cleaning robot system and its control method |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2013180204A (en) | 2013-09-12 |
| US20130228198A1 (en) | 2013-09-05 |
| CN103284662A (en) | 2013-09-11 |
| DE102013101700A1 (en) | 2013-09-05 |
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