CN108378779A - A kind of cleaning device control method based on ultrasound and cleaning device - Google Patents
A kind of cleaning device control method based on ultrasound and cleaning device Download PDFInfo
- Publication number
- CN108378779A CN108378779A CN201810225815.8A CN201810225815A CN108378779A CN 108378779 A CN108378779 A CN 108378779A CN 201810225815 A CN201810225815 A CN 201810225815A CN 108378779 A CN108378779 A CN 108378779A
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- cleaning
- cleaning device
- ultrasound
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- speed
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The present invention provides a kind of cleaning device control methods based on ultrasound comprising following steps：1) it is detected by cleaning object by the ultrasound examination module at the cleaning end of cleaning device, ultrasound examination module is based on the echo-signal for being formed different ultrasonic waves by the surface roughness of cleaning object；2) control unit formed according to different echo-signal include friction speed parameter control signal；3) driving part of the control unit based on different control signal control cleaning devices operates under different velocity conditions.The present invention also provides a kind of cleaning devices.The present invention can be directed to the realization of different cleaning surface and targetedly clean compared to the prior art, reduce for by the damage of cleaning object.
Description
Technical field
The present invention relates to cleaning device fields, in particular to a kind of cleaning device control method based on ultrasound
And cleaning device.
Background technology
Currently, the cleaning for cleaning devices such as dust catchers controls, the duster brush relied primarily on thereon realizes dust suction
Equal cleaning operations, when work, the dust suction operating of the driving parts driving duster brush such as motor in dust collector host, dust collection efficiency
Also driving effect is realized by motor.
But when actually cleaning, the different occasion of face, dust catcher can encounter different clean surfaces, such as
Carpet either the cleaning on floor etc. and the dust collection efficiency of current dust catcher is all single or user is voluntarily adjusted, dust suction
Device can not realize the adjustment of different cleaning efficiencies according to different clean surfaces, thus if using single or can not
The cleaning efficiency of control cleans carpet, be likely to result in it is clean be not thorough, and while cleaning floor, may also cause to floor
Damage.
Invention content
In consideration of it, can be directed to different cleaning surface the present invention provides one kind realizing that specific aim is clean based on ultrasonic wave
Cleaning device control method and cleaning device.
Thus, on the one hand, the present invention provides a kind of cleaning device control methods based on ultrasound comprising following step
Suddenly：
1) it is detected by cleaning object, ultrasound examination module by the ultrasound examination module at the cleaning end of cleaning device
Based on the echo-signal for being formed different ultrasonic waves by the surface roughness of cleaning object；
2) control unit formed according to different echo-signal include friction speed parameter control signal；
3) control unit controls the driving part of cleaning device under different velocity conditions based on different control signals
Operating.
Further, above-mentioned echo-signal includes the time of return of echo, and control unit is returned based on different signals
Time control driving part operates under different velocity conditions.
Further, the threshold value of time of return is provided in above-mentioned control unit, if the time of return of echo is higher than threshold value,
Control unit control driving part enters First Speed operation mode, on the contrary it is then into second speed operation mode, First Speed
The speed of operation mode is more than the speed of second speed operation mode.
Further, what above-mentioned First Speed operation mode was directed to is carpet by cleaning object.
Further, what above-mentioned second speed operation mode was directed to is floor or floor tile by cleaning object.
Further, above-mentioned cleaning device is dust catcher, and cleaning end is the dust suction end of dust catcher.
Further, above-mentioned driving part is motor.
On the other hand, the present invention provides a kind of cleaning device, including cleaning host and cleaning end, the interior drivings of cleaning host
Component is controlled by above-mentioned control method realization.
Further, above-mentioned cleaning host is dust collector host, and cleaning end is the dust suction end of dust collector host.
A kind of cleaning device control method based on ultrasound provided by the present invention and cleaning device, compared to existing skill
Art mainly has the following advantages：Using the principle of ultrasound examination, detects by cleaning object, control is realized by echo-signal
Unit is for by the identification of cleaning object material, e.g. carpet or floor, then control unit is again to be suitble to the material quilt
The speed control parameter of object is cleaned to control motor operation, so that cleaning is more suitable for being cleaned object accordingly, for
Different cleaning surface is realized and is targetedly cleaned, and reduces for by the damage of cleaning object.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit are common for this field
Technical staff will become clear.Attached drawing only for the purpose of illustrating preferred embodiments, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 is a kind of structural schematic diagram of cleaning device based on ultrasound provided in an embodiment of the present invention；
Fig. 2 is that a kind of cleaning device control method based on ultrasound provided in an embodiment of the present invention and cleaning device are
System Organization Chart.
Specific implementation mode
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Embodiment one：
Referring to Fig. 1 to Fig. 2, a kind of cleaning device control based on ultrasound that the embodiment of the present invention one provides is shown in figure
Method processed, control principle are：
1) it is detected by cleaning object, ultrasound examination module by the ultrasound examination module at the cleaning end of cleaning device
Based on the echo-signal for being formed different ultrasonic waves by the surface roughness of cleaning object；
2) control unit formed according to different echo-signal include friction speed parameter control signal；
3) control unit controls the driving part of cleaning device under different velocity conditions based on different control signals
Operating.
Specifically, echo-signal includes the time of return of echo, and control unit is based on different signal times of return
Control driving part operates under different velocity conditions；The threshold value of time of return is provided in control unit, such as returning for echo
Returning the time is higher than threshold value, and control unit control driving part enters First Speed operation mode, on the contrary it is then into second speed fortune
Rotary-die type, the speed of First Speed operation mode are more than the speed of second speed operation mode.
A kind of cleaning device based on ultrasound that the embodiment of the present invention one provides includes cleaning host and cleaning end, cleaning
Driving part is controlled by above-mentioned control method realization in host.
Embodiment two：
With continued reference to Fig. 1 to Fig. 2, specifically by taking dust catcher as an example, above-mentioned principle is applied, and is installed in dust-collecting brush fixing end
Ultrasonic wave module opens ultrasonic system when complete machine works, and real-time pair detects with hairbrush contact portion material；It is detecting
Control section is transferred data to module when non-carpet material, processing unit, which issues drive command, makes complete machine enter low-speed running
Pattern works, and reduces sucking power and reaches energy saving, and when detecting carpet material, module transfers data to control section on the contrary,
Processing unit, which issues drive command, makes complete machine enter high speed operating mode work, increases sucking power and improves cleaning efficiency, entirely
Realize that manual intelligent operates without manual switching pattern using process.
Such as when identification carpet, by ultrasonic wave basic principle, sensor sends out ultrasonic wave, receives testee and is reflected back
The signal come, to judge testee；Launch wave according to ultrasonic wave and then receives time of return length on different objects
Judge material, (the aerial spread speed of ultrasonic wave is 340m/s, according to the time t of timer record, so that it may to calculate
Go out distance (s) of the launch point away from barrier, i.e.,：S=340t/2 when entering carpet return value time for arriving of ultrasound examination compared with
Long, main control section is instructed unlatching high speed operating mode often, on the contrary it is then into low-speed mode.
To sum up, a kind of cleaning device control method based on ultrasound and cleaning device that the present embodiment is provided, are compared
It is mainly had the following advantages in the prior art：Using the principle of ultrasound examination, detection by cleaning object, by echo-signal come
Realize control unit for by the identification of cleaning object material, e.g. carpet or floor, then control unit is again to be suitble to
The material controls motor operation by the speed control parameter of cleaning object, so that cleaning is more suitable for being cleaned accordingly pair
As realizing for different cleaning surface and targetedly cleaning, reduce for by the damage of cleaning object.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (9)
1. a kind of cleaning device control method based on ultrasound, which is characterized in that include the following steps：
1) it is detected by cleaning object, the ultrasound examination module by the ultrasound examination module at the cleaning end of cleaning device
The echo-signal of different ultrasonic waves is formed based on the surface roughness by cleaning object；
2) control unit formed according to the different echo-signal include friction speed parameter control signal；
3) described control unit controls the driving part of the cleaning device in different speed based on the different control signals
It is operated under the conditions of degree.
2. a kind of cleaning device control method based on ultrasound according to claim 1, which is characterized in that the echo
Signal includes the time of return of the echo, and described control unit controls the driving portion based on different signal times of return
Part operates under different velocity conditions.
3. a kind of cleaning device control method based on ultrasound according to claim 2, which is characterized in that the control
The threshold value of the time of return is provided in unit, such as the time of return of the echo is higher than the threshold value, described control unit
It controls the driving part and enters First Speed operation mode, it is on the contrary then enter second speed operation mode, the First Speed
The speed of operation mode is more than the speed of the second speed operation mode.
4. a kind of cleaning device control method based on ultrasound according to claim 3, which is characterized in that described first
Speed operation mode be directed to it is described by cleaning object be carpet.
5. a kind of cleaning device control method based on ultrasound according to claim 3, which is characterized in that described second
Speed operation mode be directed to it is described by cleaning object be floor or floor tile.
6. a kind of cleaning device control method based on ultrasound according to claim 1, which is characterized in that the cleaning
Device is dust catcher, and the cleaning end is the dust suction end of dust catcher.
7. according to a kind of any cleaning device control methods based on ultrasound of claim 1-3, which is characterized in that institute
It is motor to state driving part.
8. a kind of cleaning device, including cleaning host and cleaning end, which is characterized in that driving part passes through in the cleaning host
Any control method realizations of claim 1-7 are controlled.
9. a kind of cleaning device according to claim 8, which is characterized in that the cleaning host is dust collector host, institute
State the dust suction end that cleaning end is dust collector host.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810225815.8A CN108378779A (en) | 2018-03-19 | 2018-03-19 | A kind of cleaning device control method based on ultrasound and cleaning device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810225815.8A CN108378779A (en) | 2018-03-19 | 2018-03-19 | A kind of cleaning device control method based on ultrasound and cleaning device |
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| CN108378779A true CN108378779A (en) | 2018-08-10 |
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| CN201810225815.8A Pending CN108378779A (en) | 2018-03-19 | 2018-03-19 | A kind of cleaning device control method based on ultrasound and cleaning device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109363580A (en) * | 2018-09-03 | 2019-02-22 | 珠海格力电器股份有限公司 | Speed regulation method of cleaning device, dust collector and mobile terminal |
| CN110477814A (en) * | 2019-08-20 | 2019-11-22 | 珠海市一微半导体有限公司 | A kind of mobile robot for carpet detection |
| CN110897554A (en) * | 2019-11-08 | 2020-03-24 | 微思机器人(深圳)有限公司 | Sweeper control method based on ultrasonic waves and sweeper |
| CN111035322A (en) * | 2019-12-09 | 2020-04-21 | 广东奥迪威传感科技股份有限公司 | Ground recognition method and device and sweeping robot |
| CN111990934A (en) * | 2019-05-27 | 2020-11-27 | 江苏美的清洁电器股份有限公司 | Robot, robot control method, and storage medium |
| CN112336268A (en) * | 2019-08-07 | 2021-02-09 | 陈水石 | Cleaning robot and its material identification method |
| WO2021169328A1 (en) * | 2020-02-27 | 2021-09-02 | 北京石头世纪科技股份有限公司 | Carpet recognition method for robot cleaner |
| CN114322868A (en) * | 2021-12-31 | 2022-04-12 | 福建汉特云智能科技有限公司 | Garbage capacity detection method and system for garbage can of cleaning robot |
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| KR102647689B1 (en) | 2019-05-27 | 2024-03-13 | 메이디 로보존 테크놀러지 컴퍼니 리미티드 | Robots, robot control methods and storage media |
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| CN110477814B (en) * | 2019-08-20 | 2023-08-15 | 珠海一微半导体股份有限公司 | Mobile robot for carpet detection |
| CN110477814A (en) * | 2019-08-20 | 2019-11-22 | 珠海市一微半导体有限公司 | A kind of mobile robot for carpet detection |
| CN110897554A (en) * | 2019-11-08 | 2020-03-24 | 微思机器人(深圳)有限公司 | Sweeper control method based on ultrasonic waves and sweeper |
| CN111035322B (en) * | 2019-12-09 | 2021-10-22 | 广东奥迪威传感科技股份有限公司 | Ground recognition method and device and sweeping robot |
| CN111035322A (en) * | 2019-12-09 | 2020-04-21 | 广东奥迪威传感科技股份有限公司 | Ground recognition method and device and sweeping robot |
| WO2021169328A1 (en) * | 2020-02-27 | 2021-09-02 | 北京石头世纪科技股份有限公司 | Carpet recognition method for robot cleaner |
| CN114322868A (en) * | 2021-12-31 | 2022-04-12 | 福建汉特云智能科技有限公司 | Garbage capacity detection method and system for garbage can of cleaning robot |
| CN114322868B (en) * | 2021-12-31 | 2023-02-21 | 福建汉特云智能科技有限公司 | Garbage capacity detection method and system for garbage can of cleaning robot |
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Application publication date: 20180810 |
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| RJ01 | Rejection of invention patent application after publication |