CN106406299A - Cleaning control system, control method thereof and cleaning device - Google Patents
Cleaning control system, control method thereof and cleaning device Download PDFInfo
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- CN106406299A CN106406299A CN201510445747.2A CN201510445747A CN106406299A CN 106406299 A CN106406299 A CN 106406299A CN 201510445747 A CN201510445747 A CN 201510445747A CN 106406299 A CN106406299 A CN 106406299A
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Abstract
The present invention provides a cleaning control system, a control method thereof and a cleaning device. The cleaning control system comprises a charging device and the cleaning device, and the charging device is arranged on a wall and is used to emit a sensing signal. When the cleaning device is in a cleaning working mode and an along-wall mode, and detects the sensing signal, the cleaning device travels according to a first path to avoid the charging device, and after avoiding the charging device, travels according to the sensing signal and a second path to get close to the wall, and the first path is different from the second path, so that the problem that the cleaning coverage rate surrounding the charging device is too low can be solved effectively besides avoiding the collision of the cleaning device and the charging device.
Description
Technical field
The present invention relates to a kind of cleaning device, more particularly, to a kind of cleaning control system, its control method and
Packaged type cleaning device.
Background technology
With scientific and technological progress, all types of automatons has gradually replaced manpower.Controlled by automatic
Accurate, quick, high efficiency etc. that device processed can provide operate, and then for people bring many conveniences and
Human risks can be reduced.It was only capable of the automatizatioies such as the robotic arm or the robot that see in factory in the past
Control device, with factors such as the market demand, material cost reduction and technology maturations, these automatizatioies are controlled
System gradually transfers the development of conventional domestic electrical equipment to.Such as intelligent air-conditioning system, intelligent cooking machine, intelligent refrigerator
Deng controlling intelligent household appliances, by detecting internal or external information and executing its possessed work(in an automated manner
Energy.
Cleaning device (for example, sweep the floor, mop floor or dust-collecting robot etc.) is also controlling intelligent household appliances now
Sell fast product item one of them.The cleaning such as needed to be swept the floor by manpower in the past, mopped floor,
Nowadays many intelligent cleaning devices can also complete aforementioned operation.These packaged type cleaning devices can be on ground
Automatically advance on face, to execute the cleaning function that it possesses.In general, cleaning device would generally be taken
Join the charging device of supply power supply.And in order to ensure charging device is not subject to cleaning device collision to lead to clean
Device cannot smoothly return charging, and current mechanism typically allows cleaning device prohibit under cleaning pattern
Only near to apart specific range (for example, 50 to 100 centimeters) is interior with charging device.However, it is aforementioned
The scope that specific range is surrounded is feared excessive and cannot be by cleaning device effective cleaning.Therefore, in need carry
To avoid foregoing problems for a kind of mechanism.
Content of the invention
The present invention provides a kind of cleaning control system, its control method and cleaning device, and it can avoid cleaning
Device is collided with charging device, and the too low problem of the cleaning coverage rate around energy effectively solving charging device.
The present invention provides a kind of cleaning control system, and this cleaning control system includes charging device and sanitizer cartridge
Put.Charging device is arranged at metope, in order to launch transducing signal.It is in cleaning mould in cleaning device
Formula and along under wall (wall-following) pattern, when cleaning device detects transducing signal, foundation
First path is advanced avoiding charging device, and after avoiding charging device, according to transducing signal with second
Advance with close to metope in path.First path is different from the second path.
In an embodiment of the present invention, in above-mentioned first path, cleaning device rotates first angle,
And after the intensity of straight trip preset distance or transducing signal is less than intensity threshold, rotation second angle simultaneously continues straight
OK.
In an embodiment of the present invention, after cleaning device rotation second angle, parallel with metope and keep straight on.
In an embodiment of the present invention, in the second above-mentioned path, cleaning device is according to transducing signal
Intensity is close to metope.
In an embodiment of the present invention, when cleaning device detects with metope predetermined space apart, rotation
Third angle, and advance along metope at a predetermined interval.
The present invention provides a kind of cleaning control method it is adaptable to be arranged at charging device and the cleaning of metope
Device.Above-mentioned control method comprises the following steps.Transducing signal launched by charging device.In cleaning device
It is in cleaning pattern and along under wall pattern, when cleaning device detects transducing signal, according to the
Advance to avoid charging device in one path.After cleaning device avoids charging device, according to transducing signal with
Advance with close to metope in second path.First path is different from the second path.
In an embodiment of the present invention, above-mentioned according to first path advance with avoid charging device include following
Step.In above-mentioned first path, cleaning device rotates first angle, and keep straight on preset distance or biography
After the intensity of sense signal is less than intensity threshold, rotation second angle simultaneously continues to keep straight on.
In an embodiment of the present invention, also comprise the following steps.After cleaning device rotation second angle,
Parallel with metope and keep straight on.
In an embodiment of the present invention, above-mentioned cleaning device is advanced to connect with the second path according to transducing signal
Nearly metope comprises the following steps.In the second above-mentioned path, cleaning device is according to the intensity of transducing signal
Close to metope.
In an embodiment of the present invention, also comprise the following steps.When cleaning device detects with metope apart
During predetermined space, rotate third angle, and advance along metope at a predetermined interval.
The present invention provides a kind of cleaning device, and this cleaning device includes signal transducer, mobile module and place
Reason unit.Signal transducer is in order to receive transducing signal.Mobile module moves in order to drive cleaning device.
Processing unit couples environmental sensor and mobile module.And cleaning device be in cleaning pattern and
Along under wall pattern, when transducing signal is detected by signal transducer, processing unit is according to first path
Mobile module is controlled to advance to avoid charging device.After avoiding charging device, processing unit is according to sensing
Signal controls mobile module to advance with the second path with close to metope.First path is different from the second path.
In an embodiment of the present invention, in first path, processing unit controls mobile module rotation first
Angle, and the intensity of straight trip preset distance or transducing signal, less than after intensity threshold, rotates second angle simultaneously
Continue straight trip.
In an embodiment of the present invention, after processing unit controls mobile module rotation second angle, with wall
Face is parallel and keeps straight on.
In an embodiment of the present invention, in the second path, processing unit is according to the intensity control of transducing signal
Mobile module processed is close to metope.
In an embodiment of the present invention, when being detected with metope predetermined space apart by signal transducer,
Processing unit controls mobile module rotation third angle, and advances along metope at a predetermined interval.
Based on above-mentioned, cleaning control system, its control method and sanitizer cartridge that the embodiment of the present invention is proposed
Put, it, after cleaning device avoids charging device according to transducing signal, also returns wall according to transducing signal
Face.Thereby, cleaning device can avoid charging device with optimal avoidance path, also can increase charging simultaneously
Cleaning range around device.
It is that the features described above of the present invention and advantage can be become apparent, special embodiment below, and coordinate
Accompanying drawing is described in detail below.
Brief description
Fig. 1 is the block chart of the cleaning control system of one embodiment of the invention；
Fig. 2 is that one embodiment of the invention illustrates a kind of cleaning control method flow chart；
Fig. 3 A and Fig. 3 B is the example figure of first path；
Fig. 4 A～Fig. 4 C is the example figure in the second path；
Fig. 5 A～Fig. 5 D is the traveling example figure of cleaning device；
Fig. 6 is the traveling example figure of cleaning device.
Description of reference numerals：
100：Cleaning control system；
110、510、610：Charging device；
115：Signal emission module；
150、550、650：Cleaning device；
151：Signal transducer；
153：Mobile module；
155：Processing unit；
S210～S250：Step；
T1～T4：RF transmitter；
IR1～IR4：Infrared receiver.
Specific embodiment
In order to avoid (for example, sweeping robot, floor-mopping robot, the automatically suction of packaged type cleaning device
Dirt device etc.) collide with its charging device, and increase the cleaning range around charging device.The present invention is real
The cleaning device applying example is transducing signal (for example, infrared ray, the indigo plant that charging device is launched is being detected
The signals such as tooth, WiFi) after, continue with first path and the second path to avoid respectively charging device and
Metope close to setting charging device.Aforementioned first path and the second path will be said in detail in lower section embodiment
Bright.Thereby, cleaning device just can avoided at a distance of nearer path with charging device, with effective
Increase the cleaning coverage rate around charging device.Multiple embodiments of the spirit meeting the present invention set forth below,
Application the present embodiment person can carry out appropriateness adjustment according to its demand to these embodiments, is not limited solely to following
Content in description.
Fig. 1 is the block chart of the cleaning control system of one embodiment of the invention.Refer to Fig. 1, cleaning control
System 100 processed includes charging device 110 and cleaning device 150.
Charging device 110 is the power supply unit supplying power supply to cleaning device, alternatively referred to as charges
Seat, and include signal emission module 115.Signal emission module 115 is likely to be of one or more signals
Emitter, and each signal projector may to launch infrared ray, bluetooth, WiFi etc. any kind of
Wireless sensing signal, so that corresponding signal detector is in specific range (for example, 10 centimeters, 30 public affairs
Grade) in can detect that this transducing signal.For example, signal projector can be RF transmitter, indigo plant
Tooth emitter, WiFi signal emitter etc..In some examples, launch the transmission power of this transducing signal
The close transmission power of cleaning device 150 can be avoided little than existing.For example, existing transmission power can allow
Cleaning device 150 receives transducing signal at charging device 110 at a distance of 75～100 centimeters, and believes
Number transmission power that transmitter module 115 is launched can allow cleaning device 150 with charging device 110 apart
Transducing signal is received at 20～30 centimeters.
Charging device 110 is arranged at metope or other object (for example, wardrobe, bookcase, TV bench etc.),
It is, at least one side of charging device 110 is towards metope, and corresponding another side dorsad metope.Need
Illustrate, the embodiment of the present invention is not restricted to the method to set up of charging device 110 and metope, according to not
Same design requirement, charging device 110 is probably fixing or is not secured to metope.
Cleaning device 150 can be the packaged types such as sweeping robot, floor-mopping robot, automatic cleaner
Electronic installation, the present invention does not limit its application mode.Cleaning device 150 include signal transducer 151,
Mobile module 153 and processing unit 155.
Signal transducer 151 can be that infrared receiver, Bluetooth Receiver, WiFi communication module etc. can
Detect the sensor of one or more wireless signal.What deserves to be explained is, signal transducer 151 is to examine
Survey the transducing signal that in charging device 110, signal emission module 115 is launched.For example, cleaning device 150
When with charging device 110 at a distance of 10 centimeters, the infrared receiver of cleaning device 150 can receive and fill
The infrared signal that electric installation 110 middle infrared (Mid-IR) emitter is launched.
It should be noted that, according to different designs demand, application embodiment of the present invention person can be by signal transducer
151 are configured at cleaning device 150 appearance or each position of inside (for example, is configured at cleaning device 150
In the face of surface etc. of direct of travel), and signal transducer 151 may be configured to different sensing groups
State (for example, distance sensing, detection direction, sensing scope, Signal coding etc.), the present invention is not in addition
Limit.Additionally, the one or more signal transducer of cleaning device 150 possible configuration 151.For example, clearly
Four sides of clean device 150 are respectively configured an infrared receiver, so that cleaning device 150 can
Infrared signal is detected respectively on the four direction of horizontal plane.
Mobile module 153 e.g. includes but are not limited to motor, tire etc. and can drive cleaning device 100
The component of the dynamic behaviours such as mobile, rotation.
Processing unit 155 can be central processing unit (Central Processing Unit；Hereinafter referred to as CPU)
There is chipset, microprocessor or microcontroller (the micro control unit of calculation function；Hereinafter referred to as
MCU).In embodiments of the present invention, processing unit 155 controls all runnings of cleaning device 150.
It should be noted that, according to different designs demand, cleaning device 150 can also be configured dust exhaust apparatus, hair
, in order to control the component to be cleaned by processing unit 155, the present invention is not limited for brush, glue brush etc.
System.
To facilitate understanding of the present embodiment of the invention operating process, below will describe this in detail for embodiment
The control method of charging device 110 and cleaning device 150 in the clean control system of Ming and Qing 100.Fig. 2 is this
Invent an embodiment and a kind of cleaning control method flow chart is described.Refer to Fig. 2, the method for the present embodiment
It is applied to charging device 110 and the cleaning device 150 of Fig. 1.Hereinafter, by collocation cleaning control system
Every device in 100 and assembly illustrate the cleaning control method described in the embodiment of the present invention.This method
Each flow process can adjust therewith according to implementation situation, and is not limited to that.
In step S210, charging device 110 launches transducing signal by signal emission module 115.?
In the present embodiment, charging device 110 launches transducing signal by signal emission module 115, and it is specifically
Bright can refer in Fig. 1 be directed to signal emission module 115 explanation, repeat no more in this.
In step S230, cleaning device 150 be in cleaning pattern and along wall pattern under, when
When transducing signal is detected by signal transducer 151, processing unit 155 controls shifting according to first path
Dynamic model block 153 is advanced to avoid charging device 110.Specifically, when processing unit 155 passes through signal
When sensor 151 detects transducing signal, represent cleaning device 150 close to charging device 110 (example
As at a distance of 10 centimeters, 15 centimeters etc.).Now, because cleaning device 150 is in cleaning
Pattern rather than return charge mode, therefore cleaning device 150 can avoid charging device with first path
110, to avoid colliding with charging device 110.
In one embodiment, in first path, processing unit 155 controls mobile module 153 rotation the
One angle, and the intensity of straight trip preset distance or transducing signal, less than after intensity threshold, rotates second angle
And continue to keep straight on.First angle can be equal to second angle.For example, Fig. 3 A is the example of first path
Figure, refer to Fig. 3 A, and mobile module 153 is after dorsad metope ratates 90 degrees, after 10 centimeters of straight trip, then
Ratate 90 degrees towards metope.First angle can also be not equal to second angle.For example, Fig. 3 B is first
Another example figure in path, refer to Fig. 3 B, mobile module 153 dorsad metope rotate 80 degree after, directly
After row to signal transducer 151 cannot detect infrared ray (that is, intensity threshold is 0), then towards wall
Face rotates 45 degree.
Additionally, mobile module 153 is to rotate first with first direction (for example, clockwise or counterclockwise)
Angle, and second angle is rotated with second direction (for example, clockwise or counterclockwise).And first direction
Contrary with second direction.For example, first direction is clockwise, and second direction is counterclockwise.Or,
First direction is counterclockwise, and second direction is clockwise.Aforementioned first direction and second direction will be based on
Cleaning device 150 to determine with respect to the direction of charging device 110.For example, if cleaning device 150
Transducing signal is detected on the left of charging device 110, then first direction is clockwise, and second direction is
Counterclockwise.On the other hand, if cleaning device 150 is located at transducing signal is detected on the right side of charging device 110,
Then first direction is counterclockwise, and second direction is clockwise.
In an example, signal emission module 115 includes two signal projector (for example, the first signals
Emitter and secondary signal emitter).Cleaning device 150 detects first by signal transducer 151
After the transducing signal of signal projector, just dorsad metope rotates 60 degree.Then, during advancing,
The intensity of the launched transducing signal of secondary signal emitter is detected by signal transducer 151, and in inspection
After not detecting the transducing signal of secondary signal emitter, rotate 85 degree towards metope.
In one embodiment, after processing unit 155 controls mobile module 153 rotation second angle, with
Metope is parallel and keeps straight on.For example, cleaning device 150 rotation first angle before, with along wall pattern and wall
The parallel traveling in face.And if first angle and second angle are all 90 degree, cleaning device 150 rotated
After one angle and second angle, will be still parallel with metope.
It should be noted that, according to different designs demand, preset distance, intensity threshold, first angle and the
Two angles may be different, and for example, preset distance can be 10 centimeters, 20 centimeters, 30 centimeters etc., by force
Bottom valve value can be -3,5 dBms (dBm), 500,700 milliwatt top grades, and first angle
And second angle can be 50,70,90 degree etc., the embodiment of the present invention does not limit preset distance, intensity valve
Value, first angle and second angle.Additionally, referring to cleaning device 150 with along wall spacing (example along wall pattern
As 5 centimeters, 10 centimeters etc.) advance along metope.And cleaning pattern refer to cleaning device 150 with
The cleaning elements such as dust exhaust apparatus that it is configured, hairbrush, glue brush are cleaned work.
In some other embodiment, signal emission module 115 can be come with two kinds of different transmission power sizes
Transmitting transducing signal, and with two kinds of transducing signals of two kinds of different transmission power sizes transmitting may respectively with
Different coding, frequency are distinguishing.For example, can be allowed clearly with the first transmission power (for example, 3dBm) transmitting
Clean device 150 receives transducing signal at charging device 110 at a distance of 60～80 centimeters, and with second
Transmission power (for example, -5dBm) transmitting can allow cleaning device 150 with charging device 110 at a distance of 15～
Transducing signal is received at 25 centimeters.That is, the first transmission power is more than the second transmission power.Work as sanitizer cartridge
When putting 150 and being in along under wall pattern, cleaning device 150 does not react on the first transmission power, it is,
Cleaning device 150 receives can't be avoided (i.e., with the transducing signal of the first transmission power transmitting
Avoid charging device 110).Being in along the cleaning device 150 under wall pattern is to detect with second
Penetrate the transducing signal of power emission, just can be avoided according to aforementioned first path.On the other hand, when clear
(for example, z shape pattern, convolution pattern etc.), sanitizer cartridge when clean device 150 is not at along under wall pattern
Put 150 and receive and will be avoided with the transducing signal of the first transmission power transmitting.
In step s 250, after cleaning device 150 avoids charging device 110, processing unit 155 according to
Mobile module 153 is controlled to advance with the second path with close to metope according to transducing signal.First path is different from
Second path.Specifically, in order to be further added by the sweep-out pattern around charging device 110, in sanitizer cartridge
Put 150 across a predetermined distance (for example, 50 centimeters, 100 centimeters etc.), (3 seconds, the 5 seconds scheduled time
Deng) or the intensity of transducing signal be less than intensity threshold (for example, -5,2,5dBm) etc., will be with second
Advance toward metope in path.
In one embodiment, in the second path, processing unit 155 is according to the strength control of transducing signal
Mobile module 153 is close to metope.For example, Fig. 4 A is the example figure in the second path, refer to Fig. 4 A,
Processing unit 155, according to predetermined sensed signal intensity (for example, -3dBm, 2dBm etc.), allows sanitizer cartridge
Put 150 close at a distance of 20 centimeters of circular arc path with charging device 100 as the center of circle with charging device 110
Metope.
Or, signal emission module 115 is likely to be of the first signal projector and secondary signal emitter,
And it is respectively arranged at the both sides of charging device 110.Assume that cleaning device 150 is to receive the first signal to send out
Transducing signal that emitter is launched and advanced with first path, then cleaning device 150 is in signal transducer
151 reception secondary signal emitters launched transducing signal (for example, intensity be more than -3,2,5dBm
Deng), just can be advanced with the second path by mobile module 153.
In some examples, refer to the example figure that Fig. 4 B is the second path, the second path is also likely to be shifting
Dynamic model block 153 rotation predetermined angle (for example, 30,45,60 degree etc.) continues to keep straight on afterwards.In another model
In example, refer to the example figure that Fig. 4 C is the second path, the second path is also likely to be cleaning device 150
Charging device 110 is considered as metope or barrier, and to be spaced along charging device 110 along wall pattern along wall
Body is advanced.
Then, in one embodiment, when being detected and metope (or obstacle by signal transducer 151
Thing) at a distance of predetermined space (for example, 15,20 centimeters etc.) when, processing unit 155 control mobile module
153 rotations third angle (for example, 45 degree, 90 degree etc.), and at a predetermined interval along metope traveling.
Cleaning device 100 advance during, processing unit 150 can by signal transducer 151 continue or according to
According to specific period (for example, every 0.5 second, 1 second etc.), object is detected to external world, and faced by judging
Whether the other directions beyond charging device 110 direction can detect that metope or object in predetermined space.
For example, signal transducer 151 detect with metope at a distance of 18 centimeters when, processing unit 155 control move
Dorsad charging device 110 ratates 90 degrees module 153, and is continued along metope with 18 centimeters of predetermined space
Advance.In some examples, predetermined space can be set to cleaning device 110 under being in along wall pattern
Set is spaced along wall.
Additionally, mobile module 153 is to rotate the 3rd with third direction (for example, clockwise or counterclockwise)
Angle.Third direction will be determined with respect to the direction of charging device 110 based on cleaning device 150.Example
As if cleaning device 150 marches to the left side of charging device according to the second path, third direction is inverse
Hour hands.On the other hand, if cleaning device 150 marches to the right side of charging device according to the second path,
Third direction is clockwise.
In order to help understand the application situation of the present embodiment, below will separately lift example explanation.It should be noted that,
Environment, parameter or setting that following examples are applied etc. is only that exemplary applications are described, but is not used to
The limitation embodiment of the present invention.
Fig. 5 A～Fig. 5 D is the traveling example figure of cleaning device.Please also refer to Fig. 5 A, charging device 510
And cleaning device 550 may be respectively provided with identical in charging device 110 and cleaning device 150 in Fig. 1 or
Similar assembly and module.Assume that the left and right sides of charging device 510 install 4 RF transmitters additional
T1～T4, and set ultrared transmitting and receive beeline as 10 centimeters to 20 centimeters, and clean
Four sides of device 150 are respectively provided with infrared receiver IR1～IR4.
Cleaning device 550 is in cleaning pattern and advances along under wall pattern, and when positioned at position 501
When place detects the infrared ray of RF transmitter T1, please referring next to Fig. 5 B, cleaning device 550 meeting
90 degree of rotate counterclockwise, then continues to keep straight on.When at cleaning device 550 moving to position 503, red
Outer line receiver IR1 can't detect the infrared ray of RF transmitter T1, or cleaning device 550 self-alignment
Put 501 and walked 24.75 centimeters, continue referring to Fig. 5 C, cleaning device 550 can turn clockwise 90
Degree, then continues to keep straight on.When at cleaning device 550 moving to position 505, infrared receiver IR1
Can't detect the infrared ray of RF transmitter T4, or cleaning device 550 is walked from position 503
66 centimeters, continue referring to Fig. 5 D, cleaning device 550 goes to position 507 to move closer to metope,
And then continue to clean along wall.
It should be noted that, the embodiment of the present invention is not limited only to the right side of self charger 510 in Fig. 5 A～5D
Skidding proceeds to the path on the left of it, and in other embodiments, cleaning device 550 is likely to from charging device
510 left side marches to the right side of charging device 510.
Fig. 6 is the traveling example figure of cleaning device.Refer to Fig. 6, charging device 610 and cleaning device
650 may be respectively provided with same or analogous assembly in charging device 110 and cleaning device 150 in Fig. 1
And module.Assume that the metope at charging device 610 rear has turnover.Cleaning device 650 equally can foundation
To advance in path as described in Fig. 5 A～5D.
In sum, the cleaning control system of the embodiment of the present invention, its control method and cleaning device,
After cleaning device detects the transducing signal that charging device is launched, will with first path (e.g. at least
Rotation mode twice) avoiding charging device, to avoid and charging device collision.Additionally, in cleaning
After device avoids charging device, if traveling specific range (such as 45,60 centimeters etc.) or transducing signal are strong
The intensity of degree is less than intensity threshold, then will be close with the second path (e.g. according to transducing signal intensity)
Metope, in order to continue to clean along wall.Thereby, the embodiment of the present invention just can mode at lower cost be held
The optimal avoidance path of row, and effectively lift the cleaning range around charging device.
Finally it should be noted that：Various embodiments above is only in order to illustrating technical scheme rather than right
It limits；Although being described in detail to the present invention with reference to foregoing embodiments, this area common
Technical staff should be understood：It still can be modified to the technical scheme described in foregoing embodiments,
Or equivalent is carried out to wherein some or all of technical characteristic；And these modifications or replacement, and
Do not make the scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.
Claims (15)
1. a kind of cleaning control system is it is characterised in that include：
Charging device, is arranged at metope, in order to launch transducing signal；And
Cleaning device, in order to be in cleaning pattern and along wall pattern under, when described cleaning device
When described transducing signal is detected, advance to avoid described charging device according to first path, and avoiding
After described charging device, advance with close to described metope according to described transducing signal with the second path, wherein
Described first path is different from described second path.
2. cleaning control system according to claim 1 is it is characterised in that in described first path
In, described cleaning device rotates first angle, and the intensity of straight trip preset distance or described transducing signal is little
After intensity threshold, rotation second angle simultaneously continues to keep straight on.
3. cleaning control system according to claim 2 is it is characterised in that in described cleaning device
After rotating described second angle, parallel with described metope and keep straight on.
4. cleaning control system according to claim 1 is it is characterised in that in described second path
In, described cleaning device according to described transducing signal intensity close to described metope.
5. method according to claim 4 it is characterised in that when described cleaning device detect with
Described metope at a distance of predetermined space when, rotate third angle, and with described predetermined space along described metope
Advance.
6. a kind of cleaning control method is it is adaptable to be arranged at charging device and the cleaning device of metope, its
It is characterised by, described control method includes：
Transducing signal launched by described charging device；
Described cleaning device be in cleaning pattern and along wall pattern under, when described cleaning device inspection
When measuring described transducing signal, advance according to first path to avoid described charging device；And
After avoiding described charging device, described cleaning device is according to described transducing signal with the second path row
Enter so that close to described metope, wherein said first path is different from described second path.
7. control method according to claim 6 is it is characterised in that according to described first path row
Enter and included with avoiding described charging device：
In described first path, described cleaning device rotates first angle, and keep straight on preset distance or institute
Less than after intensity threshold, rotation second angle simultaneously continues to keep straight on the intensity stating transducing signal.
8. control method according to claim 7 is it is characterised in that also include：
After described cleaning device rotates described second angle, parallel with described metope and keep straight on.
9. control method according to claim 6 is it is characterised in that described cleaning device is according to institute
State transducing signal to advance with the second path to include close to described metope：
In described second path, described cleaning device according to described transducing signal intensity close to described wall
Face.
10. control method according to claim 9 is it is characterised in that also include：
When described cleaning device detects described metope at a distance of predetermined space, rotate third angle, and with
Described predetermined space is advanced along described metope.
A kind of 11. cleaning devices are it is characterised in that include：
Signal transducer, in order to receive transducing signal；
Mobile module, in order to drive described cleaning device mobile and to rotate；And
Processing unit, is coupled to described signal transducer and mobile module, wherein at described cleaning device
Under in cleaning pattern and along wall pattern, when described sensing letter is detected by described signal transducer
Number when, described processing unit controls described mobile module to advance to avoid the described dress that charges according to first path
Put, and after avoiding described charging device, described processing unit is described to control according to described transducing signal
Mobile module is advanced with the second path so that close to metope, wherein said first path is different from described second tunnel
Footpath.
12. cleaning devices according to claim 11 it is characterised in that in described first path,
Described processing unit controls described mobile module to rotate first angle, and keep straight on preset distance or described sensing
After the intensity of signal is less than intensity threshold, rotation second angle simultaneously continues to keep straight on.
13. cleaning devices according to claim 12 are it is characterised in that in described processing unit control
Make after described mobile module rotates described second angle, parallel with described metope and keep straight on.
14. cleaning devices according to claim 11 it is characterised in that in described second path,
Described processing unit is according to mobile module described in the strength control of described transducing signal close to described metope.
15. cleaning devices according to claim 14 are passed it is characterised in that working as by described signal
Sensor detect with described metope at a distance of predetermined space when, described processing unit controls described mobile module rotation
Turn third angle, and advanced along described metope with described predetermined space.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510445747.2A CN106406299A (en) | 2015-07-27 | 2015-07-27 | Cleaning control system, control method thereof and cleaning device |
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| CN201510445747.2A CN106406299A (en) | 2015-07-27 | 2015-07-27 | Cleaning control system, control method thereof and cleaning device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106970625A (en) * | 2017-04-27 | 2017-07-21 | 牛立庚 | Drive device and method |
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