CN104977929B - Guiding type cleaning device and guiding type cleaning set - Google Patents
Guiding type cleaning device and guiding type cleaning set Download PDFInfo
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- CN104977929B CN104977929B CN201510044363.XA CN201510044363A CN104977929B CN 104977929 B CN104977929 B CN 104977929B CN 201510044363 A CN201510044363 A CN 201510044363A CN 104977929 B CN104977929 B CN 104977929B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 87
- 210000004209 hair Anatomy 0.000 claims description 8
- 238000012546 transfer Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 18
- 230000005611 electricity Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 11
- 239000000428 dust Substances 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 5
- 230000000149 penetrating effect Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 208000002193 Pain Diseases 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000036407 pain Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a guide type cleaning device and a guide type cleaning group, wherein the guide type cleaning group comprises a signal transmitter and a guide type cleaning device, the signal transmitter can transmit at least one first transmitting signal, the guide type cleaning device comprises a machine body, a plurality of first signal receivers, at least one moving assembly, at least one driving assembly and a control unit, each first signal receiver receives the first transmitting signal in a signal receiving range to generate a first receiving signal, each moving assembly is connected to the corresponding driving assembly, the control unit is connected with the first signal receiver and the driving assembly to receive and respectively generate corresponding first control signals according to the first receiving signal to drive the corresponding driving assembly, and therefore the moving assembly drives the machine body to move towards the direction of the first transmitting signal.
Description
Technical field
The present invention relates to a kind of cleaning devices, guide movement by transmitting signal especially with regard to one kind or return cradle
Guiding type cleaning device.
Background technique
It discloses to have in TaiWan, China patent and sweep the floor and the cleaning device of the dust-absorbing function (date of application: 2009-08-
25, application number: 098128483), and for the cleaning device swept the floor with dust-absorbing function, be arranged in body brush module with
Dust extractor is pivoted with main brush and time brush by power packages driving in brush module, and some of main brush is by brush
The opening of module bottom stretch out with ground face contact, and the position at the top of the neighbouring brush of brush module has an outlet, and
Brush module is to be hubbed at body, put brush module can according to self weight free pivot.
Automatic cleaning apparatus (the date of application: 2013- with movable charger is disclosed in TaiWan, China patent
08-29, application number: 102216216), which is the automatic cleaning apparatus with movable charger, including automatic cleaner
And movable charger；Automatic cleaner be equipped with the first radio receiving transmitting module and electricity storage module, the first radio receiving transmitting module to
Position signal is sent out, electricity storage module is to store and supply automatic cleaner electric power；Movable charger is equipped with body, movement
Mechanism, the second radio receiving transmitting module and power supply module, the second radio receiving transmitting module are electrically connected mobile mechanism, the second wireless receiving and dispatching
Module receives position signal and mobile mechanism is driven to drive body automatically mobile towards automatic cleaner, and supplies electricity with power supply module
Electricity storage module can be given；Therefore, movable charger can be automatically moved into automatic cleaner to charge to automatic cleaner.
Disclosed in TaiWan, China patent absorption type cleaning device (date of application: 2013-08-02, application number:
102214605), which is a kind of absorption type cleaning device, includes that control circuit is set on shell, and control circuit packet
Containing internal electric source module to provide internal electric source, drive module can respectively drive front-wheel and rear-wheel, and absorbing unit can externally be inhaled
Dust is taken, and absorbing unit is adsorbable that dust bag is set on shell in plane, and correspond to absorbing unit, to collect ash
Dirt.This patent is adsorbed in plane using absorbing unit, absorbing unit while external draw dust, then is corresponded to dust bag and inhaled
For coupon member to collect dust, therefore compared to general traditional electric dust collector, user need not limpingly raise wrist to hold
Thus row cleaning replaces traditional manpower cleaning.
A kind of autonomous robot interconnection method (Method of Docking an is disclosed in PCT Patent
Autonomous Robot, date of application: 2004-01-21, application number: PCT/US2004/001504), the patent be it is a kind of from
Method of the main robot automatic returning to the recharging base, the weight emitted for autonomous robot by detecting and receiving recharging base
Repeatedly (overlap) signal, the position according to the overlapping signal, which is advanced, is returned to the recharging base.
From the foregoing it will be appreciated that traditional automatic cleaning apparatus (autonomous robot) can be to carrying out cleaning work in a certain space
Make, moreover it is possible to further allow mobile charger that can be automatically moved into automatic cleaner to charge to automatic cleaner, or from host
Device people automatic returning is to the recharging base.But when this cleaning device is during automatic cleaning, if user observes in space
Certain when being cleaned, automatic cleaning apparatus is only capable of advancing according to scheduled move mode, and user can not be controlled at this time
On the position that automatic cleaning apparatus processed goes to needs to clean, therefore, automatic cleaning apparatus still has inconvenient and puzzlement in use, is
A kind of urgent problem to be solved.
Summary of the invention
It can be seen that the above-mentioned prior art still has many missings, a real non-kindhearted design, and urgently improved.
Inventor is urgently thinking to be improved innovation, and warp is more in view of items disadvantage derived from above-mentioned existing way
After year takes great pains to attain one's goal and concentrates on studies, successfully the invention of this part is completed in research and development finally.
The present invention provides a kind of guiding type cleaning devices, including body, the first signal receiver, driving assembly, movement
Component and power supply unit.Wherein the first signal receiver is located at the surface of the body, and first signal receiver is in its signal
The first transmitting signal outside being received in range of receiving, and generate one first and receive signal, the first transmitting signal is number
Encoded signal.The driving component is located in body, and each moving assembly is located at the bottom surface of the body, and each movement
Component is at least connected to one of the driving component, and the driving component drives its institute according to the first reception signal
The moving assembly of connection makes the moving assembly drive the body mobile towards the direction of the first transmitting signal.
Finally, machine is intracorporal provide the signal receiver and the driving component for electrical links list needed for electric power.
Wherein, it is each it is described first reception signal intensity and its received it is described first transmitting signal intensity at than
Example is closed.
Wherein, the first signal receiver described in the driving component connection at least one of which, first driving assembly
The first reception signal and the moving assembly that drives it to be connected based on the received, each described first receives signal
Intensity and its received it is described first transmitting the intensity of signal it is directly proportional, and with the driving of first driving assembly speed
It spends directly proportional.
It wherein, further comprise control unit in the body, control unit is electrically connected first signal and receives
Between device and the driving component, and described control unit receives described first and receives signal, and receives and believe according to described first
Number an at least first control signal is generated, each first control signal is sent to each the driving component, the driving group
The first control signal of the part according to received by it and export corresponding driving speed, make described in the driving component drives
Moving assembly, and drive by the moving assembly movement and steering of the body.
Wherein, the first reception signal can be solved correct volume with the intensity of its signal or the first reception signal
Number of codes generates the different first control signals, so that the driving component is with different the first control letters
Number output different driving speed.
The present invention provides a guiding type cleaning groups, are made of above-mentioned signal projector and guiding type cleaning device.
Wherein, signal projector can be hand-held beepbox, including visible light source unit and the first transmitting unit are described
Light source unit is located at hand-held beepbox front end, and issues a visible light beam outwardly, and first transmitting unit is also
It is located at hand-held beepbox front end, first transmitting unit issues the first transmitting signal, and first hair
The direction of transfer for penetrating signal is consistent with the direction of the light beam.
Wherein, the guiding type cleaning device may also include the charging link unit connecting with said supply unit, to
Electric power outside receiving, and the electric power is filled with said supply unit, and said supply unit then stores up the electric power being filled with
It deposits.
Wherein, the signal projector separately can be cradle, and the cradle may include pedestal, pillar, multiple first hairs
Penetrate unit and transmission of electricity connection unit.The pillar is located on the pedestal, and multiple first transmitting units are located on the pillar,
And first transmitting unit respectively emits signal, and first hair towards the predetermined angular transmission one first far from the pillar
Penetrate the transmission range not intersection of signal.And connection unit of transmitting electricity is located on the pillar, the transmission of electricity connection unit is led described
Draw formula cleaning device and be moved at the position of the cradle and connect with the charging link unit, and will be outer received by it
Portion's power transmission is to the charging link unit.
Wherein, cradle further includes the second transmitting unit, and the second transmitting unit is located on the pillar, and second hair
The transmission range for penetrating signal is shorter than the transmission range of the first transmitting signal.Guiding type cleaning device is in the top surface of the body
It is additionally provided with second signal receiver, the second transmitting signal behavior is received by the first signal receiver or second signal receiver,
Signal is received to generate one second, second signal receiver above-mentioned is set to the top surface of the body, that is, drives described mobile group
Part pivot stud, until the charging chain order member is towards the cradle.
Wherein the guiding type cleaning device may also include third signal receiver, and third signal receiver is located at the machine
The surface of body receives institute in the third signal receiver back to the position of first signal receiver, the driving component
The second transmitting signal is stated, and generates a corresponding third and receives signal, and signal is received according to the third and drives the movement
It is mobile that component is driven onto the cradle.
Wherein, control unit is further provided in the body, control unit is electrically connected first signal and receives
Between device, second signal receiver and third signal receiver and the driving component, and described control unit receives described the
One~tri- receives signal, and receives signal according to described the first~tri- and generate at least one the first~tri- control signal, and each described the
One~tri- control signal is sent at least one of which the driving component, institute of the driving component according to received by it
It states the first~tri- control signal and exports corresponding driving speed, so that the driving component is driven the moving assembly, and by institute
State movement and steering that moving assembly drives the body.
Wherein, the first reception signal can be solved correct volume with the intensity of its signal or the first reception signal
Number of codes, and the different first control signals is generated, so that the driving component is with different described the first~tri-
Control the different driving speed of signal output.
Wherein, the bottom of the body and the edge of adjacent third signal receiver are equipped with the first link unit, and described
Cradle is equipped with the second link unit, the shape of second link unit and the first link unit phase in the pedestal
Match, the size shape of the two can match connection, and the guiding type cleaning device is moved at the position of the cradle, described
Second link unit is just connected together with first link unit.
Wherein, first link unit can be groove, and two connection unit can be a convex block, and the two also can be opposite.
Wherein, first signal transmitter unit and second signal transmitting unit can be Infrared optical emitter, described
First transmitting signal and the second transmitting signal are then infrared ray.
Wherein, the first transmitting signal and the second transmitting signal are separately added into scheduled coding, and first transmitting
The coding of signal and the second transmitting signal is different.
The present invention provides a kind of method that guiding type cleaning device returns cradle, apply in guiding type cleaning group, packet
It includes such as the following steps:
A. first signal receiver of the guiding type cleaning device receives first transmitting of the cradle
First transmitting signal of unit, and generate corresponding described first by first signal receiver and receive signal.
B. the driving component of the guiding type cleaning device receives signal control according to described first and drives its company
The moving assembly connect, or receive signal according to described first by the described control unit of the guiding type cleaning device and generate
First control signal, the first control signal of the driving component according to received by it and export corresponding driving speed
Degree makes the driving component drive the moving assembly, and the movement and steering of the body, court are driven by the moving assembly
It is mobile to the direction of the cradle.
What C. the guiding type cleaning device selected receives institute by the first signal receiver or the second signal receiver
The second transmitting signal of second transmitting unit of cradle is stated, and generates corresponding described second and receives signal, institute
The driving component for stating guiding type cleaning device controls the driving component according to the second reception signal and drives its company
The moving assembly connect, or receive signal according to described second by the described control unit of the guiding type cleaning device and generate
Second control signal, the second control signal of the driving component according to received by it and export corresponding driving speed
Degree makes the driving component drive the moving assembly, and the movement and steering of the body are driven by the moving assembly, makes
The guiding type cleaning device the charging chain order member towards the cradle.
D. the third signal receiver of the guiding type cleaning device receives the second transmitting signal, and generates corresponding
A third receive signal, described in the driving component of the guiding type cleaning device receives signal control according to the third
Driving assembly drives the moving assembly that it is connected, or by the guiding type cleaning device described control unit according to institute
It states third and receives signal generation third control signal, the third of the driving component according to received by it controls signal,
So that the driving component is driven the moving assembly, and drives the body towards the side of the cradle by the moving assembly
To movement.
E. the first link unit of the body is combined with the second link unit of the cradle.
Technical characteristic provided by the present invention when being compared to each other with the prior art, is also equipped with following advantages:
1. guiding type cleaning device receives the first transmitting signal using first signal receiver, and cleans guiding type
Device emits signal movement towards first.
2. guiding type cleaning device receives difference because the first signal receiver distance first transmitting signal is far and near
First transmitting signal of intensity, or emit the number difference that required coding is decoded out in signals from different far and near first, so that
Described first receives signal difference, in this way, driving assembly receives signal according to different described first or the first control is believed
Number different speed of output, uses the driving moving assembly and generates different speed, so that body is able to mobile and turns to.
3. guiding type cleaning device is matched by the first transmitting unit with the first signal receiver, and cleans guiding type
Device emits signal movement towards first and the second transmitting unit is matched with the second~tri- signal receiver, makes guiding type
Cleaning device turns to and is connected to charger.
4. guiding type cleaning device is also non-intersecting because of the first transmitting unit transmitting signal, and the first transmitting unit and the second hair
Penetrating unit senses, to receive range of signal of different sizes, and making the body is also correctly steadily to execute described the when returning cradle
One~tri- receives signal or the first~tri- control signal.
Detailed description of the invention
Fig. 1 is the schematic diagram of guiding type cleaning device provided in an embodiment of the present invention；
Fig. 2 is the circuit box schematic diagram of guiding type cleaning group provided in an embodiment of the present invention；
Fig. 3 is another schematic diagram of guiding type cleaning device provided in an embodiment of the present invention；
Fig. 4 is the circuit box signal of guiding type cleaning device provided in an embodiment of the present invention and hand-held remote control device
Figure；
Fig. 5 is the circuit box schematic diagram of guiding type cleaning device provided in an embodiment of the present invention and cradle；
Fig. 6 is the perspective view of cradle provided in an embodiment of the present invention；
Fig. 7 is the transmitting range and the of the first~bis- transmitting unit of guiding type cleaning device provided in an embodiment of the present invention
The range of receiving schematic diagram of binary signal receiver；
Fig. 8 is the steering schematic diagram of guiding type cleaning device provided in an embodiment of the present invention；
Fig. 9 is the elevational schematic view of body provided in an embodiment of the present invention；
Figure 10 is the guiding type cleaning device provided in an embodiment of the present invention running schematic diagram mobile towards light beam；
Figure 11 is the guiding type cleaning device provided in an embodiment of the present invention another running schematic diagram mobile towards light beam；
Figure 12 is the guiding type cleaning device provided in an embodiment of the present invention another running schematic diagram mobile towards light beam；
Figure 13 is the guiding type cleaning device provided in an embodiment of the present invention schematic diagram mobile towards cradle；
Figure 14 is the schematic diagram that guiding type cleaning device provided in an embodiment of the present invention is connected to cradle.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, but simultaneously
It is not used in the restriction present invention.Hereinafter, in conjunction with attached drawing, the present invention is further described:
Fig. 1 and Fig. 2 is please referred to, guiding type cleaning device includes body 100, multiple first signal receivers 101, driving group
Part 102, moving assembly 103 and power supply unit 104.Wherein, the guiding type cleaning device can also be 200 groups with a signal projector
As guiding type cleaning group, and the first transmitting signal that guiding type cleaning device is issued by the signal projector 200 guides
Direction of travel, signal projector 200 include the first transmitting unit 201.One surface of the body is equipped with first signal and connects
Device is received, the surface described herein refers to the top surface in the body, side (as shown in Figure 3) or bottom surface (as shown in Figure 1),
In in the top surface or basal surface position further refer to the top surface or bottom surface in the position close to the side, make first letter
Number receiver receives the first transmitting signal that the signal projector 200 is issued in its signal range of receiving, and generates one
First receives signal.
In the present invention, each moving assembly 103 is located at the bottom surface (as shown in Figures 1 and 3) of the body 100, the driving
Component 102 is located at the inside of the body 100, and moving assembly 103 a part of at least within is connected to one of driving assembly
102, and the moving assembly 103 that the moving assembly 103 of another part is connected to driving assembly 102 is driven, and another portion again
The moving assembly 103 of part is then not connected with driving assembly 102, only uses as follower, to support the body 100.Or it is each
The moving assembly 103 is separately connected a driving component 102.The driving component 102 is received according to described first to be believed
Number, and then the moving assembly 103 for driving it to be connected, make the moving assembly drive the body towards first letter
The direction that number receiver receives the first transmitting signal is mobile, and said supply unit 104 is set to the interior of the body 100
Portion, electric power needed for the signal receiver and the driving component are provided.
In the present invention, each described first receives the intensity of signal, received with first signal receiver described in
The distance of first transmitting signal is inversely proportional, when the signal strength that the first transmitting signal is launched is fixed, then when described
For first transmitting signal closer to first signal receiver, first signal receiver is to generate stronger each described first
Receive signal.Either, in order to avoid the interference of the first transmitting signal by outer signals, in the present invention, described the
One transmitting signal is encoded signal, and works as the signal strength that the first transmitting signal is launched and fix, and described first
Signal receiver decodes out more correct coding contents from the first transmitting signal, that is, indicates the first transmitting letter
Number closer to the first signal receiver, so that first signal receiver is generated stronger each described first and receive signal, anti-,
When the signal strength launched of the first transmitting signal is fixed, and first signal receiver is i.e. from first hair
Penetrate and decode out fewer correct coding content in signal, that is, indicate the first transmitting signal further away from the first signal receiver,
So that first signal receiver is generated weaker each described first and receives signal.In this way, the driving component 102 is according to each
Described first receives the power of signal, and exports different speed.
It further comprise control unit 105 in the body 100, control unit 105 is located in the body 100, and
Control unit 105 is electrically connected between first signal receiver 101 and the driving component 102, and the control is single
Member 105 receives described first and receives signal, and the intensity for receiving signal according to described first generates an at least first control signal,
Each first control signal is sent to each the driving component 102, institute of the driving component 102 according to received by it
It states first control signal and exports corresponding driving speed, the driving component 102 is made to drive the moving assembly 103, and by
The moving assembly 103 drives the movement and steering of the body 100.
Referring to Fig. 4, the signal projector 200 can be a hand-held remote control device 220 comprising the first transmitting unit
221 issue the first transmitting signal, and the first transmitting signal with light source unit 222, first transmitting unit 221
Direction of transfer is consistent with the direction of the light beam, in this way, when user operates the hand-held remote control device 220, the light
Beam projects on the position on ground, will can be used as the launching position for indicating the first transmitting signal, and the guiding type cleans
Device is acted on as the aforementioned by first signal receiver 101, the driving component 102 and the moving assembly 103, is made
The aspect for following the light beam mobile will be shown by obtaining the body 100.
As shown in Fig. 1,5 and 6, in another embodiment, guiding type cleaning device is in the bottom of the body 100 back to
The edge of one signal receiver is equipped with the first link unit 107, and the signal projector 200 separately can be a cradle 210, fill
Electric seat 210 includes pedestal 211, pillar 212, the first transmitting unit 213, the second transmitting unit 214, second signal receiver 215
And transmission of electricity link unit 216, also there is outside Yu Suoshu cradle 210 second link unit 217, be set to the pedestal
Between 211 and the pillar 212, and second link unit 217 connects the first link unit 107, make the cradle with
The body 100 links together.
As shown in fig. 7, being equipped with multiple first transmitting units 213 on the pillar 212, and first transmitting unit
213 respectively emit signal, and the transmission of the first transmitting signal towards the predetermined angular transmission one first far from the pillar 212
Range not intersection.
In addition, being equipped with charging link unit back to the position of the first signal receiver 101 in the side of the body 100
109, the charging link unit 109 is connect with said supply unit 104, the charging link unit 109 be conductive junction point or
The power receiver end of wireless charging, and transmission of electricity link unit 216 described in connection unit 216 of transmitting electricity also is conductive junction point or wireless charging
The electric power output side of electricity, and connection unit 216 of transmitting electricity is located on the pillar 212, the transmission of electricity connection unit 215 is led described
Draw formula cleaning device to be moved at the position of the cradle 210, just connect with the charging link unit 109, and by its institute
The external power received is transmitted to the charging link unit 109, is transmitted electric power by the link unit 109 that charges single to power supply
Member 104 carries out power transmission and storage, and said supply unit 104 transmits electric power to described control unit 105 and driving assembly
102。
In addition, then referring to Fig. 7, cradle 210 also may include one second transmitting unit 108, the second transmitting unit
108 are located on the pillar 212, and the transmission range of the second transmitting signal is than the transmission range of the first transmitting signal
It is short.
Fig. 3 and 8 is please referred to, is additionally provided with second signal receiver 106, guiding type sanitizer cartridge in the top surface of the body 200
That sets selection receives the second transmitting signal by the first signal receiver 101 or second signal receiver 106.The guiding type is clear
The described control unit 105 of clean device according to it is described second receive signal generate second control signal, the driving component 102
Corresponding driving speed is exported according to the second control signal received by it, the driving component is made to drive the movement
Component, and the movement and steering of the body 100 are driven by the moving assembly 103, or selected by the driving component 102
The second transmitting signal is received by the first signal receiver 101 either second signal receiver, i.e., described in drive
103 pivot stud of moving assembly, until the charging chain order member is towards the cradle.
Secondly, please referring to Fig. 3 and 8, guiding type cleaning device further includes a third signal receiver 108, is located at the machine
The described control unit 105 of guiding type cleaning device described in position of the side of body 100 far from first signal receiver 101
Signal, which is received, according to the third generates third control signal, the third of the driving component 102 according to received by it
Signal is controlled, so that the driving component 102 is driven the moving assembly 103, and drive the body by the moving assembly 103
100 is mobile towards the direction of the cradle 210.Or it is received by the driving component 102 in the third signal receiver 108
To the second external transmitting signal, and generates a corresponding third and receive signal, and signal is received according to the third and drives institute
It states moving assembly 103 and is driven onto the movement of cradle 210.
Referring to Fig. 9, in this embodiment, the body 100 includes four the first signal receivers 101, described first
Signal receiver 101 can be the infrared receiver of directive property or radio frequency signal receiver etc., and first signal receives
Device 101 is evenly distributed in the side of 100 bottom surface of body close to the position of its lateral margin, and 100 top side location of body is equipped with
Second signal receiver 106, the second signal receiver 106 can be the infrared receiver or radio frequency signal of omni-directional
Receiver etc..The side of the body 100 in back to the second signal receiver lower position be arranged third signal receiver
108, the third signal receiver 101 can be the infrared receiver of directive property or radio frequency signal receiver etc..
Figure 10 and Figure 11 are please referred to, for ease of illustration first signal receiver 101 is when reception first emits signal
State, first signal receiver 101 is indicated respectively according to setting position with S1, S2, S3 and S4 below, and from the light
The position A1 of beam projection receives described first and penetrates signal, and the first transmitting signal can be infrared signal or wirelessly penetrate
Frequency signal, and the first transmitting signal is encoded signal, and the first transmitting signal is sent to control unit and is divided
Analysis judgement generates an at least first control signal, and then first control signal is sent to driving assembly 102 and drives moving assembly
103 advance towards the position A1 that the light beam projects.Also that is, as shown in Figure 10, the first signal receiver S1 and S2 is in institute
The position for stating light beam projection receives the first transmitting signal, and the first transmitting signal is located at first signal receiver
In S1 and S2 range of receiving, and the first transmitting signal is sent to described control unit 105, described control unit 105 is divided
Analysis judgement compares the strong of the first transmitting signal of the first signal receiver S1 and the first signal receiver S2
Degree, and the corresponding first control signal of generation is controlled into the driving component 102, moving assembly is driven to throw towards the light beam
The position of the position A1 penetrated is mobile.It further illustrates, as shown in figure 11, the position A2 of the light beam projection is located at first letter
In the range of receiving of number receiver S3 and S4, therefore the body 100 advances towards the position direction A2 that the light beam projects.In this hair
When bright actual implementation, the quantity of first signal receiver 101 is not limited with four, also can be three (as shown in Figure 3)
Or three or more.
Figure 12 is please referred to, illustrates another processing aspect when first signal receiver 101 receives the first transmitting signal,
First signal receiver 101 is indicated respectively according to setting position with S1, S2, S3 and S4 below, and by moving assembly 103
It is indicated respectively according to position with WH1, WH2 and WH3.Whether there is or not receptions according to the first signal receiver for first signal of present treatment aspect
To first transmitting signal based on judged, and by the first signal receiver 103 according to the received range of signal mark off Z1,
The region of Z12, Z2, Z23, Z3, Z34, Z4.Each receiving area and the pass of the first signal receiver are as shown in table 1:
| Receive the receiver of the first signal | Corresponding region |
| S1 | Z1 |
| S1、S2 | Z12 |
| S2 | Z2 |
| S2、S3 | Z23 |
| S3 | Z3 |
| S3、S4 | Z4 |
Table 1
And upon receipt of the signals, control unit 105 can set moving assembly 103 according to the received combined state of signal
Driving speed.Driving speed above-mentioned is according to just marking off speed 0 (lowest speed), 3 (highest of speed 1, speed 2 and speed
Speed).First signal receiver 101 is labeled as logical one when receiving the first transmitting signal；The first transmitting letter is not received
Number when be then labeled as logical zero.The permutation and combination that its first signal receiver 101 receives signal is as shown in table 2:
| S1 | S2 | S3 | S4 | WH1 | WH2 | WH3 | |
| Z1 | 1 | 0 | 0 | 0 | Speed 0 | Speed 2 | Speed 3 |
| Z12 | 1 | 1 | 0 | 0 | Speed 0 | Speed 1 | Speed 3 |
| Z2 | 0 | 1 | 0 | 0 | Speed 1 | Speed 2 | Speed 3 |
| Z23 | 0 | 1 | 1 | 0 | Speed 1 | Speed 1 | Speed 1 |
| Z3 | 0 | 0 | 1 | 0 | Speed 3 | Speed 2 | Speed 1 |
| Z34 | 0 | 0 | 1 | 1 | Speed 3 | Speed 1 | Speed 0 |
| Z4 | 0 | 0 | 0 | 1 | Speed 3 | Speed 2 | Speed 0 |
Table 2
When control unit 105 receives signal, the signal of S1~S4 can be judged by positive logic or negative logic, with
Know the region that current first transmitting signal is located；Such as: when being judged with positive logic, control unit 105 is judged to have and be patrolled
First signal receiver 101 of " 1 " is collected, to learn corresponding region；Anti-, if judged with negative logic, control is single
Member 105 then judges the first signal receiver 101 with logical zero, to learn corresponding region.
For example, when the first signal that control unit 105 is received from each first signal receiver 101 closes are as follows:
{ S1, S2, S3, S4 }={ 1,1,0,0 }, and what is selected is judged by positive logic either negative logic mode, can be learnt
First transmitting signal is seated region " Z12 ", and control unit 105 and then setting moving assembly 103 and driving speed are closed are as follows:
{ WH1, WH2, WH3 }={ speed 0, speed 1, speed 3 } allows guiding type cleaning device to have by moving assembly 103 different
Under driving speed, advance towards the direction Z12.
Fig. 7,8 are please referred to again, firstly, the second transmitting unit 214 transmission the second transmitting signal of the cradle 210, when
First signal receiver 101 or the second signal receiver 106 receive the second transmitting signal, and described second is emitted
Signal is transmitted to described control unit 105, and described control unit 105 generates the second control signal, so that the driving
Component 102 drives the moving assembly 103 to turn to the third signal receiver 108 and faces according to the second control signal
The cradle 210.The second transmitting signal is received by the third signal receiver 108 again, and described second is emitted
Signal is transmitted to described control unit 105, and described control unit 105 generates the third control signal, so that the driving
Component 102 controls signal according to the third and drives the moving assembly 103 mobile towards the cradle 210.
Figure 13 and 14 is please referred to, then, the body 100 advances towards the direction of the cradle 210, and when advancing
The second transmitting signal that the third signal receiver 108 constantly receives, makes described control unit 105 constantly according to institute
The the second transmitting signal received generates the third control signal, and controls the driving component 102 according to the third
Signal converts angle and the direction of the moving assembly 103, so that the direction that the body retains towards the cradle 210 is moved
It is dynamic, as shown in figure 12.Finally, the body 100 is connected according to the first link unit with the second link unit with the cradle 210
It connects, and is consistent by the two size shape and is fixedly connected, carry out power transmission, as shown in Fig. 13.
Above-listed detailed description is being specifically described for a possible embodiments of the invention, and only the embodiment is not used
To limit the scope of the patents of the invention, all equivalence enforcements or change without departing from carried out by technical spirit of the present invention also, are intended to be limited solely by
In the scope of the patents of this case.
In conclusion this case and has upper less than the conventional method commonly used not only in really belonging to innovation in technical idea
Multinomial effect is stated, novel and progressive Statutory Invention patent requirement has been fully complied with, whence is filed an application in accordance with the law, earnestly asks your office
This part invention patent application case is checked and approved, to encourage invention, until sense moral is just.
[symbol description]
100 bodies
101 first signal receivers
102 driving assemblies
103 moving assemblies
104 power supply units
105 control units
106 second signal receivers
107 first connection units
108 third signal receivers
109 charging link units
200 signal projectors
201 first transmitting units
210 cradles
211 pedestals
212 pillars
213 first transmitting units
214 second transmitting units
215 second signal receivers
216 transmission of electricity link units
217 second link units
220 hand-held remote control devices
221 first transmitting units
222 light source units
The first signal receiver of S1~S4
A1, A2 detect object
WH1~WH3 moving assembly
The region Z1, Z2, Z3, Z4, Z12, Z23, Z34
Claims (11)
1. a kind of guiding type cleaning device, comprising:
One body；
Multiple first signal receivers, are located at a surface of the body, and first signal receiver receives model in its signal
Interior the first transmitting signal for receiving the engine body exterior and being issued is enclosed, and generates one first and receives signal, the first transmitting letter
Number be digitally encoded signal；
At least one moving assembly is located at the bottom surface of the body；
At least one driving assembly is located in the body, and moving assembly described at least one of which is connected to one of institute
Driving assembly is stated, the moving assembly that the driving component drives it to be connected according to the first reception signal makes institute
It is mobile to state the direction that moving assembly drives the body towards the first transmitting signal；
One control unit is located in the body, and is electrically connected first signal receiver and each the driving component, institute
It states control unit and receives the first reception signal, and the assembled state for the intensity for receiving signal according to described first, generation pair
At least first control signal answered, each first control signal are sent at least one of which the driving component, institute
State driving assembly based on the received the first control signal and export corresponding driving speed, drive the driving component
The moving assembly is moved, and drives the movement and steering of the body by the moving assembly；
Wherein, described control unit is according to each first signal receiver by receiving the described first intensity difference for emitting signal
Different assembled state, and judge the position of the first transmitting signal, and set the corresponding driving speed of each driving unit,
Make the body mobile towards the position of the first transmitting signal with the speed difference of each driving element and turns to；
One power supply unit is located in the body, and provides the signal receiver, described control unit and the driving component
Required electric power.
2. guiding type cleaning device as described in claim 1, wherein described control unit is also received according to first signal
Whether device receives the state of the first transmitting signal to set the driving speed of an at least driving assembly.
3. guiding type cleaning device as claimed in claim 2, further includes:
One second signal receiver, is located at the top surface of the body, wherein passing through for the guiding type cleaning device selection is described
One second transmitting signal outside first signal receiver or second signal receiver reception；
The driving component receives the second transmitting signal in the second signal receiver, to drive the moving assembly
Pivot stud.
4. guiding type cleaning device as claimed in claim 3, further includes:
One third signal receiver is located at the surface of the body back to the position of first signal receiver, wherein described
Driving assembly receives an external third in the third signal receiver and emits signal, to drive the moving assembly to be driven onto
The direction of the third transmitting signal is mobile.
5. guiding type cleaning device as claimed in claim 2, further includes:
One second signal receiver, is located at the top surface of the body, the guiding cleaning device selection by first signal
One second transmitting signal outside receiver or second signal receiver reception；
The driving component receives described by first signal receiver or the second signal receiver selection
Two transmitting signals, to drive the moving assembly pivot stud.
6. guiding type cleaning device as claimed in claim 5 further includes a third signal receiver, is located at the table of the body
Face receives external one in the third signal receiver back to the position of first signal receiver, the driving component
Second transmitting signal, it is mobile with the direction for driving the moving assembly to be driven onto the second transmitting signal.
7. guiding type cleaning device as described in claim 1, wherein the described in the driving component connection at least one of which
One signal receiver, the driving component first reception signal and shifting for driving it to be connected based on the received
Dynamic component, each described first receives the intensity of signal, first transmitting received with each first signal receiver
The distance of signal is inversely proportional, and each first reception signal is directly proportional to the driving speed of the driving component.
8. a kind of guiding type cleaning group, comprising:
One signal projector issues at least one first transmitting signal；
One guiding type cleaning device, comprising:
One body；
Multiple first signal receivers are located at the surface of the body, and first signal receiver is in its signal range of receiving
Interior the first transmitting signal for receiving the signal projector and being issued, and generate one first and receive signal；
At least one moving assembly is located at the bottom surface of the body；
At least one driving assembly is located in the body, and moving assembly described at least one of which is connected to one of institute
Driving assembly is stated, the moving assembly that the driving component drives it to be connected according to the first reception signal makes institute
It is mobile to state the direction that moving assembly drives the body towards the first transmitting signal, wherein each the driving component according to
Each first signal receiver judges described the by receiving the assembled state of the strength difference of the first transmitting signal
The position of one transmitting signal, and the corresponding driving speed of each driving unit is set, respectively to pass through each driving element
Speed difference and make the body mobile towards the position of the first transmitting signal and turn to；
And
One power supply unit is located in the body, and provides the signal receiver and electric power needed for the driving component.
9. guiding type cleaning group as claimed in claim 8, wherein the signal projector is a hand-held beepbox, packet
It includes:
One light source unit is located at hand-held beepbox front end, and issues a light beam outwardly；And
One first transmitting unit, is located at hand-held beepbox front end, and first transmitting unit issues first hair
Signal is penetrated, and the direction of transfer of the first transmitting signal is consistent with the direction of the light beam.
10. guiding type cleaning group as claimed in claim 8, wherein the guiding type cleaning device further includes a charging chain order
Member, the charging link unit are connect with said supply unit, and the charging link unit receive outside electric power, and by institute
It states electric power and is filled with said supply unit, said supply unit then stores the electric power being filled with.
11. guiding type cleaning group as claimed in claim 8, wherein an at least driving assembly is also according to first signal
Whether receiver receives the state of the first transmitting signal to set the driving speed of an at least moving assembly.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510044363.XA CN104977929B (en) | 2014-04-09 | 2015-01-28 | Guiding type cleaning device and guiding type cleaning set |
| CN201711121202.1A CN107885210A (en) | 2014-04-09 | 2015-01-28 | Guiding type cleaning device and guiding type cleaning set |
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
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| CN2014101405043 | 2014-04-09 | ||
| CN201410140504 | 2014-04-09 | ||
| TW103112958 | 2014-04-09 | ||
| TW103112958 | 2014-04-09 | ||
| TW103138985 | 2014-11-11 | ||
| TW103138985A TWI635303B (en) | 2014-04-09 | 2014-11-11 | Guided cleaning device and guided cleaning group |
| CN201510044363.XA CN104977929B (en) | 2014-04-09 | 2015-01-28 | Guiding type cleaning device and guiding type cleaning set |
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| CN111449572A (en) * | 2020-03-26 | 2020-07-28 | 北京石头世纪科技股份有限公司 | Cleaning robot control method and device, storage medium and cleaning robot |
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| CN105662284B (en) * | 2016-03-01 | 2018-04-06 | 常州信息职业技术学院 | Intelligent movable house keeper and its method of work based on Internet of Things |
| CN105978114A (en) * | 2016-05-03 | 2016-09-28 | 青岛众海汇智能源科技有限责任公司 | Wireless charging system, method and sweeping robot |
| SE540605C2 (en) * | 2017-03-02 | 2018-10-02 | Husqvarna Ab | Improved reduction of wheel tracks for robotic lawnmower |
| CN106950967A (en) * | 2017-04-28 | 2017-07-14 | 湖南格兰博智能科技有限责任公司 | Improvement type sweeps the method and Improvement type that device returns cradle with it and sweeps group |
| CN114343487B (en) * | 2017-09-25 | 2023-10-27 | 北京石头创新科技有限公司 | Automatic cleaning device, automatic cleaning system and charging method thereof |
| CN109586360B (en) * | 2018-11-09 | 2020-09-22 | 深圳市银星智能科技股份有限公司 | Robot automatic charging method and device, charging pile and robot |
| KR102234641B1 (en) * | 2019-01-17 | 2021-03-31 | 엘지전자 주식회사 | Moving robot and Controlling method for the same |
| US11925306B2 (en) | 2020-01-29 | 2024-03-12 | Bissell Inc. | Docking station for autonomous floor cleaner |
| CN111762156B (en) * | 2020-05-21 | 2021-12-03 | 北京京东乾石科技有限公司 | Automated guided vehicle and method and system for controlling automated guided vehicle |
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| CN104977929A (en) | 2015-10-14 |
| CN107885210A (en) | 2018-04-06 |
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