TWI459923B - Automatic cleaning device and method thereof - Google Patents
Automatic cleaning device and method thereof Download PDFInfo
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- TWI459923B TWI459923B TW101107125A TW101107125A TWI459923B TW I459923 B TWI459923 B TW I459923B TW 101107125 A TW101107125 A TW 101107125A TW 101107125 A TW101107125 A TW 101107125A TW I459923 B TWI459923 B TW I459923B
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Description
本發明是有關於一種自動清潔裝置及其方法，特別是有關於一種可自動判斷一區域範圍內是否有髒污，進而自動切換運行移動模組之自動清潔裝置及其方法。 The invention relates to an automatic cleaning device and a method thereof, in particular to an automatic cleaning device and a method thereof for automatically determining whether there is any dirt in a region, thereby automatically switching a moving module.
忙碌的現代人，對工作和生活一切均講求效率，使得家用電器設備逐漸趨於自動化設計；自動地板清掃裝置為應用人工智慧機器人技術的家用電器，於無人操作下的自動化清潔，以協助分擔家居清潔工作，因其節省人力與時間成本，已逐漸普及於一般家庭生活。 Busy modern people, all work and life are efficient, so that household appliances equipment gradually become more automated design; automatic floor cleaning device for household appliances using artificial intelligence robot technology, automatic cleaning under unmanned operation to help share the home Cleaning work has gradually become popular in general family life because of its labor and time savings.
現有之自動地板清掃裝置，可具有最基本一般吸塵清潔之功能，使用者可將其放置於廚房、客廳或臥室之個個房間區域內執行清掃的工作，在生活使用上相當的便利。然而，目前一般的自動地板清掃裝置，僅可以直線行走方式移動(單一的移動模式)，而無法於清潔中變換其它之移動方式。如此一來，當自動地板清掃裝置於一區域中做清潔時，只可以其單一之移動路徑做清潔，意即有行經的路徑才可被清潔到，如此之清潔行為，其效率是非常低的。 The existing automatic floor cleaning device can have the most basic function of vacuum cleaning, and the user can place it in the room area of the kitchen, the living room or the bedroom to perform the cleaning work, which is quite convenient in daily use. However, the current automatic floor cleaning device can only move in a straight walking manner (single moving mode), and cannot change other moving modes during cleaning. In this way, when the automatic floor cleaning device is cleaned in an area, only a single moving path can be cleaned, that is, a path that can be cleaned can be cleaned, and the cleaning behavior is very low. .
有鑑於上述習知技藝之問題，本發明之目的就是在提供一種自動清潔裝置及其方法，以解決習知之自動地板清掃裝置僅可以單一行走路線做移動，而無法於清潔中變更移動運轉方式之問題。 In view of the above-mentioned problems of the prior art, an object of the present invention is to provide an automatic cleaning device and a method thereof for solving the problem that the automatic floor cleaning device can be moved only by a single traveling route, and cannot change the moving operation mode during cleaning. problem.
根據本發明之目的，提出一種自動清潔裝置，其包含一吸塵模組、一接收模組及一控制模組。吸塵模組具有一內部空間，當自動清潔裝置電源啟動並以一第一預定方式移動時，吸塵模組係吸取地面上之塵物於內部空間。接收模組係接收塵物被吸取於內部空間所發出之聲響，以產生一髒污判斷訊號。控制模組係接收髒污判斷訊號以產生一控制指令，並根據控制指令使自動清潔裝置由第一預定方式切換至一第二預定方式進行移動。 According to the purpose of the present invention, an automatic cleaning device is provided, which comprises a vacuuming module, a receiving module and a control module. The vacuum module has an internal space. When the automatic cleaning device is powered on and moved in a first predetermined manner, the vacuum module absorbs dust on the ground in the internal space. The receiving module receives the sound emitted by the dust in the internal space to generate a dirty determination signal. The control module receives the soiling determination signal to generate a control command, and moves the automatic cleaning device from the first predetermined mode to a second predetermined mode according to the control command.
較佳地，本發明所述之自動清潔裝置，其更包含一電源模組，係電性連接該控制模組，以提供自動清潔裝置所需之電力。 Preferably, the automatic cleaning device of the present invention further comprises a power module electrically connected to the control module to provide power required for the automatic cleaning device.
較佳地，電源模組可為電池。 Preferably, the power module can be a battery.
較佳地，吸塵模組更包含一吸附管。吸附管係為中空結構且一端係與內部空間相通，而吸附管之另一端係延伸至地面。自動清潔裝置電源啟動時，吸塵模組係經由吸附管來吸取地面上之塵物至內部空間。 Preferably, the vacuum module further comprises an adsorption tube. The adsorption tube is a hollow structure and one end is in communication with the internal space, and the other end of the adsorption tube is extended to the ground. When the automatic cleaning device is powered on, the vacuum module sucks the dust on the ground to the internal space through the adsorption tube.
較佳地，第一預定方式之移動可為直線式移動。 Preferably, the movement of the first predetermined mode may be a linear movement.
較佳地，第二預定方式之移動可以畫圓方式螺旋轉動、直線來回移動或矩形方陣式移動。 Preferably, the movement of the second predetermined mode can be spirally rotated in a circular manner, linearly moved back and forth, or moved in a rectangular square pattern.
根據本發明之目的，又提出一種自動清潔方法，適用於一自動清潔裝置，其包含下列步驟：當自動清潔裝置電源啟動並以一第一 預定方式移動時，利用自動清潔裝置之一吸塵模組吸取地面上之塵物於吸塵模組之一內部空間；藉由自動清潔裝置之一接收模組接收塵物被吸取於內部空間所發出之聲響，以產生一髒污判斷訊號；以及利用自動清潔裝置之一控制模組接收髒污判斷訊號以產生一控制指令，以根據控制指令使自動清潔裝置由第一預定方式切換至一第二預定方式進行移動。 According to the purpose of the present invention, an automatic cleaning method is further proposed, which is suitable for an automatic cleaning device, which comprises the following steps: when the automatic cleaning device is powered on and is first When the predetermined mode is moved, the dust collecting module of the automatic cleaning device is used to absorb the dust on the ground in the inner space of the dust collecting module; and the receiving module receives the dust collected by one of the automatic cleaning devices and is sucked into the internal space. Sounding to generate a dirty determination signal; and controlling the module to receive the soiling determination signal by one of the automatic cleaning devices to generate a control command to switch the automatic cleaning device from the first predetermined mode to a second predetermined according to the control command Move in the way.
承上所述，本發明之自動清潔裝置及其方法，可利用揚聲器收音的方式，來接收自動清潔裝置吸取塵物時所產生之聲響，藉此來判定此區域係為髒污，以改變自動清潔裝置之運轉移動模式，變更其行經路線。可由單一的直線式移動變更為以畫圓方式螺旋轉動，或是變更為直線式來回移動或矩形方陣移動等等，如此一來，便可有效地提升清潔時之效率，使髒污區域可有效地被清潔乾淨。 As described above, the automatic cleaning device and the method thereof of the present invention can receive the sound generated when the automatic cleaning device sucks the dust by means of the sound collection by the speaker, thereby determining that the area is dirty and changing the automatic. The operation mode of the cleaning device is changed, and the route of the route is changed. It can be changed from a single linear movement to a spiral rotation in a circular manner, or to a linear back-and-forward movement or a rectangular square movement, etc., so that the efficiency of cleaning can be effectively improved, and the dirty area can be effectively effective. The ground is clean.
1、100‧‧‧自動清潔裝置 1, 100‧‧‧Automatic cleaning device
11‧‧‧吸塵模組 11‧‧‧Dusting module
12‧‧‧接收模組 12‧‧‧ receiving module
13‧‧‧控制模組 13‧‧‧Control Module
14‧‧‧電源模組 14‧‧‧Power Module
101‧‧‧吸塵結構 101‧‧‧ vacuum structure
1011‧‧‧吸附管 1011‧‧‧Adsorption tube
1012‧‧‧內部空間 1012‧‧‧Internal space
102‧‧‧揚聲器 102‧‧‧Speakers
S21~S23‧‧‧步驟 S21~S23‧‧‧Steps
第1圖 係為本發明之自動清潔裝置之方塊圖。 Figure 1 is a block diagram of the automatic cleaning device of the present invention.
第2圖 係為本發明之自動清潔方法之流程圖。 Figure 2 is a flow chart of the automatic cleaning method of the present invention.
第3圖 係為本發明之自動清潔裝置及其方法之實施例之第一示意圖。 Figure 3 is a first schematic view of an embodiment of the automatic cleaning apparatus and method of the present invention.
第4圖 係為本發明之自動清潔裝置及其方法之實施例之第二示意圖。 Figure 4 is a second schematic view of an embodiment of the automatic cleaning device and method of the present invention.
為利 貴審查員瞭解本發明之技術特徵、內容與優點及其所能達成之功效，茲將本發明配合附圖，並以實施例之表達形式詳細說 明如下，而其中所使用之圖式，其主旨僅為示意及輔助說明書之用，未必為本發明實施後之真實比例與精準配置，故不應就所附之圖式的比例與配置關係解讀、侷限本發明於實際實施上的權利範圍，合先敘明。 To understand the technical features, contents, and advantages of the present invention and the effects thereof, the present invention will be described in detail with reference to the accompanying drawings. The following is a schematic diagram of the drawings, which are used for the purpose of illustration and supplementary description. They are not necessarily true proportions and precise configurations after the implementation of the present invention, and therefore should not be interpreted in relation to the proportions and configurations of the attached drawings. The scope of the invention in the actual implementation is limited to the foregoing.
請參閱第1圖，其係為本發明之自動清潔裝置之方塊圖。圖中，自動清潔裝置1包含有吸塵模組11、接收模組12、控制模組13及電源模組14。此自動清潔裝置1主要可用以自動清潔地面，以吸取地面上之髒污粉塵。吸塵模組11具有內部空間及吸附管，此吸附管係為中空結構且一端係與內部空間相連通，而此吸附管之另一端係延伸到地面，當自動清潔裝置1之電源啟動的時候，吸塵模組11則可經由吸附管來吸取地面上之塵物到內部空間。接收模組12可為一揚聲器(Speaker)，此揚聲器當不以發出聲音為作用時，可當成一收音裝置來使用，以接收聲響等音訊。控制模組13可為自動清潔裝置1中的一個處理控制晶片或電路。電源模組14可用以提供自動清潔裝置1所需之電力，其可為一電池，較佳可為充電電池等。 Please refer to FIG. 1 , which is a block diagram of the automatic cleaning device of the present invention. In the figure, the automatic cleaning device 1 includes a vacuum module 11 , a receiving module 12 , a control module 13 , and a power module 14 . This automatic cleaning device 1 can be mainly used to automatically clean the ground to absorb dirty dust on the ground. The vacuum module 11 has an internal space and a absorbing tube. The absorbing tube has a hollow structure and one end is connected to the internal space, and the other end of the absorbing tube extends to the ground. When the power of the automatic cleaning device 1 is started, The dust collecting module 11 can suck the dust on the ground to the internal space via the adsorption tube. The receiving module 12 can be a speaker. When not acting as a sound, the speaker can be used as a sounding device to receive audio such as sound. The control module 13 can be a process control chip or circuit in the automatic cleaning device 1. The power module 14 can be used to provide the power required for the automatic cleaning device 1, which can be a battery, preferably a rechargeable battery or the like.
上述中，當自動清潔裝置1之電源開啟時，係先以一第一預定方式進行移動，而吸塵模組11便開始作用以吸取地面上之塵物。當吸塵模組11經吸附管吸取塵物至內部空間時，由於塵物會碰觸至內部空間之內壁面，因而將產生聲響。而接收模組12則將接收塵物於內部空間產生之聲響以產生一髒污判斷訊號，藉由此來判定目前所行經之區域範圍係為髒污區域。接著，控制模組13便會接收此髒污判斷訊號以產生一控制指令，以根據此控制指令來使得自動清潔裝置1切換運行模式，由原先的第一預定方式變更為第 二預定方式進行移動，以此，來進行該區域範圍之清潔動作。其中，第一預定方式之移動可為直線式移動或為其它單一形式之移動方式。而第二預定方式之移動可以畫圓方式螺旋轉動、直線來回移動或矩形方陣式移動。當然，以上所述第二預定方式之移動方式僅係為舉例，不應以此而有所限制。 In the above, when the power of the automatic cleaning device 1 is turned on, it is first moved in a first predetermined manner, and the dust suction module 11 starts to act to absorb dust on the ground. When the dust suction module 11 sucks dust into the internal space through the adsorption tube, an acoustic sound is generated because the dust touches the inner wall surface of the internal space. The receiving module 12 will receive the sound generated by the dust in the internal space to generate a dirty determination signal, thereby determining that the current range of the region is a dirty area. Then, the control module 13 receives the dirtyness determination signal to generate a control command to cause the automatic cleaning device 1 to switch the operation mode according to the control command, and the first predetermined method is changed to the first The second predetermined mode is moved to perform the cleaning action of the area. Wherein, the movement of the first predetermined mode may be a linear movement or a movement mode of other single forms. The movement of the second predetermined mode can be spirally rotated in a circular manner, moved back and forth in a straight line, or moved in a rectangular square pattern. Of course, the manner of moving the second predetermined mode described above is merely an example, and should not be limited thereto.
請參閱第2圖，其係為本發明之自動清潔方法之流程圖，此自動清潔方法係可適用於如上所述之自動清潔裝置，該方法之流程步驟為：步驟S21：當自動清潔裝置電源啟動並以一第一預定方式移動時，利用自動清潔裝置之一吸塵模組吸取地面上之塵物於吸塵模組之一內部空間。 Please refer to FIG. 2, which is a flow chart of the automatic cleaning method of the present invention. The automatic cleaning method can be applied to the automatic cleaning device as described above. The process steps of the method are: Step S21: When the automatic cleaning device power supply When starting and moving in a first predetermined manner, the dust collecting module of one of the automatic cleaning devices is used to suck the dust on the ground into the inner space of one of the dust collecting modules.
步驟S22：藉由自動清潔裝置之一接收模組接收塵物被吸取於內部空間所發出之聲響，以產生一髒污判斷訊號。 Step S22: The receiving module receives the sound emitted by the dust in the internal space by one of the automatic cleaning devices to generate a dirty determination signal.
步驟S23：利用自動清潔裝置之一控制模組接收髒污判斷訊號以產生一控制指令，以根據控制指令使自動清潔裝置由第一預定方式切換至一第二預定方式進行移動。 Step S23: The control module receives the soiling determination signal by using one of the automatic cleaning devices to generate a control command to move the automatic cleaning device from the first predetermined mode to a second predetermined mode according to the control command.
請參閱第3及4圖，其係為本發明之自動清潔裝置及其方法之實施例之第一示意圖及第二示意圖。於第3圖中，自動清潔裝置100具有輪子，以利自動清潔裝置100進行移動。於自動清潔裝置100中包含有吸塵結構101及揚聲器102，另外更包含有一控制晶片(圖未示)。此吸塵結構101即為本發明所述之吸塵模組，其包含有吸附管1011及內部空間1012。吸附管1011之一端與內部空間1012係為相通，另一端則延伸至地面，用以吸取地面上之塵物。揚聲器 102即為本發明所述之接收模組，於不發出聲音時可做為收音之裝置來使用。 Please refer to Figures 3 and 4, which are a first schematic view and a second schematic view of an embodiment of the automatic cleaning device and method thereof according to the present invention. In Fig. 3, the automatic cleaning device 100 has wheels for the automatic cleaning device 100 to move. The automatic cleaning device 100 includes a dust suction structure 101 and a speaker 102, and further includes a control wafer (not shown). The dust suction structure 101 is the dust collection module of the present invention, and includes an adsorption tube 1011 and an internal space 1012. One end of the adsorption tube 1011 is in communication with the internal space 1012, and the other end extends to the ground for sucking dust on the ground. speaker 102 is the receiving module of the present invention, and can be used as a radio device when no sound is emitted.
上述中，當自動清潔裝置100之電源啟動並開始進行移動時，係先以直線式移動方式進行移動。在自動清潔裝置100移動的過程中，吸塵結構101便亦同步啟動以吸取地面上之塵物。當自動清潔裝置100行經一區域，使得吸塵結構101之吸附管1011吸取塵物至內部空間1012時，由於塵物將碰觸內部空間1012之內壁而將發生聲響，揚聲器102便會接收此聲響來判定目前行經之區域具有髒污粉塵。而後，控制晶片便會切換運行模式，使得自動清潔裝置100由直線式移動方式切換至畫圓螺旋方式做運轉移動，以清潔此區域，可如第4圖所示。其中，當控制晶片切換運行模式時，可不限制將原先之直線式移動切換為螺旋運轉移動方式，亦可切換為其它之移動方式，如矩形方陣移動等等，不以此實施例所舉而有所限制。 In the above, when the power of the automatic cleaning device 100 is started and the movement starts, the movement is first performed in a linear movement manner. During the movement of the automatic cleaning device 100, the dust suction structure 101 is also simultaneously activated to absorb dust on the ground. When the automatic cleaning device 100 travels through an area such that the adsorption tube 1011 of the vacuuming structure 101 absorbs dust to the internal space 1012, the sound will be generated as the dust will touch the inner wall of the internal space 1012, and the speaker 102 will receive the sound. To determine that the area currently passing through has dirty dust. Then, the control chip switches the operation mode, so that the automatic cleaning device 100 is switched from the linear movement mode to the circular spiral mode to perform the operation movement to clean the area, as shown in FIG. When the control wafer switching operation mode is controlled, the original linear movement can be switched to the spiral operation movement mode, and the other movement modes, such as the rectangular square array movement, can be switched, and the like is not Limited.
綜合上述，本發明所述之自動清潔裝置，在清潔中如吸取到髒污塵物時，可自動地切換運轉移動之方式，由原先的直線式移動切換為螺旋旋轉或矩形方陣移動等方式，藉由此，可有效地清潔髒污之地面，大大地提升了清潔效率。 In summary, the automatic cleaning device of the present invention can automatically switch the mode of operation and movement when cleaning to remove dirty dirt, and switch from the original linear movement to a spiral rotation or rectangular square movement. Thereby, the dirty ground can be effectively cleaned, and the cleaning efficiency is greatly improved.
以上所述僅為舉例性，而非為限制性者。任何未脫離本發明之精神與範疇，而對其進行之等效修改或變更，均應包含於後附之申請專利範圍中。 The above is intended to be illustrative only and not limiting. Any equivalent modifications or alterations to the spirit and scope of the invention are intended to be included in the scope of the appended claims.
1‧‧‧自動清潔裝置 1‧‧‧Automatic cleaning device
11‧‧‧吸塵模組 11‧‧‧Dusting module
12‧‧‧接收模組 12‧‧‧ receiving module
13‧‧‧控制模組 13‧‧‧Control Module
14‧‧‧電源模組 14‧‧‧Power Module
Claims (6)
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| TW101107125A TWI459923B (en) | 2012-03-02 | 2012-03-02 | Automatic cleaning device and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| TW101107125A TWI459923B (en) | 2012-03-02 | 2012-03-02 | Automatic cleaning device and method thereof |
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| TW201336459A TW201336459A (en) | 2013-09-16 |
| TWI459923B true TWI459923B (en) | 2014-11-11 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW332159B (en) * | 1996-10-15 | 1998-05-21 | Penguin Wax Kk | The floor working machine |
| TWM377196U (en) * | 2009-12-01 | 2010-04-01 | cheng-xiang Yan | Dust sensoring device for automatic cleaners |
| TW201127506A (en) * | 2010-02-11 | 2011-08-16 | cheng-xiang Yan | Thin type automatic cleaning device |
-
2012
- 2012-03-02 TW TW101107125A patent/TWI459923B/en not_active IP Right Cessation
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW332159B (en) * | 1996-10-15 | 1998-05-21 | Penguin Wax Kk | The floor working machine |
| TWM377196U (en) * | 2009-12-01 | 2010-04-01 | cheng-xiang Yan | Dust sensoring device for automatic cleaners |
| TW201127506A (en) * | 2010-02-11 | 2011-08-16 | cheng-xiang Yan | Thin type automatic cleaning device |
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| TW201336459A (en) | 2013-09-16 |
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