JP2013180204A - Cleaning system and control method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cleaning system with which a cleaning robot can obtain an accurate position of a virtual wall or a docking station while attaining the reduction of product cost, and to provide a control method thereof.SOLUTION: A cleaning system utilizes a cleaning robot including: a guiding object including a magnet to form a magnetic field; an operation module performing a cleaning action and a moving action according to a control signal; a first sense module generating a first sensed signal according to the magnetic field; and a control module generating 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.

Description

  The present invention relates to a cleaning system and a control method thereof, and more particularly, to a cleaning system using a cleaning robot and a control method thereof.

  Cleaning the floor takes a lot of time. In order to reduce floor cleaning time, many cleaning tools have been developed, such as brooms and mops. However, the cleaning tool must be manually cleaned. Therefore, the conventional cleaning tool is inconvenient.

  With the technical development, many electronic devices such as robots have been developed. Taking a cleaning robot as an example, the cleaning robot can autonomously execute a cleaning operation. The user does not need to manually operate the cleaning robot to clean the floor. Therefore, the cleaning robot is gradually replaced with a conventional cleaning tool. In general, the conventional method of a cleaning robot uses a virtual wall to limit the travel path of the cleaning robot. After the cleaning operation is completed, the cleaning robot returns to the docking station and the cleaning robot is charged. Such a cleaning robot can obtain a precise position of the virtual wall or the docking station so that it does not collide with the virtual wall or can be immediately connected to the docking station.

  For example, Patent Document 1 (Japanese Patent Application Laid-Open No. 2002-325707) discloses a robot cleaner, a system thereof, and a method for returning an external charging device that can efficiently perform the return using an external charging device. The robot cleaner system of Patent Document 1 includes a robot cleaner provided with a drive unit that drives a plurality of wheels, and at least one camera installed on a main body so as to be able to image an external environment, and the robot cleaner and the wireless device. It is equipped with a remote controller that communicates with. When the robot cleaner returns to the external charging device, the remote controller receives and stores an image from which the robot cleaner can recognize the coupling position with the external charging device. The robot cleaner is controlled so that the robot cleaner can be connected to the external charging device while comparing the captured current image with the stored charging device coupling position image (see claim 6). about.).

JP 2002-325707 A

  However, in the robot cleaner system and the control method described in Patent Document 1, in order to return the robot cleaner to the external charging device more accurately, a pre-stored image and a newly captured image are used. In comparison with the above, a high analysis capability is required, and an imaging device capable of high-accuracy imaging is required, resulting in an increase in the product cost of the robot cleaner and its system.

  The present invention has been made in view of such a problem, and a cleaning system and a control method for the same that enable a cleaning robot to obtain an accurate position of a virtual wall or a docking station while realizing a reduction in product cost. The purpose is to provide.

Cleaning system according to the present invention: A cleaning system according to the present invention is a cleaning system using a cleaning robot, and includes a guide object including a magnet that forms a magnetic field, and an operation for performing a cleaning operation and a moving operation according to a control signal. A module, a first detection module that generates a first detection signal in response to the magnetic field, and a control signal that generates at least one of the cleaning operation and the moving operation in response to the first detection signal. And a cleaning robot including a control module for adjusting efficiency.

  In the cleaning system according to the present invention, it is preferable that the guide object is a virtual wall.

  In the cleaning system according to the present invention, it is preferable that the guide object is a docking station.

  In the cleaning system according to the present invention, the operation module includes a plurality of wheels that execute the moving operation, the cleaning robot further includes a power storage module, and the control is performed when the power of the power storage module is smaller than a predetermined value. The module preferably controls the wheel to move to the docking station.

  In the cleaning system according to the present invention, it is preferable that the first detection module includes at least one of a compass sensor, a hall sensor, a gyroscope, and a G sensor.

  In the cleaning system according to the present invention, the cleaning robot generates a second detection signal according to an external environment of the cleaning robot, and the duration of the change of the first detection signal exceeds a predetermined time and reaches a predetermined value. When it is smaller, it is preferable that the control module adjusts the efficiency of at least one of the cleaning operation and the moving operation in response to the second detection signal.

  The cleaning system which concerns on this invention WHEREIN: It is preferable that a said 2nd detection module contains the optical sensor which generate | occur | produces a said 2nd detection signal according to the reflected light of the said external environment.

  In the cleaning system according to the present invention, it is preferable that the second detection module includes a sound wave sensor that generates the second detection signal according to a reflected sound wave of the external environment.

  In the cleaning system according to the present invention, it is preferable that the magnet module includes at least one NdFeB magnet.

Cleaning system control method according to the present invention: The cleaning system control method according to the present invention is a cleaning system control method using a cleaning robot, wherein a magnetic module is arranged on a guide object to form a magnetic field. Detecting a magnetic field to generate a detection result, generating a first detection signal according to the detection result, and at least one of a cleaning operation and a movement operation according to the first detection signal Controlling the efficiency of the two.

  In the cleaning system control method according to the present invention, the step of detecting the magnetic field is preferably a step of detecting the magnetic field using at least one of a compass sensor, a hall sensor, a gyroscope, and a G sensor.

  In the cleaning system control method according to the present invention, the step of detecting the external environment of the cleaning robot and generating a second detection signal, and the duration of the change of the first detection signal exceeds a predetermined time and exceeds a predetermined value. Preferably, the method further includes adjusting the efficiency of at least one of the cleaning operation and the moving operation in response to the second detection signal.

  In the cleaning system control method according to the present invention, the step of detecting the external environment of the cleaning robot uses an optical sensor, and the optical sensor detects reflected light of the external environment and detects the second detection signal. Is preferably generated.

  In the control method of the cleaning system according to the present invention, the step of detecting the external environment of the cleaning robot uses a sound wave sensor, the sound wave sensor detects a reflected sound wave of the external environment, and the second detection signal. Preferably, the step of generating

  In the cleaning system control method according to the present invention, it is preferable that the step of arranging the magnet module on the guide object is a step of arranging at least one NdFeB magnet on the guide object.

  The cleaning system and the control method thereof according to the present invention enable the cleaning robot to obtain an accurate position of the virtual wall or the docking station while realizing a reduction in product cost. Therefore, according to the cleaning system and the control method thereof according to the present invention, the virtual wall does not collide and can be immediately connected to the docking station.

The present invention can be more fully understood by interpreting the detailed description and examples that follow in conjunction with the accompanying drawings.
It is the schematic which shows one Embodiment of the cleaning system which concerns on this invention. It is a flowchart of one Embodiment of the control method of the cleaning system which concerns on this invention. It is a flowchart of another embodiment of the control method of the cleaning system which concerns on this invention.

  The detailed description of the invention is described in the following embodiments in conjunction with the accompanying drawings.

  In the following description, the best mode for carrying out the present invention is disclosed. This description is made for the purpose of illustrating the general principles of the invention and is not intended to limit the invention. The scope of the invention is determined with reference to the appended claims.

  FIG. 1 is a schematic view showing an embodiment of a cleaning system according to the present invention. The cleaning system 100 includes a guiding object 110 and a cleaning robot 130. In this embodiment, the guide object 110 includes a magnet module 111 and forms a magnetic field. In one embodiment, the magnet module 111 includes at least one NdFeB magnet 113.

  The present invention does not limit the function of the guide object 110. In this embodiment, the guide object 110 can guide the cleaning robot 130. In one embodiment, the guide object 110 is a virtual wall that limits the travel route of the cleaning robot 130. In another embodiment, the guide object 110 is a docking station that charges the cleaning robot 130.

  The cleaning robot 130 includes an operation module 131, a detection module 132, and a control module 133. The operation module 131 performs a cleaning operation and a moving operation according to the control signal. The present invention does not limit the circuit structure of the operation module 131. Any element can be included in the operating module 131 if it can perform a cleaning or moving operation. In this embodiment, the operation module 131 includes a cleaning brush 134, wheels 135 and 136, and a suction port 137. The cleaning brush 134 and the suction port 137 perform a cleaning operation. The wheels 135 and 136 perform a moving operation.

  The detection module 132 generates a detection signal according to the magnetic field generated by the magnet module 111. In this embodiment, the detection module 132 is disposed on the side surface of the cleaning robot 130, but the present invention is not limited to this. In other embodiments, the detection module 132 may be disposed at any position on the cleaning robot 130 as long as the detection module 132 can detect a magnetic field. Further, the present invention does not limit the circuit structure of the detection module 132. In one embodiment, the sensing module 132 includes at least one of a compass sensor, a hall sensor, a gyroscope, and a G sensor.

  The control module 133 generates a control signal and adjusts the efficiency of at least one of the cleaning operation and the moving operation according to the first detection signal.

  For example, the control module 133 controls the rotational speed and direction of the wheels 135 and 136 according to the detection signal generated by the detection module 132 to stop or start the cleaning robot 130, Adjust the travel route. In one embodiment, the moving speed of the cleaning robot 130 can be accelerated or decelerated. In another embodiment, the control module 133 controls the cleaning robot 130 to rotate or circulate.

  In addition, the control module 133 controls the brushing speed of the cleaning brush 134 and the suction force or airflow of the suction port 137 according to the detection signal generated by the detection module 132, thereby adjusting the efficiency of the cleaning operation of the cleaning robot 130. To do.

  In this embodiment, when the cleaning robot 130 approaches the guide object 110, the detection module 132 can detect the magnetic field, and the magnetic field at this time is strong. Conversely, when the cleaning robot 130 leaves the guide object 110, there is no magnetic field detected by the detection module 132, or the detection module 132 can detect only a small magnetic field.

  In one embodiment, the guide object 110 is a virtual wall. When the cleaning robot 130 approaches the guide object 110, the control module 133 controls the travel route of the cleaning robot 130 according to the detection signal generated by the detection module 132. In other words, the control module 133 controls the rotational speed and direction of the wheels 135 and 136.

  In other embodiments, the guide object 110 is a docking station. When the power level of the power storage module (not shown) of the cleaning robot 130 is lower than a predetermined level, the control module 133 controls the wheels 135 and 136 to move to the guide object 110. The power storage module can be a rechargeable battery. The cleaning robot 130 obtains an accurate position of the guide object 110 according to the detection signal generated by the detection module 132, and moves so as to approach the guide object 110.

  In some embodiments, the control module 133 obtains the state of the cleaning robot 130 in response to the detection signal generated by the detection module 132. For example, when the duration of the change in the detection signal generated by the detection module 132 exceeds a predetermined time and is smaller than a predetermined value, the cleaning robot 130 indicates that it is in a certain place. In one embodiment, the cleaning robot 130 may become stuck at certain locations. In this case, the control module 133 controls the directions of the wheels 135 and 136 to shake the cleaning robot 130 and move the cleaning robot 130 away from a certain place.

  In addition, the control module 133 displays an operation state of the cleaning robot 130 by transmitting an acoustic effect or a light effect. For example, when the cleaning robot 130 is in a certain place, the control module 133 controls a buzzer (not shown) to control the buzzer, and sends a warning signal or a warning light to inform the user. Determines that an abnormal event has occurred and allows the abnormal event to be eliminated.

  In order to optimize the travel path of the cleaning robot 130, the cleaning robot 130 further includes another detection module 138 in one embodiment. The detection module 138 generates another detection signal according to the external environment of the cleaning robot 130. The control module 133 adjusts the efficiency of at least one of the cleaning operation and the moving operation of the operation module 131 according to other detection signals generated by the detection module 138.

  For example, when the control module 133 detects that the cleaning robot 130 is in a certain place according to the detection signal generated by the detection module 138, the control module 133 adjusts the direction of the wheels 135 and 136. The cleaning robot 130 is shaken, and the traveling route of the cleaning robot 130 is adjusted according to the detection signal generated by the detection module 138, and the cleaning robot 130 is moved away from a certain place.

  The present invention does not limit the circuit structure of the detection module 138. In one embodiment, the sensing module 138 includes a light sensor. The optical sensor generates a detection signal in response to reflected light from the external environment. In another embodiment, the detection module 138 includes a sonic sensor, such as an ultrasonic sensor. The sound wave sensor generates a detection signal according to the reflected sound wave of the external environment.

  FIG. 2 is a flowchart of an embodiment of a cleaning system control method according to the present invention. First, a magnet module is arrange | positioned at a guide object and forms a magnetic field (step S210). In one embodiment, at least one NdFeB magnet is disposed on the guide object, but the present invention is not so limited. In other embodiments, other types of magnets may be placed on the guide object.

  Next, a magnetic field is detected (step S220). Step S220 uses at least one of a compass sensor, a hall sensor, a gyroscope, and a G sensor.

  Next, the efficiency of at least one of the cleaning operation and the moving operation performed by the cleaning robot is controlled according to the detection signal (step S230). In one embodiment, step 230 controls the brushing speed of the cleaning brush 134 or the suction force or airflow of the suction port 137 to adjust the efficiency of the cleaning operation of the cleaning robot. Step 230 also controls the rotational speed and direction of the wheel of the cleaning robot that controls the movement.

  FIG. 3 is a flowchart of another embodiment of the cleaning system control method according to the present invention. FIG. 3 is the same as FIG. 2 except for the addition of steps S340 and S350. Since steps S310 to S330 shown in FIG. 3 and steps S210 to S230 shown in FIG. 2 are the same, description of steps S310 to S330 is omitted.

  In step S340, it is determined whether the duration of the change in the detection signal generated in step S320 exceeds a predetermined time and is smaller than a predetermined value. When the duration of the change of the detection signal generated in step S320 exceeds the predetermined time and is smaller than the predetermined value, the cleaning robot indicates that it is in a certain place. Therefore, the external environment of the cleaning robot is detected and a detection result is generated, and at least one efficiency of the cleaning operation and the moving operation is adjusted according to the detection result (step S350).

  For example, when the cleaning robot stops moving at a certain place, the moving operation is first adjusted to shake the cleaning robot. Then, another detection module is used to detect the external environment of the cleaning robot and generate other detection results. Since the traveling route of the cleaning robot is adjusted according to other detection results, the cleaning robot leaves a certain place. Further, when the cleaning robot is in a certain place, the cleaning operation is stopped. When the cleaning robot moves away from a certain place, the cleaning operation is executed.

  In one embodiment, step S350 uses an optical sensor, and the optical sensor detects reflected light from the external environment of the cleaning robot. In another embodiment, Step S350 detects the reflected sound wave of the external environment of the cleaning robot using a sound wave sensor.

  When the duration of the change in the detection signal generated in step S320 is less than the predetermined value without exceeding the predetermined time, the cleaning robot indicates that it is not in a certain place. Therefore, step S320 is executed so as to detect a change in the detection signal, and controls at least one of the cleaning operation and the moving operation according to the detection result. Moreover, after execution of step S350, step S320 is performed and a magnetic field is detected.

  As used above, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless otherwise defined. have. It will be further understood that terms such as those defined in commonly used dictionaries should be construed as having a meaning consistent with that in the context of the relevant technical field. Unless expressly so defined in the specification, it should not be interpreted in an idealized or overly formal sense.

  While this invention has been described in terms of example methods and preferred embodiments, it is understood that this invention is not limited thereto. On the contrary, various modifications and similar arrangements are covered (as will be apparent to those skilled in the art). Accordingly, the appended claims are to be accorded the broadest interpretation and should include all such modifications and similar arrangements.

  According to the cleaning system using the cleaning robot of the present invention and the control method thereof, the cleaning robot can obtain the exact position of the virtual wall or the docking station while realizing a reduction in product cost. It does not collide with the virtual wall and can be immediately connected to the docking station. Therefore, the cleaning system and the control method thereof according to the present invention can be suitably used in any environment that requires cleaning.

DESCRIPTION OF SYMBOLS 100 Cleaning system 110 Guide object 130 Cleaning robot 111 Magnet module 113 NdFeB magnet 131 Operation module 132 Detection module 133 Control module 134 Cleaning brush 135, 136 Wheel 137 Suction port 138 Detection module S210-S230, S310-S350 Step

Claims (15)

A cleaning system using a cleaning robot,
A guide object including a magnet for forming a magnetic field;
An operation module that performs a cleaning operation and a moving operation in response to a control signal;
A first detection module that generates a first detection signal in response to the magnetic field;
A cleaning robot that includes a control module that generates the control signal and adjusts the efficiency of at least one of the cleaning operation and the moving operation according to the first detection signal. The cleaning system used.   The cleaning system using a cleaning robot according to claim 1, wherein the guide object is a virtual wall.   The cleaning system using a cleaning robot according to claim 1, wherein the guide object is a docking station.   The operation module includes a plurality of wheels that execute the moving operation, the cleaning robot further includes a power storage module, and the control module controls the wheel when the power of the power storage module is smaller than a predetermined value. The cleaning system using the cleaning robot according to claim 3, wherein the cleaning system is moved to the docking station.   The cleaning system using a cleaning robot according to claim 1, wherein the first detection module includes at least one of a compass sensor, a hall sensor, a gyroscope, and a G sensor.   When the cleaning robot generates a second detection signal according to an external environment of the cleaning robot and the duration of the change of the first detection signal exceeds a predetermined time and is smaller than a predetermined value, the control module The cleaning system using the cleaning robot according to claim 1, wherein the efficiency of at least one of the cleaning operation and the moving operation is adjusted according to the second detection signal.   The cleaning system using a cleaning robot according to claim 6, wherein the second detection module includes an optical sensor that generates the second detection signal according to reflected light of the external environment.   The cleaning system using a cleaning robot according to claim 6, wherein the second detection module includes a sound wave sensor that generates the second detection signal according to a reflected sound wave of the external environment.   The cleaning system using a cleaning robot according to claim 1, wherein the magnet module includes at least one NdFeB magnet. A control method of a cleaning system using a cleaning robot,
Placing a magnet module on a guide object to form a magnetic field;
Detecting the magnetic field to generate a detection result, and generating a first detection signal according to the detection result;
A method for controlling a cleaning system using a cleaning robot, comprising: controlling efficiency of at least one of a cleaning operation and a moving operation in response to the first detection signal.   The step of detecting the magnetic field is a step of detecting a magnetic field using at least one of a compass sensor, a hall sensor, a gyroscope, and a G sensor, and controlling the cleaning system using the cleaning robot according to claim 10. Method. Detecting the external environment of the cleaning robot and generating a second detection signal; and when the duration of the change of the first detection signal exceeds a predetermined time and is smaller than a predetermined value, the second detection signal The method for controlling a cleaning system using a cleaning robot according to claim 10, further comprising adjusting the efficiency of at least one of the cleaning operation and the moving operation in response.   The step of detecting the external environment of the cleaning robot uses an optical sensor, and the optical sensor detects reflected light of the external environment and generates the second detection signal. Of a cleaning system using a conventional cleaning robot. The step of detecting the external environment of the cleaning robot uses a sound wave sensor,
13. The method of controlling a cleaning system using a cleaning robot according to claim 12, wherein the second detection signal is generated by detecting a reflected sound wave of the external environment.   The method of controlling a cleaning system using a cleaning robot according to claim 10, wherein the step of disposing the magnet module on the guide object is a step of disposing at least one NdFeB magnet on the guide object.

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