Summary of the invention
The present invention be directed to a kind of cleaning robot system, can fast automatic replacement battery, there is good work effectEnergy.
The present invention be directed to a kind of operation methods of cleaning robot system, provide the clean robot of non-stop run,With good task performance.
According to an embodiment of the invention, cleaning robot system, including clean robot and charging depressed place.Clean robotCarry the first battery.Charge the second battery of depressed place magnetic and to the second battery charge.When clean robot be electrically connected charging depressed place andWhen the electricity of first battery is lower than default electricity, charge the first battery of depressed place magnetic and the second battery of release, so that clean robotCarry the second battery.
In the cleaning robot system of embodiment according to the present invention, the first battery and the second battery are respectively provided withOne magnetic conductive part, charging depressed place have fixed pedestal and flexible pedestal.Flexible pedestal is telescopically connected to fixed pedestal.Fixed baseSeat tool has multiple first electromagnet.Flexible pedestal has multiple first battery cases.Clean robot has ontology and multiple theTwo battery cases.Multiple second battery cases are configured at the side of ontology.When clean robot is electrically connected charging depressed place and the first batteryElectricity when being lower than default electricity, the first magnetic conductive part of the second battery of one of them magnetic of multiple first electromagnet.So as to work asClean robot be moved away from charge depressed place when, the first battery is configured in the one of them of multiple first battery cases, and the second batteryIt is configured in the one of them of multiple second battery cases.
In the cleaning robot system of embodiment according to the present invention, flexible pedestal further includes the second electromagnet.CleaningRobot further includes the second magnetic conductive part.Second magnetic conductive part is configured on a side surface of ontology, and the second electromagnet is to magneticSecond magnetic conductive part.
In the cleaning robot system of embodiment according to the present invention, charging depressed place has control circuit.Control circuit electricityProperty is connected to multiple first electromagnet and multiple second electromagnet.Control circuit is passed through multiple first electromagnet to control respectivelyAnd the electric current of multiple second electromagnet.
In the cleaning robot system of embodiment according to the present invention, clean robot further includes multiple first fixedPart.Multiple first fixing pieces are respectively arranged in multiple second battery cases, and the first battery and the second battery respectively includeTwo fixing pieces.When the first battery and the second battery are respectively arranged in multiple second battery cases, multiple second fixing pieces are usedTo be individually fixed in multiple first fixing pieces.
In the cleaning robot system of embodiment according to the present invention, fixed pedestal further includes multiple first electrode groups.First battery and the second battery respectively include second electrode group.Multiple second electrode groups to butt up against multiple first electricity respectivelyPole group.
In the cleaning robot system of embodiment according to the present invention, clean robot further includes multiple grooves.It is multipleGroove is respectively communicated in multiple second battery cases.When clean robot is electrically connected charging depressed place, multiple the first of fixed pedestalElectrode group is each passed through multiple grooves and is connected respectively to multiple second electrode groups.
In the cleaning robot system of embodiment according to the present invention, charging depressed place further includes motor, is connected to motorGear and the rack gear for being engaged in gear.Gear arrangement is in the one of them of fixed pedestal and flexible pedestal, and rack gear is configured at admittedlyDetermine the another one of pedestal Yu flexible pedestal.
In the cleaning robot system of embodiment according to the present invention, the first battery or the second battery include wing.The each of multiple first battery cases includes the first guide rail corresponding to wing.The each of multiple second battery cases includes pairIt should be in the second guide rail of wing.When the first battery or the second battery enter the one of them of multiple first battery cases, wingIt is slided in the first guide rail in portion.When the first battery or the second battery enter the one of them of multiple second battery cases, wingIt is slided in the second guide rail.
In the cleaning robot system of embodiment according to the present invention, the first battery or the second battery expose to multipleThe outer surface profile of two battery cases corresponds to the side surface configuration of the clean robot.
According to an embodiment of the invention, the operation method of cleaning robot system, comprising the following steps: by cleaning machinePeople carries the first battery；By charging the second battery of depressed place magnetic to charge to the second battery；And when clean robot electrically connectsWhen connecing the electricity in charge depressed place and the first battery lower than default electricity, pass through charging the first battery of depressed place magnetic and the second battery of release,So that clean robot carries the second battery.
In the operation method of the cleaning robot system of embodiment according to the present invention, the running of cleaning robot systemMethod is further comprising the steps of: passing through the flexible pedestal magnetic clean robot in depressed place of charging；And it is filled by flexible pedestal retractionThe inner space in electric depressed place, so that clean robot is electrically connected charging depressed place.
In the operation method of the cleaning robot system of embodiment according to the present invention, the first battery and the second batteryIt is respectively provided with the first magnetic conductive part.Charging depressed place includes fixed pedestal and flexible pedestal.Flexible pedestal is telescopically connected to fixationPedestal.Fixed pedestal has multiple first electromagnet.Flexible pedestal has multiple first battery cases.Clean robot has multipleSecond battery case.When the electricity that clean robot is electrically connected charge depressed place and the first battery is lower than default electricity, multiple firstFirst magnetic conductive part of the first battery of one of them magnetic of electromagnet.The another one of multiple first electromagnet discharges the second batteryFirst magnetic conductive part.So that the first battery is configured in multiple first battery cases wherein when clean robot is moved away from charging depressed placeOne, and the second battery is configured in the one of them of multiple second battery cases.
In the operation method of the cleaning robot system of embodiment according to the present invention, the running of cleaning robot systemMethod is further comprising the steps of: when clean robot has double cell demand, multiple first electromagnet releases multiple first are ledMagnetic part, and clean robot carries the first battery and the second battery.
Based on above-mentioned, in the design of cleaning robot system of the invention, cleaning robot system includes multiple batteries,And all or part of battery can selectively be carried by the corresponding battery of the first electromagnet magnetic.When clean robot is takenWhen carrying whole batteries, the clean up task of high power consumption can be carried out or lengthened working hours.When clean robot carries partWhen battery, since charging depressed place of the invention will can not be equipped on the battery indwelling of another part of clean robot in charging depressed placeIt charges, therefore clean robot of the invention can carry out quick and easy mode by return charging depressed place and substitute electricityPond extends clean robot and carries out the time of clean up task and reduce the free time that clean robot waits battery charging, withReach clean robot to work without interruption, improves working efficiency.In addition, clean robot of the invention can execute return journeyIt is electrically charged depressed place magnetic when sequence and positions, therefore clean robot stable can connect with charging depressed place and fix without the depressed place that will chargeIn wall, and then increase configuration selectivity of the charging depressed place in environment.
Detailed description of the invention
Figure 1A is a kind of stereoscopic schematic diagram of cleaning robot system of one embodiment of the invention；
Figure 1B is that the clean robot of Figure 1A is located at the stereoscopic schematic diagram of first position；
Fig. 1 C is that the clean robot of Figure 1A is located at the stereoscopic schematic diagram of the second position；
Fig. 2 is the stereoscopic schematic diagram in the charging depressed place of one embodiment of the invention；
Fig. 3 is the sectional perspective enlarged diagram in the charging depressed place of one embodiment of the invention；
Fig. 4 A is the stereoscopic schematic diagram of the clean robot of one embodiment of the invention；
Fig. 4 B is the schematic side view of the clean robot of Fig. 4 A；
Fig. 5 A is the positive stereoscopic schematic diagram of the battery of one embodiment of the invention；
Fig. 5 B is the stereoscopic schematic diagram of the bottom surface of the battery of one embodiment of the invention；
Fig. 6 A is the functional block diagram of the control circuit in the charging depressed place of one embodiment of the invention；
Fig. 6 B is the functional block diagram of the control circuit of the clean robot of one embodiment of the invention；
Fig. 7 is the step flow chart of the operation method of the cleaning robot system of one embodiment of the invention.
Description of symbols
10: cleaning robot system；
100: charging depressed place；
120: fixed pedestal；
122: inner space；
124: the first electromagnet；
126: first electrode group；
140: flexible pedestal；
142: the first battery cases；
144: the second electromagnet；
146: the first guide rails；
160: motor；
162: gear；
164: rack gear；
200: clean robot；
202: side surface；
203: side surface configuration；
204: bottom；
206: groove；
210: ontology；
220: the second battery cases；
226: the second guide rails；
240: the second magnetic conductive parts；
260: the first fixing pieces；
300: battery；
303: outer surface profile；
320: wing；
326: second electrode group；
328: third electrode group；
340: the first magnetic conductive parts；
360: the second fixing pieces；
400: operation method；
500: first control circuit；
510: central control circuit；
520: voltage detecting and comparison circuit；
530: guiding and detection control circuit；
540: solenoid driver circuit；
550: motor control circuit；
560: communication unit；
570: charging control circuit；
600: second control circuit；
610: central control circuit；
620: battery voltage detection circuit；
630: communication unit；
640: path planning and computing unit；
650: cleaning and dust control circuit；
660: environment measuring control circuit；
670: power and steering controling circuit；
P1: first position；
P2: the second position；
S410, S412, S413, S414, S420, S422, S423, S424, S430, S432, S433, S434, S440: stepSuddenly.
Specific embodiment
With detailed reference to exemplary embodiment of the invention, the example of exemplary embodiment is illustrated in attached drawing.OnlyIt is possible that same components symbol is used to indicate same or similar part in the accompanying drawings and the description.
Figure 1A is a kind of stereoscopic schematic diagram of cleaning robot system of one embodiment of the invention.Figure 1B is the clear of Figure 1AClean robot is located at the stereoscopic schematic diagram of first position.The clean robot that Fig. 1 C is Figure 1A is located at the three-dimensional signal of the second positionFigure.Please refer to Figure 1A, Figure 1B and Fig. 1 C, cleaning robot system 10 include a charging depressed place 100, a clean robot 200 withAnd multiple batteries 300.In the present embodiment, clean robot 200 can be for example sweeping robot, floor-mopping robot or other kindsThe clean robot of class.Charging depressed place 100 includes a fixed pedestal 120 and a flexible pedestal 140.Flexible pedestal 140 is scalableGround is connected to fixed pedestal 120.In the present embodiment, clean robot 200 be suitable for be moved to charging depressed place 100 and with charging depressed place100 are electrically connected.When clean robot 200 is close to charging depressed place 100, clean robot 200 is movable to a first position P1(as shown in Figure 1B).When in flexible 140 retraction fixed pedestal 120 of pedestal, clean robot 200 is movable to a second positionP2 (as shown in Figure 1 C).In the present embodiment, battery 300 can be for example the rechargeable batteries such as lithium battery, nickel-metal hydride battery.
Fig. 2 is the stereoscopic schematic diagram in the charging depressed place of one embodiment of the invention.It please also refer to Figure 1A and Fig. 2, in this realityIt applies in example, fixed pedestal 120 includes an inner space 122 and multiple first electromagnet 124.Flexible pedestal 140 can be inside retractionSpace 122.Flexible pedestal 140 includes one second electromagnet 144 and multiple first battery cases 142.Please refer to Figure 1B, Fig. 1 C andFig. 2, firstly, when flexible pedestal 140 stretches out in fixed pedestal 120 and clean robot 200 is close to flexible pedestal 140, cleaningRobot 200 is moved to first position P1 (as shown in Figure 1B).Then, when the inside of flexible 140 retraction fixed pedestal 120 of pedestalWhen in space 122, clean robot 200 is moved to second position P2 (as shown in Figure 1 C).Charging depressed place 100 shown in Fig. 2 is to work asThe case where when flexible 140 retraction fixed pedestal 120 of pedestal, and the clean robot 200 for being moved to second position P2 is omitted, withClearly indicate component and its positional relationship included by the fixed pedestal 120 and flexible pedestal 140 in charging depressed place 100, notTo limit the embodiment of the present invention.
Fig. 3 is the sectional perspective enlarged diagram in the charging depressed place of one embodiment of the invention.Please refer to Figure 1A, Fig. 2 and figure3, in the present embodiment, charging depressed place 100 further includes a first control circuit 500.First control circuit 500 is configured at fixed pedestal120 or flexible pedestal 140.The first control circuit 500 in charging depressed place 100 can pass through motor control circuit 550 (please referring to Fig. 6 A)It will be in flexible 140 retraction inner space 122 of pedestal.In the present embodiment, charging depressed place 100 further includes a motor 160, is connected to horseUp to 160 a gear 162 and be engaged in a rack gear 164 of gear 162, as shown in Fig. 3.Motor control circuit 550 controls horseUp to 160 with band moving gear 162 and corresponding rack gear 164.Gear 162 is configured at its of fixed pedestal 120 and flexible pedestal 140Middle one, and rack gear 164 is configured at the another one of fixed pedestal 120 Yu flexible pedestal 140.In the present embodiment, motor 160 selectsIt is configured to selecting property fixed pedestal 120, and rack gear 164 is configured at flexible pedestal 140, therefore when motor 160 drives gear 162When, flexible 140 retraction of pedestal can be made with mobile rack 164 or stretches out the inner space 122 of fixed pedestal 120, however it is of the inventionIt is not limited.In other embodiments, motor 160 can also be configured at flexible pedestal 140 and rack gear 164 is configured at fixed baseSeat 120, so that the inner space 122 of flexible 140 retraction of pedestal or stretching fixed pedestal 120.
Fig. 4 A is the stereoscopic schematic diagram of the clean robot of one embodiment of the invention.Fig. 4 B is the clean robot of Fig. 4 ASchematic side view.Fig. 4 A and Fig. 4 B is please referred to, in the present embodiment, clean robot 200 has an ontology 210, Duo GeTwo battery cases 220 and at least one second magnetic conductive part 240.For example, these second battery cases 220 are configured at ontology 210Side (such as: the side in the neighbouring charging depressed place 100 of clean robot 200 when clean robot 200 is moved to first position P1).ThisA little second battery cases 220 are suitable for accommodating battery 300.In the present embodiment, clean robot 200 selectively includes three secondMagnetic conductive part 240 (as shown in Figure 4 A).These second magnetic conductive parts 240 are configured at close on a side surface 202 of clean robot 200The position of multiple second battery cases 220.For example, the second magnetic conductive part 240 can be located at these the second battery cases 220 two sides orPosition between these second battery cases 220, but the allocation position of the second magnetic conductive part 240 is not limited.
Fig. 5 A is the positive stereoscopic schematic diagram of the battery of one embodiment of the invention.Fig. 5 B is one embodiment of the inventionBattery bottom surface stereoscopic schematic diagram.Figure 1A, Fig. 5 A and Fig. 5 B are please referred to, in the present embodiment, these batteries 300 respectively canThese first battery cases 142 (as shown in Figure 1A) or these second battery cases 220 (as shown in Figure 4 A) are configured at, selectively with electricityProperty be connected to charging depressed place 100 or clean robot 200.For example, when these batteries 300 are configured at the first battery case 142, theseBattery 300 is electrically connected at charging depressed place 100.When these batteries 300 are configured at the second battery case 220, these batteries 300 are electricallyIt is connected to clean robot 200.These batteries 300 respectively include multiple first magnetic conductive parts 340.These first magnetic conductive parts 340 divideIt is not set on the surface of battery 300.Specifically, battery 300 has outer surface (not indicating).The setting of first magnetic conductive part 340In on this outer surface.When battery 300 is located at the second battery case 220 of clean robot 200, the outer surface of battery 300 is exposedIn the second battery case 220.In addition, as shown in Fig. 4 A and Fig. 5 A, when battery 300 is configured at the second battery case 220, battery 300The corresponding clean robot 200 of outer surface profile 303 side surface configuration 203.In other words, the outer surface profile of battery 300303 is conformal with the side surface configuration 203 of clean robot 200 so that appearance is consistent, but the outer surface profile 303 of battery 300 withThe relationship of the side surface configuration 203 of clean robot 200 is not limited system.
In the present embodiment, battery 300 further includes at least wing 320 for protruding from its surface.First battery case 142At least one first guide rail 146 including corresponding to wing 320.As shown in Figure 1A, battery 300 includes two wings 320, andFirst battery case 142 includes two the first guide rails 146.When battery 300 enters the first battery case 142, these wings 320 divideIt is not slided in these first guide rails 146, is configured at battery 300 in first battery case 142.In addition, the second battery case 220 wrapsInclude at least one second guide rail 226 corresponding to wing 320.As shown in fig. 4 a and fig. 4b, the second battery case 220 includes two theTwo guide rails 226.When battery 300 enters the second battery case 220, these wings 320 are sliding in these second guide rails 226 respectivelyIt is dynamic, it is configured at battery 300 in second battery case 220.
In addition, please referring to Fig. 4 A and Fig. 4 B and Fig. 5 A, in the present embodiment, clean robot 200 further includes multipleFirst fixing piece 260, and these first fixing pieces 260 are respectively arranged in these second battery cases 220.These batteries 300 are alsoIncluding multiple second fixing pieces 360.The shape or form of first fixing piece 260 correspond to these the second fixing pieces 360 shape orForm.For example, the first fixing piece 260 is connecting hole, the second fixing piece 360 is hook.Specifically, when these batteries 300 divideWhen not being configured in these second battery cases 220, these second fixing pieces 360 of these batteries 300 can be snapped in cleaning respectivelyThese first fixing pieces 260 of robot 200, these batteries 300 are fixed in clean robot 200.Whereby, these electricityPond 300 can be configured in the second battery case 220, loosen or skid off clean robot 200 without automatically cleaning robot 200.
It is noted that please referring to Figure 1A, Figure 1B, Fig. 2 and Fig. 4 A, in the present embodiment, charging depressed place 100 includesMultiple first battery cases 142 (exposing to fixed pedestal 120), and clean robot 200 accordingly includes multiple second battery cases220.When clean robot 200 is located at first position P1, corresponding second battery case 220 of the first battery case 142, and corresponding firstThe first electromagnet 124 that battery case 142 is arranged can also correspond to the second battery case 220.For example, the first battery case 142 and firstElectromagnet 124 is all aligned the second battery case 220.When clean robot 200 moves to second position P2, first control circuit 500By the first electromagnet 124 of control to distinguish selectively magnetic or not the first magnetic conductive part 340 of these batteries 300 of magnetic, so thatThese batteries 300 are selectively configured in the first battery case 142 or the second electromagnetism slot 220.It is above-mentioned by the first electromagnet 124300 indwelling of percentage of batteries of magnetic is in the first battery case 142.Clean robot 200 then carries another part not by the first electricityThe battery 300 of 124 magnetic of magnet is in the second electromagnetism slot 220.However, invention is not limited thereto, in other embodiments, clearlyClean robot 200 can also carry multiple (such as whole batteries) batteries 300 without any battery 300 of indwelling in charging depressed place100.It should be noted that in the present embodiment, the quantity of the first battery case 142, the second battery case 220 and battery 300 can exampleFor example two.In other embodiments, the quantity of corresponding battery case and battery may be three or more, and the present invention is simultaneouslyIt is not limited with the quantity of battery case and battery.Based on above-mentioned configuration, clean robot 200 can only carry a battery 300And by another 300 indwelling of battery in charging depressed place 100.Whereby, clean up task can be carried out simultaneously and to indwelling in charging depressed place100 battery 300 charges.When battery 300 of the indwelling in depressed place 100 of charging returns to charging depressed place 100 for clean robot 200It is replaced, to reduce the free time for waiting battery 300 to charge.
In the present embodiment, Fig. 2, Fig. 4 B and Fig. 5 B are please referred to, charging depressed place 100 can charge to battery 300.It is fixedPedestal 120 includes multiple first electrode groups 126, and specifically, these first electrode groups 126 correspond to these first electromagnet124 and these first battery cases 142.These batteries 300 respectively include corresponding to the second electrode group of these first electrode groups 126326.For example, when clean robot 200 by wherein 300 indwelling of a battery in charging depressed place 100 wherein one first battery caseWhen in 142 to charge to this battery 300, the first electromagnet 124 that this battery 300 is corresponded on fixed pedestal 120 can lead toMagnetic is crossed by this 300 indwelling of battery in this first battery case 142.At this point, the contact of this first electromagnet 124 and magnetic this battery300 the first magnetic conductive part 340.Under the above-described configuration, the second electrode group 326 of this battery 300 butt up against corresponding to this firstThe first electrode group 126 of battery case 142.In addition, clean robot 200 further includes the bottom 204 for being formed in clean robot 200Multiple grooves 206.These grooves 206 are respectively communicated with multiple second battery cases 220.For example, in this present embodiment, when clearThe battery 300 for being equipped on clean robot 200 when clean robot 200 is moved to second position P2 or indwelling are in charging depressed place 100Battery 300 can be fixed in these second battery cases 220.When these first electromagnet 124 of fixed pedestal 120 contact differenceWhen being configured at the first magnetic conductive part 340 of these batteries 300 in these second battery cases 220, fixed pedestal 120 these firstElectrode group 126 is each passed through these grooves 206 and is connected respectively to these second electrode groups 326 of these batteries 300.By upperThese second electrode groups 326 of the configuration stated, these batteries 300 butt up against these first electrode groups of fixed pedestal 120 respectively126 and complete battery 300 with charge depressed place 100 electric connection to charge to battery 300.
In the present embodiment, Fig. 5 B is please referred to, each battery 300 can further include a third electrode group 328.Work as clean robot200 when being moved to second position P2, these batteries 300 are fixed in the second battery case 220.At this point, these of these batteries 300Second electrode group 326 is electrically connected to charging depressed place 100, and the third electrode group 328 of these batteries 300 is electrically connected to cleanerDevice people 200, thus complete clean robot 200 and be electrically connected to charging depressed place 100.
It is worth noting that, first battery case 142 can expose to solid when flexible pedestal 140 stretches out in fixed pedestal 120Determine pedestal 120.At this point, correspond to the first battery case 142 the first electromagnet 124 can magnetic be not equipped on clean robot 200Battery 300, and by 300 indwelling of battery in the first battery case 142.Therefore, indwelling is in the battery in the first battery case 142300 can still be electrically connected with first electrode group 126, so that indwelling is in the battery 300 in the first battery case 142 in clean robotIt charges simultaneously when 200 progress clean up task.Whereby, when can reduce the free time that clean robot 200 waits battery 300 to chargeBetween, to increase working efficiency.
Below by the operation method of cleaning robot system of the invention that underdraws.Please refer to Figure 1A, Figure 1B, Fig. 1 C,Fig. 4 A and Fig. 5 A, in the present embodiment, cleaning robot system 10 include one charging depressed place 100, a clean robot 200 andMultiple batteries 300.At least one carrying of these batteries 300 is to clean robot 200.It does not carry to clean robot 200Battery 300 is suitable for being contained in charging depressed place 100.Charging depressed place 100 further includes first control circuit 500.First control circuit 500 is electricallyIt is connected to multiple first electromagnet 124 and multiple second electromagnet 144.First control circuit 500 is passed through more suitable for unit controlThe electric current of a first electromagnet 124 and multiple second electromagnet 144 makes multiple first electromagnet 124 and multiple second electricityMagnet 144 generates magnetic attraction.
Specifically, when cleaning robot system 10 executes a return program, clean robot 200 can be first close to stretchingIn fixed pedestal 120 flexible pedestal 140 and be moved to first position P1 (as shown in Figure 1B).At this point, clean robot 200Second magnetic conductive part 240 is aligned the second electromagnet 144 of flexible pedestal 140.Then, the first control circuit 500 in charging depressed place 100 is controlledIt makes these second electromagnet 144 and removes these corresponding second magnetic conductive parts 240 of magnetic so that clean robot 200 is positioned at charging depressed place100.Multiple second battery cases 220 of clean robot 200 are aligned multiple first battery cases of flexible pedestal 140 respectively at this time142.Then when the inner space 122 of flexible 140 retraction fixed pedestal 120 of pedestal, clean robot 200 is simultaneously by firstIt sets P1 and is repositioned to second position P2 (as shown in Figure 1 C).When clean robot 200 is repositioned to second position P2, it is located at cleanerIn device people 200 and it is fixed on the battery 300 of clean robot 200 and the electric connection of depressed place 100 of charging.
More specifically, in one embodiment of this invention, it after 144 the second magnetic conductive part of magnetic 240 of the second electromagnet, stretches140 retraction inner space 122 of contracting pedestal, and clean robot 200 can be synchronously moved to second position P2, however it is of the inventionIt is not limited.In another embodiment, clean robot 200 can be fixed on by the second electromagnet 144 of flexible pedestal 140Flexible pedestal 140 simultaneously guides clean robot 200 to second position P2.Under above-mentioned configuration design, clean robot 200 canWith when executing return program, be electrically charged depressed place 100 positioning and can be stable be moved to second position P2 without the depressed place that will charge100 push away.Therefore, charging depressed place 100 in the above-described embodiments can be not required to be fixed on wall, and can arbitrarily be set to environmentIt is interior, increase the configuration selectivity of cleaning robot system 10.In another embodiment, clean robot 200 is fixed on flexible baseAfter seat 140, flexible pedestal 140 can be pushed into inner space 122 and be moved to second position P2 by clean robot 200.
At this point, battery 300 is fixed in the second battery case 220.These first electrode groups 126 of fixed pedestal 120 pass throughMultiple grooves 206 of clean robot 200 and the second electrode group 326 of these batteries 300 is connected to fill to battery 300Electricity.
Then, cleaning robot system 10 executes a separation program.Firstly, the first control circuit 500 in charging depressed place 100 is controlledThe first electromagnet 124 is made with selectively magnetic or not these batteries 300 of magnetic.It is electrically charged the battery 300 of 100 magnetic of depressed placeSuitable for clean robot 200 be moved away from charge depressed place 100 during release with the fixed relationship of clean robot 200, and stayIt is placed in charging depressed place 100.The battery 300 for not being electrically charged 100 magnetic of depressed place is suitable for indwelling in clean robot 200, and with cleaning machinePeople 200 is moved away from charging depressed place 100 together.
Specifically, when executing separation program, flexible pedestal 140 can be stretched from the inner space of fixed pedestal 120 122Out, and clean robot 200 from second position P2 is moved to first position P1.At this point, at least one carrying of these batteries 300To clean robot 200.For example, clean robot 200 can only carry a battery 300 and stay other batteries 300It is placed in charging depressed place 100, however invention is not limited thereto.In other embodiments, clean robot 200 can also carry moreA (such as two) battery 300, then it is moved to first position P1.
It is noted that in the present embodiment, first control circuit 500 can be passed through multiple first electromagnetism with unit controlThe electric current of iron 124, to change the magnetic force of different first electromagnet 124.For example, the battery 300 that corresponding preparation is chargedThe first electromagnet 124 can be passed to electric current and the first magnetic conductive part 340 of the battery 300 that the corresponding preparation of magnetic is charged.It connects, due to the battery 300 that the corresponding preparation of 124 magnetic of the first electromagnet is charged, when cleaning robot system 10 executesMagnetic when separating program, between the first magnetic conductive part 340 of the battery 300 that the first electromagnet 124 and corresponding preparation are chargedSuction can overcome the resistance between the second fixing piece 360 of battery 300 and the first fixing piece 260 of clean robot 200.Above-mentioned resistance is battery 300 to be fixed in the second battery case 220.In other words, the battery 300 that preparation is chargedIt can be by the magnetic force indwelling of the first electromagnet 124 in first battery case 142 in charging depressed place 100.
Based on above-mentioned, the cleaning robot system 10 of the present embodiment can be selected respectively by controlling the first electromagnet 124Charging depressed place 100 is moved away from by these 300 indwellings of battery in charging depressed place 100 or with clean robot 200 with selecting.The present embodiment isBy taking two batteries as an example, but invention is not limited thereto.When clean robot 200 carries two batteries 300, clean robot200 can carry out needing the clean up task of high electricity or lengthen working hours.When clean robot 200 only carries one of electricityWhen pond 300, another battery 300 of indwelling in charging depressed place 100 can charge.Therefore, when clean robot 200 is carried300 not enough power supply of battery when, clean robot 200 may return to charging depressed place 100.Charging depressed place 100 passes through the first electromagnet 124Magnetic force by 300 indwelling of battery of not enough power supply in charging depressed place 100, and clean robot 200 is taken away originally by indwelling in chargingThe battery 300 that depressed place 100 is charged.In this way, the battery 300 of electricity abundance can be substituted into, quickly and readily to extend cleaningThe time of the progress clean up task of robot 200.Since when clean robot 200 carries out clean up task, charging depressed place 100 can be sameWhen charge to battery 300.Whereby, after the return charging of clean robot 200 depressed place 100 can be reduced, battery 300 is waited to chargeFree time can further increase the work of clean robot 200 to reach clean robot 200 with the expectation of non-stop runMake efficiency.
The control circuit that the cleaning robot system of one embodiment of the invention will simply be introduced below and its operationally instituteThe function of execution.
Fig. 6 A is the functional block diagram of the control circuit in the charging depressed place of one embodiment of the invention.Fig. 6 B is of the invention oneThe functional block diagram of the control circuit of the clean robot of embodiment.Figure 1A and Fig. 6 A is please referred to, in the present embodiment, depressed place of charging100 can be judged the battery 300 to be discharged, detection clean robot 200 by first control circuit 500 and will clean machinePeople 200 is positioned at charging depressed place 100.Specifically, charging depressed place 100 includes first control circuit 500.In the present embodiment, firstControl circuit 500 is, for example, to control chip and be configured on circuit board.In the present embodiment, first control circuit 500 may includeCentral control circuit 510 (such as: central processing unit), voltage detecting and comparison circuit 520, guiding and detection control circuit 530,Solenoid driver circuit 540, motor control circuit 550, communication unit 560 and charging control circuit 570.Central control circuit510 can detect the electricity of multiple batteries 300 by voltage detecting and comparison circuit 520, and then judge in multiple batteries 300Whichever can be carried by clean robot 200.Then, central control circuit 510 can be controlled by guiding and detecting control circuit 530Arrangement for guiding processed (such as: ultrasonic transmitter or RF transmitter etc.) so that clean robot 200 close to charging depressed place100.Central control circuit 510 can also control detection components by guiding and detecting control circuit 530 to judge clean robotWhether 200 arrived at first position P1.In addition, central control circuit 510 can remove control motor by motor control circuit 550160, make flexible 140 retraction of pedestal or stretches out fixed pedestal 120.Central control circuit 510 can pass through solenoid driver circuit 540Control the electric current of these the first electromagnet 124, in execute separate program when, make the first electromagnet 124 magnetic preparation progressThe battery 300 of charging.Furthermore central control circuit 510 can also control the second electromagnet by solenoid driver circuit 540144 electric current, to make the second magnetic conductive part 240 of 144 magnetic clean robot 200 of the second electromagnet when executing return program.Central control circuit 510 can also charge to the battery 300 for being electrically connected to charging depressed place 100 by charging control circuit 570.
In the present embodiment, Figure 1A and Fig. 6 B is please referred to, clean robot 200 can be executed by second control circuit 600Clean up task simultaneously judges whether clean robot 200 needs to return to charging depressed place 100 replacement battery 300.Specifically, clean robot200 may include second control circuit 600.In the present embodiment, second control circuit 600 is, for example, to control chip and be configured at electricityOn the plate of road.In the present embodiment, second control circuit 600 may include central control circuit 610 (such as: central processing unit), electricityCell voltage detection circuit 620, communication unit 630, path planning and computing unit 640, cleaning and dust control circuit 650, ringDetect control circuit 660 and power and steering controling circuit 670 in border.When 200 preparation of clean robot carries out clean up task,Central control circuit 610 can the required electric power consumed of passage path planning and the calculating of computing unit 640 path to be cleaned.OneIn a little embodiments, path planning and computing unit 640 can be a memory or a buffer.Path planning and computing unit 640 are usedTo store the program code of path planning and calculating, and the program code is executed by central control circuit 610 and is advised with realizing routeDraw and computing function.Above-mentioned calculating data can be supplied to the first control electricity by communication unit 630 by central control circuit 610The communication unit 560 on road 500.Whereby, charging depressed place 100 can calculate the quantity of the battery 300 carried needed for data judgement by this.When clean robot 200 carries out clean up task, central control circuit 610 can pass through 660 control ring of environment measuring control circuitBorder detection components (such as: ultrasonic wave emitting/receiving or infrared ray emitting/receiving) come judge to be intended to clean path or arroundEnvironment.Central control circuit 610 can be controlled by power and steering controling circuit 670 clean robot 200 drive motor orWheel is according to being intended to mobile clean path, avoiding obstacles or stop.Central control circuit 610 can control electricity by cleaning and dustRoad 650 control clean robot 200 in be intended on clean path execute cleaning and dust task.Central control circuit 610 can lead toWhether the electricity for crossing the sensing battery 300 of battery voltage detection circuit 620 is lower than default electricity, so that clean robot 200 determinesWhether return charge depressed place 100.However, the default electricity of the present embodiment can be according to the power consumption journey of different battery types, clean up taskDegree or user's demand correspond to design.For example, in one embodiment, default electricity may be, for example, battery 30010%, 15% or 20% etc. of total electricity, however the present invention is not particularly limited.When battery voltage detection circuit 620 judges to cleanWhen the not enough power supply of the battery 300 in robot 200, central control circuit 610 can pass through communication unit 630 and the first control electricityThe communication unit 560 on road 500 is got in touch with.Then, the guiding of first control circuit 500 and detection circuit 530 can control arrangement for guiding(such as: ultrasonic transmitter or RF transmitter) signal is issued to guide clean robot 200 to return to charging depressed place 100.ByThis, clean robot 200 is able to replacement battery 300 or depressed place 100 of charging is able to through charging control circuit 570 to clean robotBattery 300 in 200 charges.
Fig. 7 is the step flow chart of the operation method of the cleaning robot system of one embodiment of the invention.Please refer to figure1A and Fig. 7, in the present embodiment, the process of the operation method 400 of cleaning robot system 10 includes, first in step S410In, clean robot 200 receives clean environment demand.For example, user can set cleaner by portable electronic devicesThe clean environment demand of device people 200.Portable electronic devices send clean environment demand to clean robot 200.Such as preceding instituteState, clean robot 200 can passage path planning and computing unit 640 calculate the path to be cleaned needed for consume electric power, andAbove-mentioned calculating data are supplied to charging depressed place 100 by communication unit 630.In other embodiments, charging depressed place 100 receivesThe clean environment demand stated.In step S412, charging depressed place 100 executes program to judge whether to need to carry double cell 300.IfIt is that in step S413, charging depressed place 100 discharges two batteries 300 simultaneously.If it is not, in step S414, the electricity in depressed place 100 of chargingRoad judgement will discharge which battery 300 or wait to be charged.(the cleaning when program judgement needs to carry double cell 300Robot 200 has double cell demand), in the step s 420, clean robot 200 carries two batteries 300 and executes cleaningTask.In step S422, the clean robot 200 for carrying two batteries 300 judges whether that needing to recharge electric depressed place 100 charges.If so, clean robot 200 recharges electric depressed place 100 and charges in step S423.If it is not, in step S424, clean robot200 judge whether clean up task is completed.If it is not, clean robot 200 continues to execute clean up task.If so, in step S440,Clean robot 200 recharges electric depressed place 100 and charges.
In the present embodiment, program judgement does not need to carry 300 situation of double cell and program judgement needs to carry double cell300 situations are similar, the difference is that: in step S430, the clean robot 200 for carrying single battery 300 first carries out cleaningTask.Then, in step S432, the clean robot 200 for carrying single battery 300 judges whether that electric power deficiency needs rechargeIt charges in electric depressed place 100.For example, judge whether the electricity of battery 300 entrained by clean robot 200 is lower than default electricity.If so, clean robot 200 recharges electric depressed place 100 and is electrically connected with charging depressed place 100 to charge in step S433.ThisWhen, in step S414, the judgement of charging depressed place 100 will discharge which battery 300 or wait to be charged, be further continued for allowing clean robot200 execute clean up task.In some embodiments, " release " representative " not magnetic ".In other words, when charging depressed place 100 judges clearlyWhen clean robot 200 does not need to carry double cell 300, clean robot 200 can return to charging depressed place 100 replacement battery 300 and hold againRow clean up task, therefore the free time that clean robot 200 waits battery 300 to charge can be reduced, and then increase work effectRate.
In addition, in the present embodiment, in step S414, when which battery 300 judgement of depressed place 100 of charging will discharge,Charge depressed place 100 can by the voltage detecting and comparison circuit 520 and solenoid driver circuit 540 of first control circuit 500 comeDischarge the higher battery 300 of electricity, that battery for being electrically charged 100 magnetic of depressed place originally e.g. to charge.However this hairIt is bright without being limited thereto.In other embodiments, first control circuit 500 can also according to user demand and be adjusted to preferentially to dischargeFixed one of them in multiple batteries 300.In other embodiments, first control circuit 500 can also be released sequentially in turnDifferent batteries 300 is put, the battery 300 being released then is moved away from charging depressed place 100 with clean robot 200.
If the judgement of clean robot 200 does not need to recharge the electric charging of depressed place 100 in step S432, then S434 is entered step.In step S434, clean robot 200 judges whether clean up task is completed.If it is not, in step S430, clean robot200 continue to execute clean up task.If so, clean robot 200 recharges electric depressed place 100 and charges in step S440.
In conclusion the clean robot of cleaning robot system of the invention is designed as that multiple batteries can be carried or only takesThe battery of band part (e.g. one).Clean robot can pass through the corresponding battery of the first electromagnet magnetic in depressed place of chargingSelectively the battery indwelling for not being equipped on a part of clean robot in multiple batteries is charged in charging depressed place, and it is anotherPartial battery-mounting is in clean robot to carry out clean up task.It is designed by above-mentioned configuration, clean robot of the inventionWhen carrying multiple batteries, the clean up task of high power consumption can be carried out or lengthened working hours.When clean robot carries a partBattery when, charging depressed place can substitute the battery of clean robot in a manner of quick and is easy, to extend clean robot progressThe time of clean up task.In addition, cleaning robot system of the invention can allow and fill when clean robot carries out clean up taskElectric depressed place charges the battery simultaneously, and then reduces clean robot and return to the free time that charging depressed place waits battery charging, withReach clean robot to work without interruption, further increases the working efficiency of clean robot.In addition, cleaner of the inventionDevice people can be electrically charged depressed place magnetic when executing return program and position, therefore clean robot stable can be connect with charging depressed placeWithout that will charge, depressed place is fixed, and then increases the configuration selectivity of cleaning robot system.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extentPipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according toSo be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features intoRow equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solutionThe range of scheme.