TWM510724U - Self-propelled cleaner - Google Patents
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- TWM510724U TWM510724U TW104211290U TW104211290U TWM510724U TW M510724 U TWM510724 U TW M510724U TW 104211290 U TW104211290 U TW 104211290U TW 104211290 U TW104211290 U TW 104211290U TW M510724 U TWM510724 U TW M510724U
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Description
本創作有關一種自走式清掃裝置，尤指一種根據該轉向輪行進狀態判斷是否行進異常的自走式清掃裝置。The present invention relates to a self-propelled cleaning device, and more particularly to a self-propelled cleaning device that determines whether an abnormal travel is made according to the traveling state of the steering wheel.
現今各式清潔裝置隨著科技的發展，已走向自動化以及智慧化的階段，一般家庭開始選購具多功能合一的清潔裝置，其中，就以吸塵器為最為普遍的清潔裝置。但習用吸塵器普遍具有體積龐大且不利收納的問題，除此之外，習用吸塵器更會於執行吸塵作業的過程中產生了極高分貝的噪音，而不利於實施。對此，遂有廠商研發出了自走式清掃裝置，以透過了自走式清掃裝置解決上述問題，但自走式清掃裝置於進行吸塵作業的過程中，雖可執行多種形態的軌跡運動，以克服清掃區域內的環境障礙。Nowadays, with the development of science and technology, various cleaning devices have moved to the stage of automation and intelligence. The general households have begun to purchase cleaning devices with multifunctional functions. Among them, vacuum cleaners are the most common cleaning devices. However, the conventional vacuum cleaner generally has a problem of bulky and unfavorable storage. In addition, the conventional vacuum cleaner generates a very high decibel noise during the execution of the vacuuming operation, which is unfavorable for implementation. In this regard, some manufacturers have developed a self-propelled cleaning device to solve the above problems through a self-propelled cleaning device, but the self-propelled cleaning device can perform various forms of trajectory movement during the vacuuming operation. To overcome environmental obstacles in the cleaning area.
然而，現今自走式清掃裝置遇***或凹陷障礙時，並未對其進行反應，而仍繼續進行前進運動，導致自走式清掃裝置的轉向輪懸空，令該自走式清掃裝置受困於障礙，而無法繼續對其他區域進行清掃的工作。對此，遂有業者提出了一種具脫困機制的自走式清掃裝置，如中國民國新型公告第M377197號專利案所述，該專利案主要是利用一轉向輪上的側壁在該轉向輪轉動的過程中，間歇性地阻斷朝該轉向輪發射的感測光線，而一收訊元件則透過間歇性地取得該感測光線，而決定該轉向輪是否正常運動。但上述實施方式於裝配的過程中，需將發送該感測光線的一發訊元件與該收訊元件進行精密的對位設置，而無法快速的進行組裝，並不利於製造。除此之外，該轉向輪於轉動行進的過程中，多少會將毛髮類的垃圾纏繞於其上，而該毛髮類的垃圾多少會阻礙該感測光線的光路徑，而令該收訊元件無法取得該感測光線，而作出錯誤的判斷。However, today's self-propelled cleaning device does not react to it when it encounters a bulge or a depression, but continues to advance, causing the steering wheel of the self-propelled cleaning device to hang, causing the self-propelled cleaning device to be trapped. Obstacles, and the work of cleaning other areas cannot continue. In this regard, the manufacturer has proposed a self-propelled cleaning device with a mechanism for removing the trap, as described in the Chinese Patent No. M377197, which mainly uses the side wall of a steering wheel to rotate on the steering wheel. During the process, the sensed light emitted toward the steering wheel is intermittently blocked, and a receiving component determines whether the steering wheel is normally moving by intermittently obtaining the sensed light. However, in the above-mentioned embodiment, in the process of assembly, a transmitting component that transmits the sensing light and the receiving component are precisely aligned, and the assembly cannot be performed quickly, which is not advantageous for manufacturing. In addition, during the rotation of the steering wheel, how much hair-type garbage is entangled thereon, and the hair-type garbage may block the light path of the sensing light, and the receiving component The sensed light cannot be obtained and an erroneous judgment is made.
本創作的主要目的，在於解決習用自走式清掃裝置結構組裝不易且容易遭外物干擾而感應異常的問題。The main purpose of this creation is to solve the problem that the structure of the conventional self-propelled cleaning device is not easy to assemble and is easily disturbed by foreign objects.
為達上述目的，本創作提供一種自走式清掃裝置，包含有一裝置本體，至少二移動輪以及一轉向輪。其中，該裝置本體配置有一吸塵模組、一驅動模組以及一連接該吸塵模組與該驅動模組的行為控制模組，該行為控制模組決定該吸塵模組與該驅動模組的工作，該些移動輪設置於該裝置本體底部並與該驅動模組連接，以受該驅動模組驅動產生轉動而帶動該裝置本體移動，該轉向輪與該些移動輪同設於該裝置本體底部，並受該驅動模組控制而引導該裝置本體進行轉向。其中，該轉向輪設有一磁性元件，該磁性元件跟隨著該轉向輪轉動並具有極性相斥的一第一磁極與一第二磁極，而該裝置本體則面對該轉向輪設置有一極性感應單元，該極性感應單元於該裝置本體行進的過程中，常態偵測該第一磁極的有無產生一偵測訊號輸出至該行為控制模組，該行為控制模組則根據一監測時間內是否連續收到該偵測訊號而決定該自走式清掃裝置是否行進異常，若於該監測時間內連續收到該偵測訊號即判斷該自走式清掃裝置行進正常，若否，則異常。To achieve the above object, the present invention provides a self-propelled cleaning device comprising a device body, at least two moving wheels and a steering wheel. The device body is configured with a vacuum module, a driving module and a behavior control module connecting the vacuum module and the driving module, and the behavior control module determines the working of the vacuum module and the driving module. The moving wheels are disposed at the bottom of the device body and connected to the driving module, and are driven by the driving module to rotate to drive the device body to move. The steering wheel and the moving wheels are disposed at the bottom of the device body. And being controlled by the driving module to guide the device body to perform steering. Wherein, the steering wheel is provided with a magnetic component, the magnetic component follows a first magnetic pole and a second magnetic pole which are rotated by the steering wheel and has a polarity repulsive, and the device body is provided with a polarity sensing unit facing the steering wheel. During the traveling of the device body, the polarity sensing unit detects the presence or absence of the first magnetic pole to generate a detection signal output to the behavior control module, and the behavior control module continuously receives according to a monitoring time. Whether the self-propelled cleaning device is abnormally traveling is determined by the detection signal. If the detection signal is continuously received within the monitoring time, the self-propelled cleaning device is judged to be normal, and if not, the abnormality is obtained.
於一實施例中，該行為控制模組採集該監測時間內該偵測訊號的出現次數並轉換為一頻率訊號，且根據該頻率訊號判斷該自走式清掃裝置是否行進異常，若該頻率訊號出現變化而逐漸降低即判斷該自走式清掃裝置行進異常。In one embodiment, the behavior control module collects the number of occurrences of the detection signal during the monitoring time and converts it into a frequency signal, and determines whether the self-propelled cleaning device travels abnormally according to the frequency signal, if the frequency signal is When the change occurs and gradually decreases, it is judged that the self-propelled cleaning device travels abnormally.
於一實施例中，該轉向輪是由一第一輪殼及一第二輪殼組裝而成，該第一輪殼與該第二輪殼共同界定出一安裝空間，而該磁性元件設於該安裝空間內並固定於該第一輪殼上。In one embodiment, the steering wheel is assembled from a first wheel housing and a second wheel housing. The first wheel housing and the second wheel housing together define a mounting space, and the magnetic component is disposed on the The installation space is fixed to the first wheel housing.
於一實施例中，該第一輪殼具有一提供該磁性元件放置的安裝槽。In one embodiment, the first wheel housing has a mounting slot for providing the magnetic component.
於一實施例中，該第二輪殼具有一對應該磁性元件設置並偕同該安裝槽限位該磁性元件的限制肋。In one embodiment, the second wheel housing has a pair of limiting ribs that are disposed with the magnetic element and that are associated with the mounting slot to limit the magnetic element.
於一實施例中，該磁性元件是以該極性感應單元的垂直向配置於該轉向輪上。In one embodiment, the magnetic element is disposed on the steering wheel in a vertical direction of the polarity sensing unit.
於一實施例中，該轉向輪包含有一受該第一輪殼及該第二輪殼夾設的輪軸、一與該輪軸組裝的輪罩以及一與該輪罩組裝並受該驅動模組控制而產生轉向的傳動軸。In one embodiment, the steering wheel includes an axle that is interposed between the first wheel housing and the second wheel housing, a wheel cover assembled with the wheel axle, and a wheel cover that is assembled with and controlled by the driving module. The steering shaft that produces the steering.
於一實施例中，該轉向輪設於該裝置本體的前側底部。In an embodiment, the steering wheel is disposed at a front bottom of the apparatus body.
透過本創作上述結構，相較於習用具有以下特點： 1. 本創作該轉向輪上配置有一磁性元件，該裝置本體則設有一對該磁性元件進行極性感應的極性感應單元，以於該自走式清掃裝置行進過程中，對該磁性元件受該轉向輪的帶動所產生的極性變化進行感應，藉此以透過該磁性元件的極性變化判斷該自走式清掃裝置是否遭遇障礙，而進行相應脫困處置。 2. 本創作主要是利用檢測該磁性元件的磁性變化，決定該轉向輪的行進狀況，而可避免外物的干擾，避免誤判的情事發生。 3. 本創作所提出的實施方案，裝配方式明顯較習用簡單。Through the above structure of the creation, the following features are compared with the conventional ones: 1. The steering wheel is provided with a magnetic component, and the device body is provided with a pair of polarity sensing units for polarity sensing of the magnetic component for self-propelled During the running of the cleaning device, the magnetic element is induced by the change of the polarity caused by the driving of the steering wheel, thereby determining whether the self-propelled cleaning device encounters an obstacle through the polarity change of the magnetic element, and correspondingly removing the obstacle. Dispose of. 2. This creation mainly uses the detection of the magnetic change of the magnetic component to determine the traveling condition of the steering wheel, and can avoid the interference of foreign objects and avoid the occurrence of misjudgment. 3. The implementation scheme proposed by this creation is obviously simpler than the conventional one.
有關本創作的詳細說明及技術內容，現就配合圖式說明如下：The detailed description and technical content of this creation are as follows:
請參閱圖1至圖5，本創作提供一種自走式清掃裝置，該自走式清掃裝置得經啟動後，自動根據其所預設的行為模式對一區域進行吸塵作業以達到清掃的目的。該自走式清掃裝置包含有一裝置本體10，至少二移動輪11以及一轉向輪12，其中，該裝置本體10可以是由一第一瓣殼101與一第二瓣殼102相互組裝而成，且該第一瓣殼101與該第二瓣殼102共同界定出一容置空間103。進一步地，該裝置本體10於該容置空間103內配置有一吸塵模組104、一驅動模組105以及一連接該吸塵模組104與該驅動模組105的行為控制模組106。承上，該吸塵模組104受該行為控制模組106的驅動，對該自走式清掃裝置經過路徑進行吸塵作業，而該驅動模組105則受該行為控制模組106的控制，產生相應動作，又，該驅動模組105可包含有一電動馬達及一機械傳動結構。再者，該行為控制模組106可預載有多個工作模式，以控制該吸塵模組104以及該驅動模組105的工作。進一步說明，該行為控制模組106得預載一旋轉軌跡行進模式，一直線軌跡行進模式及一沿牆行進模式，以令該自走式清掃裝置受啟動進行工作的過程中，該行為控制模組106得判斷該自走式清掃裝置所在位置而決定以上述行進模式的任一控制該驅動模組105的工作。舉例說明，當該行為控制模組106判斷該自走式清掃裝置位於空曠位置時，即得以該旋轉軌跡行進模式或該直線軌跡行進模式驅動該驅動模組105，而進行相應軌跡的吸塵作業。此外，該行為控制模組106可為一電子運算模組。Referring to FIG. 1 to FIG. 5, the present invention provides a self-propelled cleaning device. After the self-propelled cleaning device is activated, an area is automatically vacuumed according to its preset behavior mode to achieve cleaning. The self-propelled cleaning device includes a device body 10, at least two moving wheels 11 and a steering wheel 12. The device body 10 may be assembled from a first valve shell 101 and a second valve shell 102. The first valve shell 101 and the second valve shell 102 together define an accommodating space 103. Further, the device body 10 is disposed in the accommodating space 103 with a dust collection module 104, a driving module 105, and a behavior control module 106 connecting the dust collection module 104 and the driving module 105. The dust-collecting module 104 is driven by the behavior control module 106 to perform a dust-collecting operation on the self-propelled cleaning device, and the driving module 105 is controlled by the behavior control module 106 to generate a corresponding In addition, the driving module 105 can include an electric motor and a mechanical transmission structure. Moreover, the behavior control module 106 can be preloaded with a plurality of working modes to control the operation of the vacuum module 104 and the driving module 105. Further, the behavior control module 106 is preloaded with a rotational trajectory travel mode, a linear trajectory travel mode, and a wall travel mode to enable the self-propelled sweeping device to be activated during operation, the behavior control module 106 determines the position of the self-propelled cleaning device to determine the operation of the drive module 105 in any of the above-described travel modes. For example, when the behavior control module 106 determines that the self-propelled cleaning device is in the open position, the driving mode is driven by the rotating track traveling mode or the linear track traveling mode, and the cleaning operation of the corresponding track is performed. In addition, the behavior control module 106 can be an electronic computing module.
復請參閱圖1及圖2，另一方面，該些移動輪11設置於該裝置本體10底部並與該驅動模組105連接，以受該驅動模組105的驅動產生轉動而帶動該裝置本體10的移動。該轉向輪12與該移動輪11同設於該裝置本體10底部，並且受到該驅動模組105的控制而引導該裝置本體10進行轉向。進一步說明，該轉向輪12得設置於該裝置本體10的前側底部，該轉向輪12是由一第一輪殼121及一第二輪殼122組裝而成，該第一輪殼121與該第二輪殼122得分別為一中空狀而於組裝後共同界定出一安裝空間123。此外，該轉向輪12更可包含一受該第一輪殼121及該第二輪殼122夾設的輪軸124，一與該輪軸124組裝的輪罩125以及一與該輪罩125組裝並受該驅動模組105控制而產生轉向的傳動軸126。更具體說明，該轉向輪12是以該傳動軸126與該驅動模組105連接，當該驅動模組105受該行為控制模組106控制而需令該轉向輪12進行轉向，改變該自走式清掃裝置的行進方向時，該驅動模組105即令該傳動軸126向右或向左旋轉一角度，進而帶動該輪罩125同步旋動該角度，而帶動該第一輪殼121與該第二輪殼122進行了該角度的旋轉，令該自走式清掃裝置產生了轉向。Referring to FIG. 1 and FIG. 2 , on the other hand, the moving wheels 11 are disposed at the bottom of the device body 10 and connected to the driving module 105 to be rotated by the driving module 105 to drive the device body. 10 moves. The steering wheel 12 is disposed at the bottom of the device body 10 together with the moving wheel 11, and is guided by the driving module 105 to guide the device body 10 for steering. Further, the steering wheel 12 is disposed on the front bottom of the apparatus body 10. The steering wheel 12 is assembled from a first wheel housing 121 and a second wheel housing 122. The first wheel housing 121 and the first wheel housing 121 The two wheel housings 122 are respectively hollow and define a mounting space 123 after assembly. In addition, the steering wheel 12 may further include an axle 124 sandwiched by the first wheel housing 121 and the second wheel housing 122, a wheel housing 125 assembled with the axle 124, and a wheel housing 125 assembled and received by the wheel housing 125. The drive module 105 controls the drive shaft 126 that produces steering. More specifically, the steering wheel 12 is connected to the driving module 105 by the driving shaft 126. When the driving module 105 is controlled by the behavior control module 106, the steering wheel 12 needs to be steered to change the self-propelled The drive module 105 rotates the drive shaft 126 to the right or left by an angle, and then drives the wheel cover 125 to rotate the angle synchronously, thereby driving the first wheel housing 121 and the first The rotation of the two-wheel housing 122 at this angle causes the self-propelled cleaning device to steer.
承上，本創作進一步於該轉向輪12上設有一磁性元件13，該磁性元件13得裝配於該安裝空間123之中，並可為一柱狀結構。於一實施例中，為了具體安裝該磁性元件，該第一輪殼121具有一提供該磁性元件13放置的安裝槽127，而該第二輪殼122則具有一對應該磁性元件13設置並偕同該安裝槽127限位該磁性元件的限制肋128。如此，該磁性元件13固設於該轉向輪12之上，而可跟隨著該轉向輪12轉動。進一步地，該磁性元件13具有磁性相斥的一第一磁極131與一第二磁極132，而為了具體本創作的實施經過，於此預先假設該第一磁極131為N極性，而該第二磁極132為S極性，但並不以此為限。另一方面，該裝置本體10面向該轉向輪12設置有一極性感應單元107，該極性感應單元107被設計成偵測該第一磁極131的有無，而產生一偵測訊號輸出至該行為控制模組106。具體說明，該極性感應單元107被設計成僅會對單一磁性產生反應，也就是說，在本實施例中該磁性感應單元107僅會對N極性產生反應，而輸出電流產生該偵測訊號。藉此，由於該磁性元件13固設於該轉向輪12之上，使該自走式清掃裝置於行進的過程，該轉向輪12的轉動令該極性感應單元107產生了同動，而讓該極性感應單元107會輪流以該第一磁極131與該第二磁極132面向該磁性感應單元107，令該行為控制模組106接受到連續且規律間歇的該偵測訊號。再者，為了確保該磁性元件13得確實地被該磁性感應單元107偵測，並出現明顯的極性變化，本創作進一步令該磁性元件13是以該極性感應單元107的垂直向配置於該轉向輪12上。就如圖5所示。The present invention further includes a magnetic element 13 disposed on the steering wheel 12. The magnetic element 13 is mounted in the installation space 123 and may be a columnar structure. In one embodiment, in order to specifically mount the magnetic component, the first wheel housing 121 has a mounting groove 127 for providing the magnetic component 13, and the second wheel housing 122 has a pair of magnetic components 13 disposed and identical. The mounting groove 127 limits the limiting rib 128 of the magnetic element. As such, the magnetic element 13 is fixed to the steering wheel 12 and can follow the steering wheel 12 to rotate. Further, the magnetic element 13 has a first magnetic pole 131 and a second magnetic pole 132 that are magnetically repulsive, and for the specific implementation of the present invention, it is presupposed that the first magnetic pole 131 is N-polar and the second The magnetic pole 132 is S polarity, but is not limited thereto. On the other hand, the device body 10 is disposed with a polarity sensing unit 107 facing the steering wheel 12. The polarity sensing unit 107 is designed to detect the presence or absence of the first magnetic pole 131, and generate a detection signal output to the behavior control mode. Group 106. Specifically, the polarity sensing unit 107 is designed to react only to a single magnetic property, that is, in the present embodiment, the magnetic sensing unit 107 only reacts to the N polarity, and the output current generates the detection signal. Thereby, since the magnetic element 13 is fixed on the steering wheel 12, the rotation of the steering wheel 12 causes the polarity sensing unit 107 to generate the same motion during the traveling process of the self-propelled cleaning device. The polarity sensing unit 107 rotates the first magnetic pole 131 and the second magnetic pole 132 facing the magnetic sensing unit 107, so that the behavior control module 106 receives the continuous and regular intermittent detection signal. Furthermore, in order to ensure that the magnetic element 13 is reliably detected by the magnetic sensing unit 107 and a significant polarity change occurs, the present invention further causes the magnetic element 13 to be disposed in the vertical direction of the polarity sensing unit 107. On the wheel 12. As shown in Figure 5.
承上，本創作該自走式清掃裝置於正常行進的過程中，該行為控制模組106得接受連續且規律間歇的該偵測訊號，因此，本創作進一步令該行為控制模組106根據一監測時間內是否連續收到該偵測訊號而決定該自走式清掃裝置是否行進異常，若於該監測時間內連續收到該偵測訊號即判斷該自走式清掃裝置行進正常，若否，則異常。更具體說明，併請參閱圖6至圖10，該自走式清掃裝置受使用者操作而啟動進行吸塵作業的初始，該行為控制模組106驅動該驅動模組105令該移動輪11帶動該裝置本體10朝一方向前進。然而，當該自走式清掃裝置行進的過程中，未遭遇任何障礙而阻礙其行時，該轉向輪12會因該自走式清掃裝置的行進而產生轉動，在該轉向輪12轉動的同時，該磁性元件13亦產生了轉動，輪流以該第一磁極131與該第二磁極132面向該磁性感應單元107，令該磁性感應單元107產生連續且規律間歇的該偵測訊號，而該行為控制模組106則於該監測時間(如5秒或10秒)內連續接受到該偵測訊號，而判斷該自走式清掃裝置行進正常。反之，當該自走式清掃裝置於行進過程中，因一障礙物2的影響而讓該轉向輪12騰空，而無法受該自走式清掃裝置的行進而轉動時，該磁性感應單元107即無法感測到該第一磁極131與該第二磁極132規律性的變化，例如長時間感測該第一磁極131，或逾越該監測時間卻無法感測該第一磁極131，而令該行為控制模組106無法於該監測時間內無法連續接收到該偵測訊號，該行為控制模組106隨即判斷該自走式清掃裝置行進異常，而進入到一脫困狀態。In the process of the self-propelled cleaning device, the behavior control module 106 can receive the continuous and regular intermittent detection signal. Therefore, the creation further causes the behavior control module 106 to Whether the self-propelled cleaning device travels abnormally during the monitoring time, and whether the self-propelled cleaning device continues to travel normally if the detection signal is continuously received during the monitoring time, if not, It is abnormal. More specifically, and referring to FIG. 6 to FIG. 10, the self-propelled cleaning device is activated by a user to initiate an initial operation of the cleaning operation, and the behavior control module 106 drives the driving module 105 to cause the moving wheel 11 to drive the The apparatus body 10 advances in one direction. However, when the self-propelled sweeping device travels without obstructing the obstacle, the steering wheel 12 is rotated by the travel of the self-propelled sweeping device, while the steering wheel 12 is rotating. The magnetic element 13 also rotates, and the first magnetic pole 131 and the second magnetic pole 132 face the magnetic sensing unit 107 in turn, so that the magnetic sensing unit 107 generates the continuous and regular intermittent detection signal, and the behavior The control module 106 continuously receives the detection signal during the monitoring time (for example, 5 seconds or 10 seconds), and determines that the self-propelled cleaning device is traveling normally. On the other hand, when the self-propelled cleaning device moves the steering wheel 12 due to the influence of an obstacle 2 and cannot be rotated by the traveling of the self-propelled cleaning device, the magnetic sensing unit 107 The regular change of the first magnetic pole 131 and the second magnetic pole 132 cannot be sensed, for example, the first magnetic pole 131 is sensed for a long time, or the first magnetic pole 131 cannot be sensed after the monitoring time is exceeded, and the behavior is made. The control module 106 cannot continuously receive the detection signal during the monitoring time, and the behavior control module 106 then determines that the self-propelled cleaning device is abnormally traveling and enters a state of being deprived.
復請參閱圖7至圖10，承上所述，該自走式清掃裝置進入該脫困狀態時，該行為控制模組106即讀取預載的脫困行為模式，例如控制該驅動模組105令該移動輪11反向轉動，而朝遠離該障礙物2的方向前進，就如圖8所示。此後，如圖9及圖10，該行為控制模組106可進一步控制該驅動模組105驅動該轉向輪12朝遠離該障礙物2的方向轉動，而引導該自走式清掃裝置遠離該障礙物2，以續行吸塵作業。Referring to FIG. 7 to FIG. 10, in the above, when the self-propelled cleaning device enters the off-trap state, the behavior control module 106 reads the pre-loaded behavior mode, for example, controls the driving module 105. The moving wheel 11 rotates in the reverse direction and advances away from the obstacle 2 as shown in FIG. Thereafter, as shown in FIG. 9 and FIG. 10, the behavior control module 106 can further control the driving module 105 to drive the steering wheel 12 to rotate away from the obstacle 2, and guide the self-propelled cleaning device away from the obstacle. 2, to continue the vacuuming operation.
除上述實施方式之外，於一實施例中，該行為控制模組106亦可採集該監測時間內該偵測訊號的出現次數並轉換為一頻率訊號，且該行為控制模組106進一步根據該頻率訊號判斷該自走式清掃裝置是否行進異常，若該頻率訊號出現變化而逐漸降低即判斷該自走式清掃裝置行進異常。進一步說明，於該自走式清掃裝置正常行進的過程中，該行為控制模組106採集該偵測訊號出現次數所產生的該頻率訊號為每秒10次。如此，當該自走式清掃裝置於吸塵作業的過程中，遭遇該障礙物2而讓該轉向輪12的轉速下降，使該行為控制模組106採集該偵測訊號出現次數所產生的該頻率訊號由原先的每秒10次逐漸降低，該行為控制模組106即判斷該自走式清掃裝置遭遇障礙而行進異常。In addition to the above embodiments, in one embodiment, the behavior control module 106 can also collect the number of occurrences of the detection signal during the monitoring time and convert it into a frequency signal, and the behavior control module 106 further determines The frequency signal determines whether the self-propelled cleaning device is traveling abnormally, and if the frequency signal changes and gradually decreases, it is determined that the self-propelled cleaning device is traveling abnormally. Further, during the normal running of the self-propelled cleaning device, the behavior control module 106 collects the frequency signal generated by the number of occurrences of the detection signal to be 10 times per second. In this way, during the cleaning operation of the self-propelled cleaning device, the obstacle 2 is encountered and the rotation speed of the steering wheel 12 is decreased, so that the behavior control module 106 collects the frequency generated by the number of occurrences of the detection signal. The signal is gradually reduced from the original 10 times per second, and the behavior control module 106 determines that the self-propelled cleaning device encounters an obstacle and travels abnormally.
承上，本創作所指該障礙物並非僅限置一般物品，亦可能為繩索或毛髮纏繞該轉向輪12，甚至是地板明顯起伏之處。According to the above, the obstacle referred to in this creation is not limited to general items, but may also wrap the steering wheel 12 for ropes or hair, even where the floor is obviously undulating.
綜上所述，本創作該自走式清掃裝置包含有一裝置本體以及裝配於該裝置本體底部的至少二移動輪與一轉向輪，其中，該轉向輪設有一磁性元件，該磁性元件跟隨著該轉向輪轉動並具有極性相斥的一第一磁極與一第二磁極，而該裝置本體則面對該轉向輪設置有一極性感應單元，該極性感應單元於該裝置本體行進過程中，常態偵測該第一磁極的有無產生一偵測訊號輸出至該行為控制模組，該行為控制模組則根據一監測時間內是否連續收到該偵測訊號而決定該自走式清掃裝置是否行進異常，若於該監測時間內連續收到該偵測訊號即判斷該自走式清掃裝置行進正常，若否，則異常。藉此，以降低該自走式清掃裝置行進錯誤的機率發生，並可於行進錯誤的初始執行脫困，而增加該自走式清掃裝置工作的穩定性。In summary, the self-propelled cleaning device comprises a device body and at least two moving wheels and a steering wheel mounted on the bottom of the device body, wherein the steering wheel is provided with a magnetic component, the magnetic component follows the The steering wheel rotates and has a first magnetic pole and a second magnetic pole which are mutually repulsive, and the device body is disposed with a polarity sensing unit facing the steering wheel, and the polarity sensing unit detects the normal state during the traveling of the device body. The presence or absence of the first magnetic pole generates a detection signal output to the behavior control module, and the behavior control module determines whether the self-propelled cleaning device travels abnormally according to whether the detection signal is continuously received within a monitoring time. If the detection signal is continuously received within the monitoring time, it is determined that the self-propelled cleaning device is traveling normally, and if not, the abnormality is obtained. Thereby, the probability of traveling error of the self-propelled cleaning device is reduced, and the initial operation of the traveling error is performed, and the stability of the operation of the self-propelled cleaning device is increased.
以上已將本創作做一詳細說明，惟以上所述者，僅爲本創作之一較佳實施例而已，當不能以此限定本創作實施之範圍，即凡依本創作申請專利範圍所作之均等變化與修飾，皆應仍屬本創作之專利涵蓋範圍內。The above description has been made in detail, but the above is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the creation of the creation, that is, the equality of the patent application scope according to the present creation. Changes and modifications are still covered by the patents of this creation.
10‧‧‧裝置本體
101‧‧‧第一瓣殼
102‧‧‧第二瓣殼
103‧‧‧容置空間
104‧‧‧吸塵模組
105‧‧‧驅動模組
106‧‧‧行為控制模組
107‧‧‧極性感應單元
11‧‧‧移動輪
12‧‧‧轉向輪
121‧‧‧第一輪殼
122‧‧‧第二輪殼
123‧‧‧安裝空間
124‧‧‧輪軸
125‧‧‧輪罩
126‧‧‧傳動軸
127‧‧‧安裝槽
128‧‧‧限制肋
13‧‧‧磁性元件
131‧‧‧第一磁極
132‧‧‧第二磁極
2‧‧‧障礙物10‧‧‧ device body
101‧‧‧First flap
102‧‧‧Second bellows
103‧‧‧ accommodating space
104‧‧‧Dusting module
105‧‧‧Drive Module
106‧‧‧Behavioral Control Module
107‧‧‧Polar sensing unit
11‧‧‧ moving wheel
12‧‧‧Steering wheel
121‧‧‧First round shell
122‧‧‧Second round shell
123‧‧‧Installation space
124‧‧‧Axle
125‧‧‧ wheel cover
126‧‧‧ drive shaft
127‧‧‧Installation slot
128‧‧‧Restricted ribs
13‧‧‧Magnetic components
131‧‧‧First magnetic pole
132‧‧‧second magnetic pole
2‧‧‧ obstacles
圖1，本創作一實施例的結構外觀示意圖。 圖2，本創作一實施例的單元組成示意圖。 圖3，本創作一實施例轉向輪的結構分解示意圖。 圖4，本創作一實施例的局部結構示意圖。 圖5，本創作一實施例的局部結構剖面示意圖。 圖6~10，本創作一實施例的實施示意圖(一)~(五)。Fig. 1 is a schematic view showing the structure of an embodiment of the present invention. FIG. 2 is a schematic diagram of the unit composition of an embodiment of the present invention. FIG. 3 is a schematic exploded view showing the structure of a steering wheel according to an embodiment of the present invention. FIG. 4 is a partial structural schematic view of an embodiment of the present invention. Figure 5 is a cross-sectional view showing a partial structure of an embodiment of the present invention. 6 to 10 are schematic diagrams (1) to (5) of an embodiment of the present creation.
10‧‧‧裝置本體 10‧‧‧ device body
101‧‧‧第一瓣殼 101‧‧‧First flap
102‧‧‧第二瓣殼 102‧‧‧Second bellows
104‧‧‧吸塵模組 104‧‧‧Dusting module
11‧‧‧移動輪 11‧‧‧ moving wheel
12‧‧‧轉向輪 12‧‧‧Steering wheel
121‧‧‧第一輪殼 121‧‧‧First round shell
125‧‧‧輪罩 125‧‧‧ wheel cover
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW104211290U TWM510724U (en) | 2015-07-14 | 2015-07-14 | Self-propelled cleaner |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW104211290U TWM510724U (en) | 2015-07-14 | 2015-07-14 | Self-propelled cleaner |
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| Publication Number | Publication Date |
|---|---|
| TWM510724U true TWM510724U (en) | 2015-10-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| TW104211290U TWM510724U (en) | 2015-07-14 | 2015-07-14 | Self-propelled cleaner |
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| TW (1) | TWM510724U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI688363B (en) * | 2016-10-06 | 2020-03-21 | 日商日立環球生活方案股份有限公司 | Electric sweeping robot |
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2015
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI688363B (en) * | 2016-10-06 | 2020-03-21 | 日商日立環球生活方案股份有限公司 | Electric sweeping robot |
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