US20130228198A1 - Cleaning system and control method thereof - Google Patents

Cleaning system and control method thereof Download PDF

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Publication number
US20130228198A1
US20130228198A1 US13/724,140 US201213724140A US2013228198A1 US 20130228198 A1 US20130228198 A1 US 20130228198A1 US 201213724140 A US201213724140 A US 201213724140A US 2013228198 A1 US2013228198 A1 US 2013228198A1
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US
United States
Prior art keywords
cleaning
sensed signal
module
cleaning robot
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US13/724,140
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English (en)
Inventor
Shih-Che HUNG
Yao-Shih Leng
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MSI Computer Shenzhen Co Ltd
Original Assignee
MSI Computer Shenzhen Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from TW101127709A external-priority patent/TW201336457A/zh
Application filed by MSI Computer Shenzhen Co Ltd filed Critical MSI Computer Shenzhen Co Ltd
Priority to US13/724,140 priority Critical patent/US20130228198A1/en
Assigned to MSI COMPUTER (SHENZHEN) CO., LTD. reassignment MSI COMPUTER (SHENZHEN) CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: HUNG, SHIH-CHE, LENG, YAO-SHIH
Publication of US20130228198A1 publication Critical patent/US20130228198A1/en
Abandoned legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
    • A47L13/42—Details
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention relates to a cleaning system, and more particularly, to a cleaning system utilizing a cleaning robot.
  • Cleaning floors take a lot of time.
  • many cleaning devices have been developed, such as a broom, a mop and so forth.
  • the cleaning devices must be manually operated for cleaning.
  • conventional cleaning devices are inconvenient.
  • a cleaning robot can autonomously execute a cleaning action.
  • a user is not required to manually operate the cleaning robot to clean a floor.
  • the cleaning robot has gradually replaced conventional cleaning devices.
  • a conventional method of a cleaning robot utilizes a virtual wall to limit the traveling path of the cleaning robot and utilizes a docking station for charging the cleaning robot.
  • the cleaning robot may collide with the virtual wall or cannot immediately connect to the docking station.
  • a cleaning system comprises a guiding object and a cleaning robot.
  • the guiding object comprises a magnet to form a magnetic field.
  • the cleaning robot comprises an operation module, a first sense module and a control module.
  • the operation module performs a cleaning action and a moving action according to a control signal.
  • the first sense module generates a first sensed signal according to the magnetic field.
  • the control module generates the control signal to adjust an efficiency of at least one of the cleaning action and the moving action according to the first sensed signal.
  • a magnet module is disposed in a guiding object to form a magnetic field.
  • the magnetic field is sensed to generate a sensing result and a first sensed signal is generated according to the sensing result.
  • An efficiency of at least one of a cleaning action and a moving action is controlled according to the first sensed signal.
  • FIG. 1 is a schematic diagram of an exemplary embodiment of a cleaning system
  • FIG. 2 is a schematic diagram of an exemplary embodiment of a control method of the invention.
  • FIG. 3 is a schematic diagram of another exemplary embodiment of a control method of the invention.
  • FIG. 1 is a schematic diagram of an exemplary embodiment of a cleaning system.
  • the cleaning system 100 comprises a guiding object 110 and a cleaning robot 130 .
  • the guiding object 110 comprises a magnet module 111 to form a magnetic field.
  • the magnet module 111 comprises at least one NdFeB magnet 113 .
  • the invention does not limit the function of the guiding object 110 .
  • the guiding object 110 is capable of guiding the cleaning robot 130 .
  • the guiding object 110 is a virtual wall to limit the traveling path of the cleaning robot 130 .
  • the guiding object 110 is a docking station for charging the cleaning robot 130 .
  • the cleaning robot 130 comprises an operation module 131 , a sense module 132 and a control module 133 .
  • the operation module 131 performs a cleaning action and a moving action according to a control signal.
  • the invention does not limit the circuit structure of the operation module 131 . Any element can be contained in the operation module 131 , as long as the element is capable of performing a cleaning action or a moving action.
  • the operation module 131 comprises a cleaning brush 134 , wheels 135 , 136 , and a suction aperture 137 .
  • the cleaning brush 134 and the suction aperture 137 execute a cleaning action.
  • the wheels 135 and 136 execute a moving action.
  • the sense module 132 generates a sensed signal according to the magnetic field generated by the magnet module 111 .
  • the sense module 132 is disposed at a lateral side of the cleaning robot 130 , but the disclosure is not limited thereto. In other embodiments, the sense module 132 can be disposed at any position of the cleaning robot 130 , as long as the sense module 132 is capable of sensing the magnetic field. Additionally, the invention does not limit the circuit structure of the sense module 132 .
  • the sense module 132 comprises at least one of a compass sensor, a Hall sensor, a gyroscope and a g sensor.
  • the control module 133 generates the control signal to adjust an efficiency of at least one of the cleaning action and the moving action according to the first sensed signal.
  • control module 133 controls the speed and the direction of the wheels 135 and 136 to stop or start the cleaning robot 130 or adjust the moving speed or the traveling path of the cleaning robot 130 according to the sensing signal generated by the sense module 132 .
  • the moving speed of the cleaning robot 130 may be increased or reduced.
  • the control module 133 controls the cleaning robot 130 to rotate or cruise.
  • control module 133 controls the speed of the cleaning brush 134 , and the suction or the air flow of the suction aperture 137 to adjust the efficiency of the cleaning action of the cleaning robot 130 according to the sensed signal generated by the sense module 132 .
  • the sense module 132 when the cleaning robot 130 approaches the guiding object 110 , the sense module 132 can sense a magnetic field and the magnetic field is strong. Contrarily, when the cleaning robot 130 leaves the guiding object 110 , no magnetic field can be sensed by the sense module 132 or the sense module 132 barely senses a magnetic field.
  • the control module 133 controls the traveling path of the cleaning robot 130 according to the sensed signal generated by the sense module 132 . In other words, the control module 133 controls the speed and the direction of the wheels 135 and 136 .
  • the control module 133 controls the wheels 135 and 136 to move to the guiding object 110 .
  • the storage module may be a rechargeable battery.
  • the cleaning robot 130 can obtain an accurate position of the guiding object 110 according to the sensed signal generated by the sense module 132 and move to approach the guiding object 110 .
  • the control module 133 obtains the state of the cleaning robot 130 according to the sensed signal generated by the sense module 132 . For example, when a duration in which a variation of the sensed signal generated by the sense module 132 is less than a pre-determined value exceeds to a pre-determined period, this represents that the cleaning robot 130 is at a fixed place. In one embodiment, the cleaning robot 130 may be locked at the fixed place. In this case, the control module 133 controls the direction of the wheels 135 and 136 to shake the cleaning robot 130 such that the cleaning robot 130 leaves the fixed place.
  • control module 133 sends an audio effect or a light effect to display the operation state of the cleaning robot 130 .
  • the control module 133 may control a buzzer (not shown) to buzz and send a warning signal or a warning light to notify users, such that the users may immediately determine that an abnormal event has occurred and eliminate the abnormal event.
  • the cleaning robot 130 further comprises another sense module 137 in one embodiment.
  • the sense module 137 generates another sensed signal according to an external environment of the cleaning robot 130 .
  • the control module 133 adjusts the efficiency of at least one of the cleaning action and the moving action of the operation module 131 according to the other sensed signal generated by the sense module 137 .
  • control module 133 when the control module 133 obtains that the cleaning robot 130 is at a fixed place according to the sensed signal generated by the sense module 132 , the control module 133 adjusts the direction of the wheels 135 and 136 to shake the cleaning robot 130 and then adjusts the traveling path of the cleaning robot 130 according to the sensed signal generated by the sense module 137 such that the cleaning robot 130 leaves the fixed place.
  • the sense module 137 comprises a photo sensor.
  • the photo sensor generates a sensed signal according to a reflected light of the external environment.
  • the sense module 137 comprises an audio sensor, such as an ultrasonic sensor. The audio sensor generates a sensed signal according to a reflected audio wave of the external environment.
  • FIG. 2 is a schematic diagram of an exemplary embodiment of a control method of the invention.
  • a magnet module is disposed in a guiding object to form a magnetic field (step S 210 ).
  • at least one NdFeB magnet is disposed in the guiding object, but the disclosure is not limited thereto. In other embodiments, other kinds of magnets may be disposed in the guiding object.
  • step S 220 The magnetic field is sensed (step S 220 ).
  • step S 220 utilizes at least one of a compass sensor, a Hall sensor, a gyroscope and a g sensor to sense the magnetic field.
  • step S 230 controls the speed of a cleaning brush 134 , or the suction or the air flow of a suction aperture 137 for controlling the cleaning action of the cleaning robot. Furthermore, step 230 controls the speed and the direction of wheels of the cleaning robot for controlling the moving action.
  • FIG. 3 is a schematic diagram of another exemplary embodiment of the control method of the invention.
  • FIG. 3 is similar to FIG. 2 , except for the addition of steps S 340 and S 350 . Since steps S 310 ⁇ S 330 shown in FIG. 3 and step S 210 ⁇ S 230 shown in FIG. 2 have the same principles, descriptions of steps S 310 ⁇ S 330 are omitted for brevity.
  • step S 340 it is determined whether a duration, which a variation of the sensed signal generated by step S 320 is less than a pre-determined value in exceeds to a pre-determined period.
  • a duration which the variation of the sensed signal generated by step S 320 is less than the pre-determined value in exceeds to the pre-determined period.
  • the moving action is first adjusted to shake the cleaning robot. Then, another sense module is utilized to sense the external environment of the cleaning robot to generate another sensing result. The traveling path of the cleaning robot is adjusted according to the other sensing result such that the cleaning robot leaves the fixed place. Additionally, when the cleaning robot is at a fixed place, the cleaning action is stopped. After the cleaning robot leaves the fixed place, the cleaning action is performed.
  • step S 350 utilizes a photo sensor, and the photo sensor senses a reflected light of the external environment of the cleaning robot. In another embodiment, step S 350 utilizes an audio sensor to sense a reflected audio wave of the external environment of the cleaning robot.
  • step S 320 is performed to sense the variation of the sensed signal and then control at least one of the cleaning action and the moving action according to the sensing result. Furthermore, after executing step S 350 , step S 320 is performed to sense the magnet field.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)
US13/724,140 2012-03-02 2012-12-21 Cleaning system and control method thereof Abandoned US20130228198A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US13/724,140 US20130228198A1 (en) 2012-03-02 2012-12-21 Cleaning system and control method thereof

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201261606106P 2012-03-02 2012-03-02
TW101127709A TW201336457A (zh) 2012-03-02 2012-08-01 清掃系統及其控制方法
TW101127709 2012-08-01
US13/724,140 US20130228198A1 (en) 2012-03-02 2012-12-21 Cleaning system and control method thereof

Publications (1)

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US20130228198A1 true US20130228198A1 (en) 2013-09-05

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US (1) US20130228198A1 (zh)
JP (1) JP2013180204A (zh)
CN (1) CN103284662B (zh)
DE (1) DE102013101700A1 (zh)

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WO2016165772A1 (en) * 2015-04-17 2016-10-20 Aktiebolaget Electrolux Robotic cleaning device and a method of controlling the robotic cleaning device
CN106137058A (zh) * 2015-04-15 2016-11-23 小米科技有限责任公司 清洁机器人***及虚拟墙检测方法
US9811089B2 (en) 2013-12-19 2017-11-07 Aktiebolaget Electrolux Robotic cleaning device with perimeter recording function
US9939529B2 (en) 2012-08-27 2018-04-10 Aktiebolaget Electrolux Robot positioning system
US9946263B2 (en) 2013-12-19 2018-04-17 Aktiebolaget Electrolux Prioritizing cleaning areas
US10045675B2 (en) 2013-12-19 2018-08-14 Aktiebolaget Electrolux Robotic vacuum cleaner with side brush moving in spiral pattern
US10149589B2 (en) 2013-12-19 2018-12-11 Aktiebolaget Electrolux Sensing climb of obstacle of a robotic cleaning device
US10209080B2 (en) 2013-12-19 2019-02-19 Aktiebolaget Electrolux Robotic cleaning device
EP3316443A4 (en) * 2015-06-26 2019-02-27 Positec Power Tools (Suzhou) Co., Ltd AUTONOMOUS MOBILE DEVICE AND WIRELESS LOADING SYSTEM THEREFOR
US10219665B2 (en) 2013-04-15 2019-03-05 Aktiebolaget Electrolux Robotic vacuum cleaner with protruding sidebrush
US10231591B2 (en) 2013-12-20 2019-03-19 Aktiebolaget Electrolux Dust container
US10433697B2 (en) 2013-12-19 2019-10-08 Aktiebolaget Electrolux Adaptive speed control of rotating side brush
US10448794B2 (en) 2013-04-15 2019-10-22 Aktiebolaget Electrolux Robotic vacuum cleaner
US10499778B2 (en) 2014-09-08 2019-12-10 Aktiebolaget Electrolux Robotic vacuum cleaner
US10518416B2 (en) 2014-07-10 2019-12-31 Aktiebolaget Electrolux Method for detecting a measurement error in a robotic cleaning device
US10534367B2 (en) 2014-12-16 2020-01-14 Aktiebolaget Electrolux Experience-based roadmap for a robotic cleaning device
US10617271B2 (en) 2013-12-19 2020-04-14 Aktiebolaget Electrolux Robotic cleaning device and method for landmark recognition
US10678251B2 (en) 2014-12-16 2020-06-09 Aktiebolaget Electrolux Cleaning method for a robotic cleaning device
US10729297B2 (en) 2014-09-08 2020-08-04 Aktiebolaget Electrolux Robotic vacuum cleaner
US10874274B2 (en) 2015-09-03 2020-12-29 Aktiebolaget Electrolux System of robotic cleaning devices
US10874271B2 (en) 2014-12-12 2020-12-29 Aktiebolaget Electrolux Side brush and robotic cleaner
US10877484B2 (en) 2014-12-10 2020-12-29 Aktiebolaget Electrolux Using laser sensor for floor type detection
US11122953B2 (en) 2016-05-11 2021-09-21 Aktiebolaget Electrolux Robotic cleaning device
US11169533B2 (en) 2016-03-15 2021-11-09 Aktiebolaget Electrolux Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection
US11474533B2 (en) 2017-06-02 2022-10-18 Aktiebolaget Electrolux Method of detecting a difference in level of a surface in front of a robotic cleaning device
US11921517B2 (en) 2017-09-26 2024-03-05 Aktiebolaget Electrolux Controlling movement of a robotic cleaning device

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CN105988139B (zh) * 2015-04-15 2018-06-19 小米科技有限责任公司 智能清洁设备及其碰撞探测组件、脱困方法和装置
JP7036531B2 (ja) 2016-01-08 2022-03-15 東芝ライフスタイル株式会社 自律走行体
DE102016108514A1 (de) * 2016-05-09 2017-11-09 Vorwerk & Co. Interholding Gmbh System und ein Verfahren zur Reinigung eines Fußbodens mti einem Reinigungsroboter
US10575696B2 (en) * 2016-07-13 2020-03-03 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
CN106239504B (zh) * 2016-07-29 2019-05-07 北京小米移动软件有限公司 清洁机器人及其控制方法
CN106272441A (zh) * 2016-10-21 2017-01-04 苏州大成电子科技有限公司 机器人巡航网点及通过网点建立坐标系的方法及巡航方法
WO2018158896A1 (ja) * 2017-03-01 2018-09-07 三菱電機株式会社 情報処理システム
CN108209747A (zh) * 2017-12-29 2018-06-29 北京视觉世界科技有限公司 垃圾处理方法、装置、计算机设备和存储介质
CN108334082A (zh) * 2018-01-18 2018-07-27 安徽三弟电子科技有限责任公司 基于基站定位的清扫机自动充电方法及其控制***
CN110575099B (zh) * 2018-06-07 2021-07-27 科沃斯机器人股份有限公司 定点清扫方法、扫地机器人及存储介质
CN111158354B (zh) * 2018-11-07 2022-10-04 科沃斯机器人股份有限公司 自移动设备作业方法、设备及存储介质
CN112716380A (zh) * 2019-12-14 2021-04-30 陈志后 一种扫地机械机器人及使用方法

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US9939529B2 (en) 2012-08-27 2018-04-10 Aktiebolaget Electrolux Robot positioning system
US10448794B2 (en) 2013-04-15 2019-10-22 Aktiebolaget Electrolux Robotic vacuum cleaner
US10219665B2 (en) 2013-04-15 2019-03-05 Aktiebolaget Electrolux Robotic vacuum cleaner with protruding sidebrush
US10433697B2 (en) 2013-12-19 2019-10-08 Aktiebolaget Electrolux Adaptive speed control of rotating side brush
US10617271B2 (en) 2013-12-19 2020-04-14 Aktiebolaget Electrolux Robotic cleaning device and method for landmark recognition
US9811089B2 (en) 2013-12-19 2017-11-07 Aktiebolaget Electrolux Robotic cleaning device with perimeter recording function
US9946263B2 (en) 2013-12-19 2018-04-17 Aktiebolaget Electrolux Prioritizing cleaning areas
US10045675B2 (en) 2013-12-19 2018-08-14 Aktiebolaget Electrolux Robotic vacuum cleaner with side brush moving in spiral pattern
US10149589B2 (en) 2013-12-19 2018-12-11 Aktiebolaget Electrolux Sensing climb of obstacle of a robotic cleaning device
US10209080B2 (en) 2013-12-19 2019-02-19 Aktiebolaget Electrolux Robotic cleaning device
US10231591B2 (en) 2013-12-20 2019-03-19 Aktiebolaget Electrolux Dust container
US10518416B2 (en) 2014-07-10 2019-12-31 Aktiebolaget Electrolux Method for detecting a measurement error in a robotic cleaning device
US10499778B2 (en) 2014-09-08 2019-12-10 Aktiebolaget Electrolux Robotic vacuum cleaner
US10729297B2 (en) 2014-09-08 2020-08-04 Aktiebolaget Electrolux Robotic vacuum cleaner
US10877484B2 (en) 2014-12-10 2020-12-29 Aktiebolaget Electrolux Using laser sensor for floor type detection
US10874271B2 (en) 2014-12-12 2020-12-29 Aktiebolaget Electrolux Side brush and robotic cleaner
US10534367B2 (en) 2014-12-16 2020-01-14 Aktiebolaget Electrolux Experience-based roadmap for a robotic cleaning device
US10678251B2 (en) 2014-12-16 2020-06-09 Aktiebolaget Electrolux Cleaning method for a robotic cleaning device
CN106137058A (zh) * 2015-04-15 2016-11-23 小米科技有限责任公司 清洁机器人***及虚拟墙检测方法
US11099554B2 (en) 2015-04-17 2021-08-24 Aktiebolaget Electrolux Robotic cleaning device and a method of controlling the robotic cleaning device
WO2016165772A1 (en) * 2015-04-17 2016-10-20 Aktiebolaget Electrolux Robotic cleaning device and a method of controlling the robotic cleaning device
JP2018511364A (ja) * 2015-04-17 2018-04-26 アクチエボラゲット エレクトロルックス ロボット掃除機およびロボット掃除機を制御する方法
EP3693827A1 (en) * 2015-06-26 2020-08-12 Positec Power Tools (Suzhou) Co., Ltd Autonomous mobile device and wireless charging system thereof
EP3316443A4 (en) * 2015-06-26 2019-02-27 Positec Power Tools (Suzhou) Co., Ltd AUTONOMOUS MOBILE DEVICE AND WIRELESS LOADING SYSTEM THEREFOR
US10874274B2 (en) 2015-09-03 2020-12-29 Aktiebolaget Electrolux System of robotic cleaning devices
US11712142B2 (en) 2015-09-03 2023-08-01 Aktiebolaget Electrolux System of robotic cleaning devices
US11169533B2 (en) 2016-03-15 2021-11-09 Aktiebolaget Electrolux Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection
US11122953B2 (en) 2016-05-11 2021-09-21 Aktiebolaget Electrolux Robotic cleaning device
US11474533B2 (en) 2017-06-02 2022-10-18 Aktiebolaget Electrolux Method of detecting a difference in level of a surface in front of a robotic cleaning device
US11921517B2 (en) 2017-09-26 2024-03-05 Aktiebolaget Electrolux Controlling movement of a robotic cleaning device

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CN103284662B (zh) 2016-09-21
DE102013101700A1 (de) 2013-09-05
CN103284662A (zh) 2013-09-11
JP2013180204A (ja) 2013-09-12

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