TW201742591A - System and a method for cleaning a floor with a cleaning robot - Google Patents
System and a method for cleaning a floor with a cleaning robot Download PDFInfo
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- TW201742591A TW201742591A TW106112927A TW106112927A TW201742591A TW 201742591 A TW201742591 A TW 201742591A TW 106112927 A TW106112927 A TW 106112927A TW 106112927 A TW106112927 A TW 106112927A TW 201742591 A TW201742591 A TW 201742591A
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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
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
本發明涉及一種至少具有一個清潔機器人的用於地面的清潔的系統和方法。The present invention relates to a system and method for cleaning the ground having at least one cleaning robot.
已知的清潔機器人以吸塵器機器人、掃除機器人、擦拭機器人形式作為自動行駛的並且定位的機械單位。為此這種清潔機器人裝備有電子驅動的抽氣裝置和/或電動刷和/或刷毛輥和/或擦拭元件以及一個灰塵和污物收集區。Known cleaning robots are in the form of vacuum cleaner robots, sweeping robots, and wiping robots as mechanical units for automatic driving and positioning. For this purpose, the cleaning robot is equipped with an electronically driven suction device and/or an electric brush and/or a brush roller and/or a wiping element and a dust and dirt collection area.
清潔機器人能夠，借助一個抽氣氣流和如有必要的借助一個機械刷自動地清潔硬地面，例如木地面、壓層板、鋪磚的地面或石地面以及鋪紡織物的地面，除去灰塵和粗顆粒。相對地掃除機器人純機械地借助刷子和收集器清潔地面，不使用抽氣氣流。在擦拭機器人中還添加一個通常高頻移動的擦拭元件，其借助通常為水性的清潔劑從地面接收污物。The cleaning robot can remove dust and coarse dirt by means of an exhaust air flow and, if necessary, automatic cleaning of hard floors with a mechanical brush, such as wooden floors, laminates, tiled floors or stone floors, and floor coverings. Particles. The relative sweeping robot cleans the ground mechanically with the aid of a brush and a collector, without the use of a pumping airflow. A wiping element, typically a high frequency shift, is also added to the wiping robot that receives dirt from the ground by means of a generally aqueous cleaning agent.
為了清潔機器人在地面上移動至少設置一個用於驅動至少三個輪中的至少一個輪的電動機。通常情況設置兩個電動機，其彼此不相關地驅動兩個驅動輪，其中第三個移動輪設置用於穩定清潔機器人。In order to move the cleaning robot on the ground, at least one electric motor for driving at least one of the at least three wheels is provided. Normally two motors are provided which drive the two drive wheels independently of each other, wherein a third moving wheel is provided for stabilizing the cleaning robot.
此外已知的清潔機器人包含至少一個、優選多個用於監測環繞清潔機器人的空間的感測器。借助感測器清潔機器人檢測周圍環境並且清潔機器人能夠盡可能地不與牆或物體接觸地定位。Furthermore, known cleaning robots comprise at least one, preferably a plurality of sensors for monitoring the space surrounding the cleaning robot. The surrounding environment is detected by means of a sensor cleaning robot and the cleaning robot can be positioned as close as possible to the wall or object.
清潔機器人的用於電子器件、尤其是電動機、感測器和控制裝置的運行的電源供應由蓄電池完成。為了蓄電池的充電和對收集在機器內部的容器中的污物或垃圾的清除，清潔機器人配備一個固定的連接到家用電網的基站。The power supply for the operation of the cleaning robot for the electronics, in particular the electric motor, the sensor and the control device, is done by the battery. For the charging of the battery and the removal of dirt or debris from the containers collected inside the machine, the cleaning robot is equipped with a fixed base station connected to the home grid.
清潔機器人自動地尋找基站，例如借助一個無線電和/或光信號的引導或者借助一個在基站和清潔機器人之間的無線電通訊。駛近基站的要求能夠例如通過基站和清潔機器人之間的無線電通訊自動地完成。同樣地清潔機器人自己根據機器側面的污物容器的填充度和/或蓄電池的充電狀態駛向基站。此外清潔機器人在完成一次工作後，例如清潔一個預定的地面後，自動地駛向基站。The cleaning robot automatically seeks the base station, for example by means of a radio and/or optical signal or by means of a radio communication between the base station and the cleaning robot. The requirement to approach the base station can be done automatically, for example, by radio communication between the base station and the cleaning robot. Likewise, the cleaning robot itself travels to the base station depending on the degree of filling of the dirt container on the side of the machine and/or the state of charge of the battery. In addition, the cleaning robot automatically sails to the base station after completing a job, such as cleaning a predetermined floor.
清潔機器人包含控制裝置，其控制先前描述的清潔機器人的行為。控制裝置構成為具有一個資料處理單元的電腦裝置，資料處理單元根據輸入信號和/或存儲的資料控制清潔機器人的行為。The cleaning robot includes a control device that controls the behavior of the cleaning robot previously described. The control device is constructed as a computer device having a data processing unit that controls the behavior of the cleaning robot based on the input signal and/or the stored data.
所述的清潔機器人是可規劃的，從而清潔機器人在預設的時間進行清潔。同樣清潔機器人能夠手動開啟。此外能夠預設一個特定的清潔機器人應該清潔的空間區域。這個空間區域能夠是整個可行駛的空間區域或其中一部分。這種清潔機器人的使用也能夠單獨地基於使用者給出的資料控制。The cleaning robot is programmable so that the cleaning robot cleans at a preset time. The same cleaning robot can be turned on manually. In addition, it is possible to preset a space area where a particular cleaning robot should be cleaned. This spatial area can be the entire travelable area or part of it. The use of such a cleaning robot can also be controlled individually based on data given by the user.
因此本發明的技術問題在於，構造一個具有清潔機器人的用於靈活的並且具有更好的清潔效果的地面的清潔的系統和方法。The technical problem of the invention is therefore to construct a system and method for cleaning the floor with a cleaning robot for flexibility and with a better cleaning effect.
事先出現的技術問題將根據本發明地通過一個起初描述的用於清潔地面的系統解決，即設置至少一個清潔機器人、用於控制清潔機器人的控制裝置、用於採集至少一個環境事件的通訊裝置，其中環境事件是一個由資料庫獲得的事件、尤其是天氣事件，或者是一個通過感測器獲得的事件並且其中控制裝置根據環境事件為了地面的至少一部分的清潔調節清潔機器人的使用的強度。The technical problem that arises in advance is solved according to the invention by a system for cleaning the floor, which is initially described, namely at least one cleaning robot, a control device for controlling the cleaning robot, a communication device for collecting at least one environmental event, The environmental event is an event obtained by the database, in particular a weather event, or an event obtained by the sensor and wherein the control device adjusts the intensity of the use of the cleaning robot for cleaning of at least a portion of the ground in accordance with environmental events.
以這種方式提供一種系統，其不僅能夠對人的手動的輸入，無論是單次行動還是預定的規劃，還能夠自動地對至少一個預定的外部或內部的環境事件的出現做出反應。如果出現一個預定的環境事件，系統自動地與預設對應地反應並且如此控制清潔機器人，使得清潔至少地面的一部分。In this way, a system is provided that not only enables manual input to a person, whether it is a single action or a predetermined plan, but also automatically reacts to the occurrence of at least one predetermined external or internal environmental event. If a predetermined environmental event occurs, the system automatically reacts with the preset and controls the cleaning robot such that at least a portion of the ground is cleaned.
系統有不同的方式獲得環境事件。環境事件能夠包含不同的類型的事件，無論內部或外部或者無論通過電子網路或當場通過感測器獲得。The system has different ways to get environmental events. Environmental events can contain different types of events, whether internal or external or through an electronic network or on the spot through a sensor.
系統的第一實施例為，通訊裝置從一個外部的天氣資料庫獲得作為天氣事件的環境事件。因此通訊裝置產生與一個網路的連接，區域網路或網際網路，並且獲得作為環境資料的當前的天氣資料或預告的天氣資料。這個資料能夠尤其涉及外部溫度、例如降雨或降雪的降水事件或者還涉及例如日照的乾燥事件、氣壓和/或空氣濕度。所有資料單獨地或彼此結合地表明環境資料，其分析系統從而判斷，是否需要通過清潔機器人附加地清潔。In a first embodiment of the system, the communication device obtains an environmental event as a weather event from an external weather database. The communication device thus generates a connection to a network, a regional network or the Internet, and obtains current weather data or weather data for the environmental data. This information can relate in particular to external temperatures, precipitation events such as rain or snowfall or to drying events such as sunlight, air pressure and/or air humidity. All data indicate environmental data, either individually or in combination with each other, and the analysis system determines whether additional cleaning by the cleaning robot is required.
其中通訊裝置能夠包含降水事件的數量、持續時間和/或強度作為天氣事件的強度。因為特別的降水事件導致空間區域弄得很髒並且可能需要更頻繁地清潔地面。The communication device can include the amount, duration, and/or intensity of the precipitation event as the strength of the weather event. Because of the special precipitation events, the space area is dirty and may require more frequent cleaning of the ground.
通訊設備能夠替代地或附加地借助至少一個外部的感測器獲得環境事件。為此在空間區域的外部自由地放置感測器，其產生用於獲得天氣資料形態的環境事件的測量資料。尤其感測器能夠測量例如外部溫度和/或在外部區域的降水量的局部的天氣資料並且所測量的資料通過資料傳送返回到系統。The communication device can alternatively or additionally obtain an environmental event by means of at least one external sensor. For this purpose, sensors are freely placed outside the spatial area, which produce measurement data for environmental events for obtaining weather data patterns. In particular, the sensor is capable of measuring local weather data such as external temperature and/or precipitation in the external area and the measured data is returned to the system by data transfer.
此外在內部區域也能夠放置至少一個內部感測器並且獲得例如內部溫度或地面暖氣的狀態。根據地面暖氣開或關或者設定的溫度能夠例如確定空間區域是否應用和應用的強度。Furthermore, at least one internal sensor can be placed in the inner region and a state such as internal temperature or floor heating can be obtained. Depending on whether the floor heating is on or off or set to a temperature, for example, it is possible to determine whether the spatial area is applied and applied.
另外一種獲得環境資料的可能性為，獲取需清潔的空間區域中的人數和附加的清潔步驟的必要性。尤其能夠借助運動感測器和/或借助至少一個攝像頭或通過在局域資料網路中的人***動性的分析或通過家用智慧設備的資訊獲取人口和其他生物(家畜)。動物能夠通過識別晶片獲得。額外地能夠獲得移動的元件並且通過其運動模式判斷傢俱、家畜或人類。Another possibility for obtaining environmental information is the number of people in the space area to be cleaned and the need for additional cleaning steps. In particular, it is possible to acquire populations and other living creatures (livestock) by means of motion sensors and/or by means of at least one camera or by analysis of population activity in a local data network or by information of household smart devices. Animals can be obtained by identifying wafers. It is additionally possible to obtain moving elements and to judge furniture, livestock or humans by their mode of motion.
例如清潔機器人借助其感測器以這種方式識別移動的元件，考慮到感測器在空間的自身運動在環境中連續獲得的感測器資料判斷一個目前斷定為牆或阻礙的元件的位置變化。這個位置變化能夠是一個自己或外部運動的家畜的或者一個自動地或者靜物、例如傢俱的受外部影響的運動的指數。感測器資料的另一個作用在於通過清潔機器人借助對特定的運動輪廓的鑒定判斷特定的生物、物體和/或傢俱，從而以這種途徑獲得的環境資料允許調節與現有情況適應的清潔機器人的清潔行為。For example, the cleaning robot identifies the moving component by means of its sensor in this way, taking into account the sensor data continuously obtained by the sensor in the environment in its own motion in the environment to determine the positional change of an element currently determined to be a wall or obstruction. . This change in position can be an index of a domestic or externally moving domestic animal or an externally or still life, such as an externally influenced movement of furniture. Another function of the sensor data is to determine the specific organism, object and/or furniture by means of the identification of the specific motion profile by the cleaning robot, so that the environmental data obtained in this way allows adjustment of the cleaning robot adapted to the existing situation. Cleaning behavior.
本發明的另一個實施例為，通訊裝置由一個外部的電子日曆獲得作為日曆標記的環境事件。其中環境事件能夠通過一個特定的概念例如「聚會」、「拜訪」等的搜索獲得並且識別。這樣的環境事件產生一個偶發事件，其中至少要清潔的空間區域的一部分很髒並且因此需要一個附加的清潔。Another embodiment of the present invention is that the communication device obtains an environmental event as a calendar mark from an external electronic calendar. Environmental events can be obtained and identified through a search for a specific concept such as "party", "visit", and the like. Such an environmental event produces an infrequent event in which at least a portion of the spatial area to be cleaned is dirty and therefore requires an additional cleaning.
在獲得環境事件之後控制裝置明確，是否應該和在哪個區域應該額外地使用清潔機器人。從而特別地設置，控制裝置通過清潔的頻率和/或強度的改變調節清潔機器人的使用的強度。作為要調節的參數能夠是清潔週期的數量、包括例如門庭區域的特定的居住區域的頻率的提升、清潔的類型，即掃除、吸塵和/或擦拭，和/或應用範圍，即單室清潔或多室清潔以及單次駛過或多次駛過。After obtaining the environmental event, the control device knows whether the cleaning robot should be used additionally and in which area. In particular, it is provided that the control device adjusts the intensity of the use of the cleaning robot by a change in the frequency and/or intensity of the cleaning. The parameter to be adjusted can be the number of cleaning cycles, including the increase in the frequency of a particular living area, such as a doorway area, the type of cleaning, ie sweeping, vacuuming and/or wiping, and/or the range of applications, ie single chamber cleaning or Multi-room cleaning and single or multiple passes.
此外在環境事件意味著一個人或動物在要清潔的空間出現時，那麼能夠調節，空間不清潔或僅以Eco模式具有很低音量地清潔。In addition, when an environmental event means that a person or an animal appears in a space to be cleaned, it can be adjusted, the space is not clean, or only the Eco mode has a very low volume.
此外根據獲得的環境事件調整清潔機器人的運作模式，例如刷子轉數、行駛速度、清潔輥的壓力重量、乾燥度及夜間乾燥度、側刷的致動以及側面清潔單元的類型的選擇、在濕潤或潮濕清潔中的水量選擇和/或清潔劑的類型和用量。In addition, according to the obtained environmental events, the operation mode of the cleaning robot is adjusted, such as the number of brush revolutions, the running speed, the pressure weight of the cleaning roller, the dryness and the nighttime dryness, the actuation of the side brush, and the selection of the type of the side cleaning unit, in the humid Or the amount of water selected in the wet cleaning and / or the type and amount of detergent.
系統能夠構造為，通訊裝置與資料收集裝置放置在清潔機器人中並且與控制裝置連接並且通訊裝置借助一個無線通訊路徑與一個網路連接。從而清潔機器人自己具有整體的資料收集和控制。因此這樣的系統很大程度上自給自足地使用。The system can be configured such that the communication device and the data collection device are placed in the cleaning robot and connected to the control device and the communication device is connected to a network via a wireless communication path. Thus the cleaning robot itself has an overall data collection and control. Therefore such systems are largely self-sufficient to use.
可替代地通訊裝置與資料收集裝置放置在清潔機器人外部並且和一個網路連接並且通訊裝置能夠借助一個無線通訊路徑與控制裝置連接。在這種情況下系統包含不止一個清潔機器人，通過同一個通訊裝置提供所有清潔機器人對於控制重要的資訊。從而控制裝置包括其內集成的資料處理單元能夠在一個基站中或在一個外部設備或伺服器中實現。資料處理單元能夠通過一個無線的資料連接相應地控制清潔機器。不同部件的有利的實施同樣可行。Alternatively, the communication device and the data collection device are placed outside the cleaning robot and connected to a network and the communication device can be connected to the control device by means of a wireless communication path. In this case, the system contains more than one cleaning robot, providing all the cleaning robots with important information for control through the same communication device. Thereby the control device, including the data processing unit integrated therein, can be implemented in a base station or in an external device or server. The data processing unit is capable of controlling the cleaning machine accordingly via a wireless data connection. Advantageous implementations of different components are equally feasible.
上述的技術問題還能夠通過一種具有清潔機器人的用於地面的清潔的方法實現，其中至少包含一個環境事件並且其中為了至少地面的一部分的清潔根據至少一個環境事件的強度調節清潔機器人的使用的強度。The above mentioned technical problem can also be achieved by a method for cleaning the floor with a cleaning robot, wherein at least one environmental event is included and wherein the cleaning of the part of the ground is used to adjust the intensity of the use of the cleaning robot in accordance with the intensity of the at least one environmental event. .
這種方法和其接下來描述的實施例包含與之前描述的系統同樣的特性和優勢。因此參照前面的描述。This method and its embodiments described next contain the same features and advantages as the previously described system. So refer to the previous description.
所述方法能夠通過一個過程改進， 其中至少一個環境事件由一個資料庫或借助感測器獲得並且/或者 其中作為環境事件獲得一個天氣事件並且/或者 其中作為天氣事件的強度獲得降水事件的數量、持續時間和/或強度並且/或者 其中清潔機器人的使用的強度通過清潔的頻率和/或強度的改變調節。The method can be improved by a process in which at least one environmental event is obtained by a database or by means of a sensor and/or wherein a weather event is obtained as an environmental event and/or where the number of precipitation events is obtained as the intensity of the weather event, The duration and/or intensity and/or the intensity of the use of the cleaning robot is adjusted by the change in frequency and/or intensity of the cleaning.
在圖1和圖2中根據本發明的清潔機器人以一個吸塵器機器人2的形式描繪。吸塵器機器人2包含一個外殼4、一個在外殼下部放置的底盤6、一個用於收集外殼4的環境的感測器8、一個自動地驅動底盤6的控制器。The cleaning robot according to the invention in Figures 1 and 2 is depicted in the form of a vacuum cleaner robot 2. The vacuum cleaner robot 2 includes a casing 4, a chassis 6 placed at a lower portion of the casing, a sensor 8 for collecting the environment of the casing 4, and a controller for automatically driving the chassis 6.
底盤6放置在外殼4的底面並且面向要清潔的地面。底盤6包含兩個電動驅動的行駛輪10和一個隨動輪11，從而達到一個在要清潔的地面上的地面清潔機器人2的三點支撐。通過兩個行駛輪10的不同的操控吸塵器機器人2能夠向任意的方向行駛，其中根據圖1 完成在箭頭r的方向上的向前行駛。同樣能夠在位置上轉向以及相對於箭頭r相反的方向向後行駛。The chassis 6 is placed on the bottom surface of the outer casing 4 and faces the floor to be cleaned. The chassis 6 comprises two electrically driven running wheels 10 and a follower wheel 11 to achieve a three point support of the floor cleaning robot 2 on the ground to be cleaned. The different vacuum cleaner robots 2 can be driven in any direction by the two drive wheels 10 , wherein the forward travel in the direction of the arrow r is completed in accordance with FIG. 1 . It is also possible to turn in position and travel backwards in the opposite direction to the arrow r.
尤其如圖2所示，在外殼4的底面、在一個吸塵開口14的內部放置一個突出於下邊緣的、電動驅動的刷子12。此外設置一個未繪製的抽氣機，其同樣是電力驅動的。此外設置一個簸箕型的斜坡16，通過其將掃刷的污物顆粒傳送到一個未繪製的容器型的收集器中。In particular, as shown in Fig. 2, an electrically driven brush 12 projecting from the lower edge is placed on the bottom surface of the outer casing 4 inside a suction opening 14. In addition, an undrawn aspirator is provided, which is also electrically driven. In addition, a ramp-type ramp 16 is provided through which the dirt particles of the sweep are transferred to an unpainted container-type collector.
吸塵器機器人2的單獨部件的電源供應，即行駛輪10的電動機、刷子12的電子驅動、抽氣機和控制裝置的其他電子部件通過一個未繪製的再充電的蓄電池實現。The power supply of the individual components of the vacuum cleaner robot 2, i.e. the motor of the running wheel 10, the electronic drive of the brush 12, the air extractor and other electronic components of the control device are realized by means of an undrawn rechargeable battery.
為了能夠判斷環境、空間界限和可能的障礙，並且尤其是為了避免吸塵器機器人2的擱淺，設置一個已談及的感測器8，其構成為傳感式的障礙識別器。感測器由一個光學發射單位和一個光學接收單位構成，兩者集成在圖1中繪製的感測器8中。感測器8在本實施例中繞外殼4的垂直的軸x可旋轉地放置，如圖1中箭頭c所示。另外的現有感測器20、22和24構造成超聲感測器和/或紅外線感測器。此外設置一個顯示器26，為使用者顯示資訊並且用於操作的指令輸入幫助。In order to be able to determine the environment, the spatial boundaries and the possible obstacles, and in particular to avoid the stranding of the vacuum cleaner robot 2, a sensor 8 has been proposed which is embodied as a sensory obstacle identifier. The sensor consists of an optical emission unit and an optical receiving unit, both integrated in the sensor 8 drawn in FIG. The sensor 8 is rotatably placed around the vertical axis x of the outer casing 4 in this embodiment, as indicated by arrow c in FIG. The additional existing sensors 20, 22 and 24 are configured as ultrasonic sensors and/or infrared sensors. In addition, a display 26 is provided to display information for the user and to input help for the operation.
圖3示出了在例如一個具有兩個房間32和34的房子30的環境中，一個具有至少一個清潔機器人2的用於地面的清潔的根據本發明的系統，其能夠是例如如圖1和2中所繪製的吸塵器機器人。圖3繪製了一個屋子的平面圖，包含牆36、入口門38和房間門39和窗戶40。Figure 3 shows a system according to the invention for cleaning the ground with at least one cleaning robot 2 in an environment such as a house 30 having two rooms 32 and 34, which can be, for example, as shown in Figure 1 and The vacuum cleaner robot drawn in 2. Figure 3 depicts a plan view of a room including wall 36, entrance door 38 and room door 39 and window 40.
在房間32放置一個吸塵器機器人2，其為了給至少一個在吸塵器機器人2中放置的蓄電池44充電連接到一個基站42上。基站42定位在房間32中並且為了提供電源連接到插頭46上。A vacuum cleaner robot 2 is placed in the room 32, which is connected to a base station 42 for charging at least one battery 44 placed in the vacuum cleaner robot 2. Base station 42 is positioned in room 32 and is connected to plug 46 for power supply.
吸塵器機器人2包含用於控制吸塵器機器人2的控制裝置50和用於收集至少一個事件的通訊裝置52，該事件具有至少地面的一部分的增高的弄髒產生。通訊裝置52包含一個用於與作為通訊裝置54的、在房間32放置的發送和接收裝置無線的通訊的發送和接收裝置。其中無線通訊優選以一個標準的方法例如WLAN或藍牙實現。The vacuum cleaner robot 2 comprises a control device 50 for controlling the vacuum cleaner robot 2 and a communication device 52 for collecting at least one event, the event having an increased soiling of at least a portion of the ground. The communication device 52 includes a transmitting and receiving device for wirelessly communicating with the transmitting and receiving devices placed in the room 32 as the communication device 54. The wireless communication is preferably implemented in a standard method such as WLAN or Bluetooth.
此外通訊裝置52還能夠包含一個移動無線電裝置，從而不需要通訊裝置54。In addition, the communication device 52 can also include a mobile radio such that the communication device 54 is not required.
通訊裝置52和如有必要的通訊裝置54能夠通過電線連接或無線地與一個局域網或者外部網路，尤其是與網際網路連接，從而收集關於環境事件的資訊。The communication device 52 and, if necessary, the communication device 54 can be connected to a local area network or an external network, particularly to the Internet, by wire or wirelessly to collect information about environmental events.
控制裝置50與通訊裝置52連接並且通過這個連接從一個資料庫獲得環境事件，尤其是一個天氣事件並且控制裝置50根據環境事件為了地面的至少一部分的清潔調節清潔機器人2的使用的強度。The control device 50 is coupled to the communication device 52 and obtains environmental events, in particular a weather event, from a database through this connection and the control device 50 adjusts the intensity of use of the cleaning robot 2 for cleaning of at least a portion of the ground in accordance with environmental events.
優選通訊裝置52、54 從外部天氣資料庫獲得作為天氣事件的環境事件，其中尤其是獲得外部氣溫、天氣預報、降雨或降雪或光照以及氣壓和/或空氣濕度形式的天氣事件。其中通訊裝置52、54能夠收集降水事件的數量、持續時間和/或強度作為天氣事件的強度。Preferably, the communication devices 52, 54 obtain environmental events as weather events from an external weather database, in particular weather events in the form of outside temperatures, weather forecasts, rainfall or snow or light, and air and/or air humidity. The communication devices 52, 54 are capable of collecting the amount, duration and/or intensity of precipitation events as the intensity of the weather event.
在另一個實施例中環境事件是一個借助感測器獲得的事件，其中外部感測器60或內部感測器62獲得作為測量資料的環境事件。外部感測器60例如定位在屋子外部的一個天氣站64處，其中天氣站64包含一個用於無線的資料傳輸的通訊裝置66。內部感測器62例如集成在通訊裝置54的外殼中。In another embodiment the environmental event is an event obtained by means of a sensor, wherein the external sensor 60 or the internal sensor 62 obtains an environmental event as measurement data. The external sensor 60 is, for example, located at a weather station 64 outside the house, wherein the weather station 64 includes a communication device 66 for wireless data transmission. The internal sensor 62 is integrated, for example, in the housing of the communication device 54.
借助在天氣站64的外部感測器60環境資料例如外部溫度和/或降水量能夠被測量。借助內部感測器能夠獲得例如內部溫度(溫度感測器)或在清潔範圍內的人數(運動感測器)。Environmental data such as external temperature and/or precipitation can be measured by means of external sensor 60 at weather station 64. For example, an internal temperature (temperature sensor) or a number of people within the cleaning range (motion sensor) can be obtained by means of an internal sensor.
通訊裝置52、54還適用於，從一個外部的電子日曆中獲得作為日曆標記的環境事件。在這種情況中環境事件的類型源於給出的概念如「聚會」、「拜訪」等。The communication devices 52, 54 are also adapted to obtain an environmental event as a calendar mark from an external electronic calendar. In this case, the type of environmental event stems from the given concepts such as "party", "visit" and so on.
控制裝置50通過清潔的頻率和/或清潔的強度的改變調節清潔機器人2的使用的強度。提供適用的參數： 清潔週期的數量，通過在特定的居住區域、例如門廳區域的頻率的改變， 清潔的類型，具有乾燥清潔和濕潤清潔之間的區別， 單室清潔或多室清潔的致動， 清潔的控制取決於，室內是否有人或動物，如有必要不進行清潔或僅以Eco模式低音量地清潔， 通過改變刷子轉數、行駛速度、清潔輥上的壓力重量、乾燥度或夜間乾燥度、側刷的致動以及側面清潔單元的類型的選擇調整運行模式， 在濕潤或潮濕清潔中調節水量並且/或者 選擇清潔劑的類型和/或用量。The control device 50 adjusts the intensity of use of the cleaning robot 2 by a change in the frequency of cleaning and/or the intensity of the cleaning. Provides the applicable parameters: the number of cleaning cycles, the change in frequency in a particular residential area, such as the foyer area, the type of cleaning, the difference between dry and wet cleaning, the actuation of single chamber cleaning or multi-chamber cleaning The control of cleaning depends on whether there are people or animals in the room, if necessary, do not clean or only clean in low volume in Eco mode, by changing the number of brush revolutions, driving speed, pressure on the cleaning roller, dryness or nighttime drying. The degree of actuation of the side brush, and the type of side cleaning unit adjusts the mode of operation, adjusts the amount of water in wet or wet cleaning and/or selects the type and/or amount of detergent.
2‧‧‧吸塵器機器人；(地面)清潔機器人
4‧‧‧外殼
6‧‧‧底盤
8、20、22、24‧‧‧感測器
10‧‧‧行駛輪
11‧‧‧隨動輪
12‧‧‧刷子
14‧‧‧吸塵開口
16‧‧‧斜坡
26‧‧‧顯示器
30‧‧‧房子
32、34‧‧‧房間
36‧‧‧牆
38‧‧‧入口門
39‧‧‧房間門
40‧‧‧窗戶
42‧‧‧基站
44‧‧‧蓄電池
46‧‧‧插頭
50‧‧‧控制裝置
52、54、66‧‧‧通訊裝置
60‧‧‧外部感測器
62‧‧‧內部感測器
64‧‧‧天氣站
c、r‧‧‧箭頭
x‧‧‧軸2‧‧‧vacuum robot; (ground) cleaning robot
4‧‧‧ Shell
6‧‧‧Chassis
8, 20, 22, 24‧‧‧ sensors
10‧‧‧Driving wheel
11‧‧‧ Follower wheel
12‧‧‧ brushes
14‧‧‧Dust opening
16‧‧‧ slope
26‧‧‧Display
30‧‧‧House
32, 34‧‧‧ rooms
36‧‧‧ wall
38‧‧‧ entrance gate
39‧‧‧Room door
40‧‧‧ windows
42‧‧‧ base station
44‧‧‧Battery
46‧‧‧ plug
50‧‧‧Control device
52, 54, 66‧‧‧ communication devices
60‧‧‧External sensor
62‧‧‧Internal sensor
64‧‧ ‧weather station
c, r‧‧‧ arrow
X‧‧‧axis
接下來借助具有附圖的實施例闡述本發明。附圖示出了：The invention is next explained by means of an embodiment with the figures. The figures show:
圖1根據本發明的清潔機器人的一個實施例的俯視透視圖。Figure 1 is a top perspective view of one embodiment of a cleaning robot in accordance with the present invention.
圖2 圖1中描繪的清潔機器人的仰視透視圖。Figure 2 is a bottom perspective view of the cleaning robot depicted in Figure 1.
圖3根據本發明的用於地面的清潔的系統。Figure 3 is a system for cleaning the floor in accordance with the present invention.
2‧‧‧吸塵器機器人；(地面)清潔機器人 2‧‧‧vacuum robot; (ground) cleaning robot
16‧‧‧斜坡 16‧‧‧ slope
30‧‧‧房子 30‧‧‧House
32、34‧‧‧房間 32, 34‧‧‧ rooms
36‧‧‧牆 36‧‧‧ wall
38‧‧‧入口門 38‧‧‧ entrance gate
39‧‧‧房間門 39‧‧‧Room door
40‧‧‧窗戶 40‧‧‧ windows
42‧‧‧基站 42‧‧‧ base station
44‧‧‧蓄電池 44‧‧‧Battery
46‧‧‧插頭 46‧‧‧ plug
50‧‧‧控制裝置 50‧‧‧Control device
52、54、66‧‧‧通訊裝置 52, 54, 66‧‧‧ communication devices
60‧‧‧外部感測器 60‧‧‧External sensor
62‧‧‧內部感測器 62‧‧‧Internal sensor
64‧‧‧天氣站 64‧‧ ‧weather station
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| DE102016108514.6A DE102016108514A1 (en) | 2016-05-09 | 2016-05-09 | System and method for cleaning a floor with a cleaning robot |
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| JP (1) | JP6681360B2 (en) |
| CN (1) | CN107348906A (en) |
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| JP2019217205A (en) * | 2018-06-22 | 2019-12-26 | 東芝ライフスタイル株式会社 | Vacuum cleaner |
| CN111158354B (en) * | 2018-11-07 | 2022-10-04 | 科沃斯机器人股份有限公司 | Self-moving equipment operation method, equipment and storage medium |
| CN111829576A (en) * | 2019-04-19 | 2020-10-27 | 康塔有限公司 | Environmental monitoring system |
| CN110362082A (en) * | 2019-07-17 | 2019-10-22 | 重庆科创职业学院 | Intelligent sweeping robot obstacle avoidance system |
| JP2021029487A (en) * | 2019-08-21 | 2021-03-01 | パナソニックＩｐマネジメント株式会社 | Autonomous travel type vacuum cleaner, method for manufacturing autonomous travel type vacuum cleaner, and program |
| CN111407187A (en) * | 2020-03-06 | 2020-07-14 | 珠海格力电器股份有限公司 | Sweeping robot, and sweeping route adjusting method and device of sweeping robot |
| CN114305263B (en) * | 2021-12-30 | 2022-12-16 | 深圳银星智能集团股份有限公司 | Cleaning base station and cleaning machine system |
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| JPH0822322A (en) * | 1994-07-07 | 1996-01-23 | Johnson Kk | Method and device for controlling floor surface cleaning car |
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| KR101773163B1 (en) * | 2010-12-21 | 2017-08-31 | 삼성전자주식회사 | Apparatus and method for controlling operation of cleaner |
| CN103284662B (en) * | 2012-03-02 | 2016-09-21 | 恩斯迈电子(深圳)有限公司 | Cleaning system and control method thereof |
| CN103284653B (en) * | 2012-03-02 | 2017-07-14 | 恩斯迈电子(深圳)有限公司 | Cleaning robot and control method thereof |
| TW201338741A (en) * | 2012-03-22 | 2013-10-01 | Ememe Robot Co Ltd | Cleaning robot and method for controlling a side-brush of a robot |
| JP2014014456A (en) * | 2012-07-06 | 2014-01-30 | Nikon Corp | Cleaning system, cleaning device, bathroom, control method, and program |
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| JP2014206850A (en) * | 2013-04-12 | 2014-10-30 | シャープ株式会社 | Electronic device and self-propelled cleaner |
| KR101578893B1 (en) * | 2014-05-02 | 2015-12-18 | 에브리봇 주식회사 | A robot cleaner and a method for operating it |
| CN104771115A (en) * | 2014-06-27 | 2015-07-15 | 朱国同 | Control system of automatic dust collector |
| CN105395136A (en) * | 2014-09-15 | 2016-03-16 | 江苏美的清洁电器股份有限公司 | Dust collector, side brush abnormity detector and control method and device of side brush motor |
| KR20160058594A (en) * | 2014-11-17 | 2016-05-25 | 삼성전자주식회사 | Robot cleaner, terminal apparatus and method for controlling thereof |
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| CN107348906A (en) | 2017-11-17 |
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