Field of the Invention
[0001] The present invention relates to a self-moving device, and particularly relates to
a fall protection structure of the self-moving device and a control method thereof.
Background art
[0002] Currently, with the popularity of the self-moving type intelligent home appliances
such as intelligent vacuum cleaner and intelligent sweeper, a growing number of families
use the intelligent home appliances in order to relief work load and enhance life
quality.
[0003] During the operation process, the intelligent vacuum cleaner or the like may encounter
stairs, and an untimely power shut-off would cause falling, thereby resulting in damages
to the machine and bringing about economic losses. Thus, it is necessary to provide
a fall protection device. The conventional vacuum cleaner is installed with a detector
on its front portion, and when an abnormal situation has been detected, the vacuum
cleaner moves back or turns left/right so as to avoid falling. However, during the
operation process, the intelligent vacuum cleaner or the like may also be knocked
over, or the user may directly lift it up for checking or other purposes. In this
situation, the intelligent vacuum cleaner or the like will keep operating if it is
performing instructions for moving back or turning left/right, which results in not
only energy waste but also secondary pollution due to the dust spatter caused by the
rotation of the rolling brush.
[0004] For example,
US patent No. 7155308 discloses a robot having a downward-looking sensor. When the downward-looking sensor
detects no signal, the robot performs a turning action, thereby avoiding the risk
of damage due to falling (e.g., from stairs). However, sometimes the robot may face
the possibility of getting into a suspending state even after turning left or right.
In this state, since it is too late for the robot to move back or turn, the robot
will fall, or its one wheel will suspend and idle above a recess. Further, when the
robot operates abnormally and is lifted up for checking or maintenance purposely,
the robot cannot realize it is being lifted up, and still performs the turning action,
which results in energy waste, secondary pollution, or the like.
[0005] In order to solve the above problems, the conventional intelligent vacuum cleaner
is usually provided with a travel switch at a floating drive wheel. In case of normal
operation, the drive wheel is pressed downward by the gravity of the machine body,
and the travel switch senses no suspending signal. When the intelligent vacuum cleaner
is lifted up, the drive wheel falls itself, and the travel switch acts to sense a
suspending signal and controls the intelligent vacuum cleaner to stop operating and
get into a standby state. However, it requires a large space for installing the floating
drive wheel, and thus it is necessary for the machine body to have an enough height.
However, in order to adaptively clean a wide variety of cleaning areas, in particular
a small area under the furniture such as a bed or a cabinet, the intelligent vacuum
cleaner in the prior art is expected to have a lower height. Thus, it is impossible
to install the floating drive wheel and the travel switch thereof on such vacuum cleaner.
Summary of the Invention
[0006] As to the above problem, the present invention provides a self-moving device that
can detect a suspending situation in time so that the self-moving device performs
correct actions, and thus can not only prevent falling but also recognize suspending
actions, thereby reducing energy loss and avoiding possible pollution.
[0007] In the present invention, the technical problems are solved by the following technical
solutions:
A self-moving device comprising:
a main body;
downward-looking sensors, the number of which is two or more, and all of which are
installed at the bottom of the main body; and
a control module, which is installed within the main body and is connected to the
downward-looking sensors, wherein the control module controls actions of the main
body according to the number of suspending signals sent from the downward-looking
sensors.
[0008] In the present invention, the two or more downward-looking sensors are installed
at the bottom of the main body to facilitate the detection the suspending state. The
suspending signals at different positions are sent to the control module, and the
control module can determine the position state of the main body according to different
numbers of the suspending signals, so that the main body can perform correct actions,
thereby avoiding falling caused by the movement to a further suspending position,
and avoiding waste and possible pollution caused by the idling during suspending.
The present invention has a simple structure, requires no human intervention, is convenient
and reliable, and has a good market prospect.
[0009] Preferably, the two or more downward-looking sensors are all located at the outer
edge of the bottom of the main body. The suspending signals can be detected earlier
by installing the downward-looking sensors at the outer edge of the bottom of the
main body, and the main body has much room to avoid falling caused by an untimely
turn in case of a relatively high speed.
[0010] Preferably, the number of the downward-looking sensors is three, wherein one downward-looking
sensor is located at the front portion of the main body, and the other two are located
at both sides of the main body. The detections in the three directions of left, right
and front eliminate blind spot, and can avoid falling and damage caused by the mistaken
turning from one suspending position to another suspending position.
[0011] Preferably, the two or more downward-looking sensors comprise downward-looking sensors
located at the outer edge of the bottom of the main body and downward-looking sensors
located at the inner sides of drive wheels that are provided at the bottom of the
main body. Because of the installation of the downward-looking sensors at the inner
sides of the drive wheels, the state where the main body is knocked over or lifted
up from the ground or the drive wheel is suspended at an edge can be further determined,
so that a timely power shut-off can be performed under the state to avoid energy losses
and possible pollution.
[0012] Preferably, an alarm module is further comprised, which is communicatively connected
to the control module. Because of the alarm send by the alarm module, the operator's
attention can be drawn, so that the self-moving device of the present invention can
be maintained in time to prevent even greater accident.
[0013] In the present invention, the technical problems are also solved by the following
technical solutions:
A control method of a self-moving device comprises the following steps:
step (1): two or more downward-looking sensors, which are located at the bottom of
a main body, collecting suspending signals;
step (2): the downward-looking sensors sending the collected suspending signals to
a control module;
step (3): the control module controlling the main body according to the number of
the suspending signals sent from the downward-looking sensors in the following manner:
when there is only one downward-looking sensor sending the suspending signal, the
control module controls the main body to turn; and
when there are two or more downward-looking sensors sending the suspending signals,
the control module controls the main body to get into an operation interrupted state.
[0014] In the present invention, the two or more downward-looking sensors are installed
at the bottom of the main body to facilitate the detection of the suspending state.
The suspending signals at different positions are sent to the control module, and
the control module can determine the position state of the main body according to
different numbers of the suspending signals, so that the main body can perform correct
actions, thereby avoiding falling caused by the movement to a further suspending position,
and avoiding waste and possible pollution caused by the idling during suspending.
The present invention has a simple structure, requires no human intervention, is convenient
and reliable, and has a good market prospect.
[0015] In another embodiment, the control method of the present invention comprises the
following steps:
step (1): two or more downward-looking sensors, which are located at the bottom of
a main body, collecting suspending signals;
step (2): the downward-looking sensors sending the collected suspending signals to
a control module;
step (3): the control module controlling the main body according to the number of
the suspending signals sent from the downward-looking sensors in the following manner:
when there is only one downward-looking sensor sending the suspending signal, the
control module controls the main body to turn; and
when there are two or more downward-looking sensors sending the suspending signals,
the control module controls the main body to turn within a time period T first, and
once the time period T has elapsed, if there are still two or more downward-looking
sensors sending the suspending signals, the control module controls the main body
to get into an operation interrupted state; if there is only one downward-looking
sensor sending the suspending signal, the control module controls the main body to
further turn; and if there is no downward-looking sensor sending the suspending signal,
the control module controls the main body to operate normally, wherein, the time period
T > 0.
[0016] In the present invention, the two or more downward-looking sensors are installed
at the bottom of the main body to facilitate the detection the suspending state. The
suspending signals at different positions are sent to the control module, and the
control module can determine the position state of the main body according to different
numbers of the suspending signals, and can further determine the position state of
the main body by the time delay when there are two or more downward-looking sensors
sending the suspending signals, so that the main body can perform correct actions,
thereby avoiding falling caused by the movement to a further suspending position,
and avoiding waste and possible pollution caused by the idling during suspending.
The present invention has a simple structure, requires no human intervention, is convenient
and reliable, and has a good market prospect.
[0017] Preferably, the time period T is 300∼800 ms. The buffer time should not be too long
or too short; otherwise the present invention cannot achieve the above functions or
causes energy waste and makes the buffering meaningless.
[0018] In another embodiment, the control method of the present invention comprises the
following steps:
step (1): two or more downward-looking sensors, which are located at the bottom of
a main body, collecting suspending signals, wherein the two or more downward-looking
sensors comprise downward-looking sensors located at the outer edge of the bottom
of the main body and downward-looking sensors located at the inner sides of drive
wheels that are provide at the bottom of the main body;
step (2): the downward-looking sensors sending the collected suspending signals to
a control module;
step (3): the control module controlling the main body according to the number of
the suspending signals sent from the downward-looking sensors in the following manner:
when there is only one downward-looking sensor sending the suspending signal, the
control module controls the main body to turn; and
when there are two or more downward-looking sensors sending the suspending signals,
if the suspending signals sent from the downward-looking sensors located at the inner
sides of the drive wheels are comprised, the control module controls the main body
to get into an operation interrupted state; otherwise, the control module controls
the main body to turn.
[0019] In the present invention, the two or more downward-looking sensors are installed
at the bottom of the main body to facilitate the detection the suspending state. The
suspending signals at different positions are sent to the control module, and the
control module can determine the position state of the main body according to different
numbers of the suspending signals, and can further determine the position state of
the main body by the mark information of the signals from the downward-looking sensors
when there are two or more downward-looking sensors sending the suspending signals,
so that the main body can perform correct actions, thereby avoiding falling caused
by the movement to a further suspending position, and avoiding waste and possible
pollution caused by the idling during suspending. The present invention has a simple
structure, requires no human intervention, is convenient and reliable, and has a good
market prospect.
[0020] Preferably, the control module is also connected to an alarm module. The alarm module
sends an alarm while the control module controls the main body to get into the operation
interrupted state. Because of the alarm sent by the alarm module, the operator's attention
can be drawn, so that the self-moving device of the present invention can be maintained
in time to prevent even greater accident.
Description of accompanying drawings
[0021]
Fig. 1 is a structure schematic view of the first embodiment of the self-moving device
according to the present invention; and
Fig. 2 is a structure schematic view of the second embodiment of the self-moving device
according to the present invention.
Detailed Description of Preferred Embodiments
[0022] The present invention discloses a self-moving device, which may be an intelligent
vacuum cleaner, an intelligent sweeper or other small devices that can move themselves,
and a control method thereof. By detecting and recognizing suspending signals, the
self-moving device may be controlled to perform corresponding actions to achieve the
purposes of fall protection, energy saving and pollution prevention. Further, the
self-moving device performs the process completely automatically without needing any
human intervention, and has a simple structure without increasing the production and
usage cost. Thus, the self-moving device has a great market value.
[0023] Hereinafter, the self-moving device and the control method thereof of the present
invention will be described by referring to two embodiments shown in the accompanying
drawings.
First Embodiment
[0024] In the present embodiment, the self-moving device of the present invention comprises
a main body 1, downward-looking sensors 2, a control module (not shown) and an alarm
module (not shown). The main body 1 is a main component of the self-moving device
for performing various actions, and drive wheels 11, 12 are installed at the bottom
of the main body 1 for facilitating its own movement.
[0025] The number of the downward-looking sensors 2 is three (but is not limited to three,
and may be two or four or more). All the three downward-looking sensors 2 are located
at the outer edge of the bottom of the main body 1, wherein one downward-looking sensor
2 is located at the front portion of the main body 1, and the other two are located
at both sides of the main body 1.
[0026] These three downward-looking sensors 2 are infrared sensors (but are not limited
to the infrared sensors, and may be ultrasonic sensors, tactile sensors or the like)
and each comprises an infrared transmitter and an infrared receiver. When the receiver
receives an infrared signal reflected from the ground, it is determined that the main
body is in a normal state, and when the receiver receives no reflected signal, it
is determined that the main body is in a suspending state.
[0027] The control module is installed within the main body 1 and is connected to the downward-looking
sensors 2. The control module controls the actions of the main body 1 according to
the number of the suspending signals sent from the downward-looking sensors 2.
[0028] In the present embodiment, the alarm module is further comprised (which may not be
provided if necessary), and is communicatively connected to and driven by the control
module. The alarm module may be a speaker or an alarm light that sends an alarm signal
to remind and warn the operator by whistling or flashing.
[0029] The control method of the self-moving device of the present embodiment has two modes,
wherein one mode is described as below.
[0030] The control method of the self-moving device comprises the following steps:
Step (1): the three downward-looking sensors 2, which are located at the bottom of
the main body 1, collecting the suspending signals;
Step (2): the downward-looking sensors 2 sending the collected suspending signals
to the control module;
Step (3): the control module controlling the main body 1 according to the number of
the suspending signals sent from the downward-looking sensors 2 in the following manner:
When there is only one downward-looking sensor 2 sending the suspending signal, the
control module controls the main body 1 to turn; and
When there are two or more downward-looking sensors 2 sending the suspending signals,
the control module controls the main body 1 to get into an operation interrupted state.
[0031] When there are two or more two or more downward-looking sensors 2 sending the suspending
signals, the main body 1 may be in a state of being knocked over or lifted up, and
should get into the operation interrupted state immediately, so as to avoid energy
losses and possible pollution.
[0032] The other mode is described as below.
[0033] The control method of the self-moving device comprises the following steps:
Step (1): the three downward-looking sensors 2, which are located at the bottom of
the main body 1, collecting the suspending signals;
Step (2): the downward-looking sensors 2 sending the collected suspending signals
to the control module;
Step (3): the control module controlling the main body 1 according to the number of
the suspending signals sent from the downward-looking sensors 2 in the following manner:
When there is only one downward-looking sensor 2 sending the suspending signal, the
control module controls the main body 1 to turn; and
When there are two or more downward-looking sensors 2 sending the suspending signals,
the control module controls the main body 1 to turn within a time period T first.
Once the time period T has elapsed, if there are still two or more downward-looking
sensors 2 sending the suspending signals, the control module controls the main body
1 to get into the operation interrupted state; if there is only one downward-looking
sensor 2 sending the suspending signal, the control module controls the main body
1 to further turn; and if there is no downward-looking sensor 2 sending the suspending
signal, the control module controls the main body 1 to operate normally. Here, the
time period T > 0.
[0034] In this control method, a time delay is provided to facilitate the further detection
of the state of the main body 1, in order to make a more correct judgment and to avoid
delaying the normal intelligent self-moving operation. In fact, when the control module
receives two or more suspending signals, if the main body 1 just locates at an edge
or corner and turns immediately at this time, the control module will not sense suspending
signal or senses only one suspending signal after the delay of time period T; and
if the main body 1 is knocked over or lifted up or the wheel is suspended at an edge,
the control module will still receive two or more suspending signals after the delay
of time period T. In the present embodiment, the time period T is 300∼800 ms, preferably
500 ms.
Second Embodiment
[0035] In the present embodiment, the self-moving device of the present invention also comprises
a main body 1, downward-looking sensors 2, a control module (not shown) and an alarm
module (not shown). The main body 1, the control module and the alarm module are substantially
the same as those of the first embodiment, the description of which will be omitted.
[0036] In the present embodiment, the number of the downward-looking sensors 2 is five (but
is not limited to five, and may be two or more). The five downward-looking sensors
2 are located at the outer edge of the bottom of the main body 1 and at the inner
sides of the drive wheels 11, 12 that are provided at the bottom of the main body
1, respectively. In the present embodiment, three of the downward-looking sensors
2 are located at the outer edge of the bottom of the main body 1, wherein one three
downward-looking sensor 2 is located at the front portion of the main body 1, and
the other two are located at both sides of the main body 1. Further, the remaining
two downward-looking sensors 2 are located at the inner sides of the drive wheels
11, 12 that are provided at the bottom of the main body 1, and the two drive wheels
11, 12 correspond to the two downward-looking sensors 2 one-to-one.
[0037] Since the positions of the downward-looking sensors 2 are different, the signals
sent to the control module by the downward-looking sensors of different positions
may carry corresponding position coding information so that the control module can
recognize and determine the positions of the signal senders on the main body 1. Undoubtedly,
different types of downward-looking sensors may be adopted based on the different
positions of the downward-looking sensor 2. For example, the downward-looking sensors
2 provided at the outer edge of the bottom of the main body 1 are infrared sensors,
while the downward-looking sensors 2 provided at the inner sides of the bottom drive
wheels 11, 12 are ultrasonic sensors, etc. As long as the control module can effectively
recognize the sensors, the downward-looking sensors may be of same type or different
types. Preferably, the suspending signal data itself received by the control module
contains a mark, and the mark may be position coding information or type information
of the downward-looking sensor 2. The control method of the self-moving device of
the present embodiment comprises the following steps:
Step (1): the five downward-looking sensors 2, which are located at the bottom of
the main body 1, collecting the suspending signals, wherein three of the downward-looking
sensors 2 are located at the out edge of the main body 1, and the other two are located
at the inner sides of the drive wheels 11, 12;
Step (2): the five downward-looking sensors 2 sending the collected suspending signals
to the control module;
Step (3): the control module controlling the main body 1 according to the number of
the suspending signals sent from the downward-looking sensors 2 in the following manner:
When there is only one downward-looking sensor 2 sending the suspending signal, the
control module controls the main body 1 to turn; and
When there are two or more downward-looking sensors 2 sending the suspending signals,
if the suspending signals sent from the downward-looking sensors 2 located at the
inner sides of the drive wheels 11, 12 are comprised, the control module controls
the main body 1 to get into an operation interrupted state; otherwise, the control
module controls the main body 1 to turn.
[0038] After receiving the suspending signals sent from the downward-looking sensors 2 located
at the outer edge of the bottom of the main body 1 and the downward-looking sensors
2 located at the inner sides of the drive wheels 11, 12, the control module recognizes
whether the downward-looking sensors 2 are located at the outer edge of the bottom
of the main body 1 or at the inner sides of the drive wheels 11, 12, and then makes
a judgment and sends instructions. To be specific, when the two or more downward-looking
sensors 2 comprises at least one downward-looking sensor 2 sending the suspending
signal which is located at the inner side of the drive wheels 11, 12, the control
module determines that the main body 1 is in a suspending state (the main body 1 may
be knocked over or lifted up, or the wheels may be suspended at an edge) and sends
an instruction for getting into the operation interrupted state.
[0039] In the present embodiment, since two downward-looking sensors 2 are provided at the
inner sides of the drive wheels 11, 12, whether the self-moving device is knocked
over or lifted up or not can be determined very accurately so that a correct judgment
can be made immediately, thereby avoiding energy waste and possible pollution.
1. A self-moving device,
characterized in that, comprising:
a main body (1);
downward-looking sensors (2), the number of which is two or more, and all of which
are installed at the bottom of the main body (1); and
a control module, which is installed within the main body(1) and is connected to the
downward-looking sensors (2), wherein the control module controls actions of the main
body (1) according to the number of suspending signals sent from the downward-looking
sensors (2).
2. The self-moving device of claim 1, characterized in that, the two or more downward-looking sensors (2) are all located at the outer edge of
the bottom of the main body (1).
3. The self-moving device of claim 2, characterized in that, the number of the downward-looking sensors (2) is three, wherein one downward-looking
sensor is located at the front portion of the main body (1), and the other two are
located at both sides of the main body (1).
4. The self-moving device of claim 1, characterized in that, the two or more downward-looking sensors (2) comprise downward-looking sensors (2)
located at the outer edge of the bottom of the main body (1) and downward-looking
sensors (2) located at the inner sides of drive wheels that are provided at the bottom
of the main body (1).
5. The self-moving device of claim 1, characterized in that, further comprising an alarm module which is communicatively connected to the control
module.
6. A control method of a self-moving device,
characterized in that, comprising the following steps:
step (1): two or more downward-looking sensors (2), which are located at the bottom
of a main body (1), collecting suspending signals;
step (2): the downward-looking sensors (2) sending the collected suspending signals
to a control module;
step (3): the control module controlling the main body (1) according to the number
of the suspending signals sent from the downward-looking sensors (2) in the following
manner:
when there is only one downward-looking sensor sending the suspending signal, the
control module controls the main body (1) to turn; and
when there are two or more downward-looking sensors sending the suspending signals,
the control module controls the main body (1) to get into an operation interrupted
state.
7. A control method of a self-moving device,
characterized in that, comprising the following steps:
step (1): two or more downward-looking sensors (2), which are located at the bottom
of a main body (1), collecting suspending signals;
step (2): the downward-looking sensors (2) sending the collected suspending signals
to a control module;
step (3): the control module controlling the main body (1) according to the number
of the suspending signals sent from the downward-looking sensors (2) in the following
manner:
when there is only one downward-looking sensor sending the suspending signal, the
control module controls the main body (1) to turn; and
when there are two or more downward-looking sensors sending the suspending signals,
the control module controls the main body (1) to turn within a time period T first,
and once the time period T has elapsed, if there are still two or more downward-looking
sensors sending the suspending signals, the control module controls the main body
(1) to get into an operation interrupted state; if there is only one downward-looking
sensor sending the suspending signal, the control module controls the main body (1)
to further turn; and if there is no downward-looking sensor sending the suspending
signal, the control module controls the main body (1) to operate normally, wherein,
the time period T > 0.
8. The control method of the self-moving device of claim 7, characterized in that, the time period T is 300∼800 ms.
9. A control method of a self-moving device,
characterized in that, comprising the following steps:
step (1): two or more downward-looking sensors (2), which are located at the bottom
of a main body (1), collecting suspending signals, wherein the two or more downward-looking
sensors (2) comprise downward-looking sensors (2) located at the outer edge of the
bottom of the main body (1) and downward-looking sensors (2) located at the inner
sides of drive wheels (11, 12) that are provide at the bottom of the main body (1);
step (2): the downward-looking sensors (2) sending the collected suspending signals
to a control module;
step (3): the control module controlling the main body (1) according to the number
of the suspending signals sent from the downward-looking sensors (2) in the following
manner:
when there is only one downward-looking sensor sending the suspending signal, the
control module controls the main body (1) to turn; and
when there are two or more downward-looking sensors sending the suspending signals,
if the suspending signals sent from the downward-looking sensors located at the inner
sides of the drive wheels (11, 12) are included, the control module controls the main
body (1) to get into an operation interrupted state; otherwise, the control module
controls the main body (1) to turn.
10. The control method of the self-moving device of any one of claims 6-9. characterized in that, the control module is further connected to an alarm module, wherein the alarm module
sends an alarm while the control module controls the main body (1) to get into the
operation interrupted state.