Signal guided cleaning device and signal guided cleaning system thereof

The present application provides a signal guided cleaning device and a signal guided cleaning system thereof. The signal guided cleaning system includes a signal emitter and a signal guided cleaning device. The signal emitter is used to emit at least one first emission signal. And the signal guided cleaning device includes a body, at least one mobile element, at least one driver, and a controlling unit. Each first signal receiver received the first emission signal in receiving range and provides a first reception instruction. Each mobile element connects with the corresponding driver. Controlling unit connects with the first signal receivers and drivers, provides a corresponding first controlling instruction according to the received first reception instruction, and drives the corresponding drivers so as to make the mobile elements drive the body forward an emitting direction of the first emission signal.

The present application is based on, and claims priority from, Taiwan application number 103112958, filed on Apr. 9, 2014 and Taiwan application number 103138985, filed on Nov. 11, 2014, the disclosure of which is hereby incorporated by reference herein in its entirety.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present disclose relates to a cleaning device, particularly a signal guided cleaning device which is subject to emission signals for movement or returning to a charging dock.

2. Description of the Prior Art

In the Taiwan patent of a cleaning device with sweep and vacuum functions (application date: Aug. 25, 2009; application Ser. No. 098128483), the cleaning device with sweep and vacuum functions is provided with a sweeper module and a vacuum module in a body: the sweeper module is flexibly equipped with a major sweeper and a mirror sweeper, both of which are driven by a power unit, wherein the major sweeper partially exposes to and contacts the ground from the bottom opening on the sweeper module; the sweeper module which develops an opening adjacent to the top of the minor sweeper is pivoted on the body and depends on weight to freely swing.

In the Taiwan patent of an automated cleaning device with a mobile charger (application date: Aug. 29, 2013; application Ser. No. 102216216), the automated cleaning device with a mobile charger comprises an automated cleaning device and a mobile charger: the automated cleaning device is provided with a first wireless transmission module used in sending position-related signals and a power storage module providing stored electricity to the automated cleaning device; the mobile charger comprises a body, a mobile mechanism, a second wireless transmission module and a power supply module wherein the second wireless transmission module electrically connected to the mobile mechanism receives position-related signals by which the mobile mechanism drives the body toward the automated cleaning device automatically for supply of electric power to the power storage module from the power supply module. As such, the mobile charger automatically moves and charges the automated cleaning device.

In the Taiwan patent of an absorption cleaning device (application date: Aug. 2, 2013; application Ser. No. 102214605), the absorption cleaning device comprises a control circuit which is configured on a shell body and provided with an inner power module supplying electricity to internal components, a drive module driving front and rear wheels, an absorption unit absorbing ambient dust and adhering to a plane, and a dust bag configured in the shell body and corresponding to the absorption unit for collection of dust. Compared with ordinary traditional electric vacuum devices, the absorption cleaning device substitutes for manual clean, for example, a user lifting his/her wrist, because ambient dust is absorbed by the absorption unit adhering to a plane and further collected by the dust bag corresponding to the absorption unit.

In the patent of a Method of Docking an Autonomous Robot (application date: Jan. 21, 2004; application number: PCT/US2004/001504), a method of automatically docking an autonomous robot at a charge base features an autonomous robot which returns to a charge base by detecting and receiving overlap signals from the charge base.

It can be seen from above descriptions that a conventional automated cleaning device (autonomous robot) cleaning a certain space allows a mobile charger to automatically move and charge the automated cleaning device or completes docking for charging by itself. During automatic cleaning, the automated cleaning device, however, merely follows a predetermined route for cleaning but fails to controllably arrive at another location to be cleaned. Thus, the automated cleaning device still has the problem of inconvenient handling which deserves to be settled.

SUMMARY OF THE INVENTION

Accordingly, the conventional cleaning devices with some drawbacks are not good design and deserve to be modified.

Having considered all drawbacks deriving from conventional cleaning devices, the applicant/inventor successfully created a signal guided cleaning device after years of studies.

A signal guided cleaning device in the present disclosure comprises a body, first signal receivers, drivers, mobile elements and a power supply unit. In the signal guided cleaning device, the first signal receivers configured on the body receive external first emission signals within detection ranges so as to provide a first reception instruction; the drivers are configured in the body; the mobile elements configured on the bottom side of the body and connected to at least one of the drivers are driven by the drivers based on the first reception instructions to move the body toward a direction from which the first emission signals originate. The power supply unit in the body provides electricity to the signal receivers and drivers.

In the signal guided cleaning device, each of the first reception instructions has intensity proportional to the received first emission signal.

In the signal guided cleaning device, the drivers linking at least one of the first signal receivers drive the connected mobile elements according to the first reception instructions with intensity proportional to that of the received first emission signals as well as driving speed of the first drivers.

In the signal guided cleaning device, the body further comprises a controlling unit electrically connected between the first signal receivers and the drivers and used in receiving the first reception instructions for creation of at least one first controlling instruction which is transmitted to each of the drivers; the drivers depend on the received first controlling instructions and set corresponding driving speed to drive the mobile elements and further the body for movement and turn.

In the signal guided cleaning device, the first reception instructions on the basis of intensity will be correctly decoded for creation of the distinct first controlling instructions by which the drivers make outputs of different driving speeds.

A signal guided cleaning system comprises the signal emitter and the aforementioned signal guided cleaning.

In the signal guided cleaning system, the signal emitter can be a hand-held remote control device comprising an illuminant unit and a first emission unit: the illuminant unit configured in front of the hand-held remote control device emits a visible light beam; the first emission unit also configured at front-end of the hand-held remote control device sends the first emission signals along a direction identical to that of the light beam.

In the signal guided cleaning system, the signal guided cleaning device further comprises a charging connection unit linking the power supply unit and receiving external electric power which is charged into the power supply unit for storage.

In the signal guided cleaning system, the signal emitter can be a charging dock comprising a base, a prop, a plurality of first emission units and a power transmission unit: the prop is configured on the base; the first emission units configured on the prop send identical first emission signals at a predetermined angle respectively and away from the prop without overlaps; the power transmission unit configured on the prop links the charging connection unit and transmits received external electric power to the charging connection unit when the signal guided cleaning device is shifted to the charging dock.

In the signal guided cleaning system, the charging dock further comprises a second emission unit which is configured on the prop and sends second emission signals within a range less than those of the first emission signals, the signal guided cleaning device is further provided with a second signal receiver configured on the top of the body and used in receiving the second emission signals, and the drivers enable the mobile elements to turn locally until the charging connection unit faces the charging dock when the second emission signals are received by the second signal receiver.

In the signal guided cleaning system, the signal guided cleaning device further comprises a third signal receiver configured on the body and opposite to the first signal receivers and the drivers enable the mobile elements to move toward the charging dock when a third reception instruction which corresponds to the second emission signals received by the third signal receiver is created.

In the signal guided cleaning system, the body further comprises a controlling unit that is electrically connected among the first signal receivers, the second signal receiver, the third signal receiver and the drivers and creates at least one first controlling instruction, at least one second controlling instruction and at least one third controlling instruction based on the first, second and third reception instructions and transmitted to at least one of the drivers for output of a corresponding driving speed by which the drivers enable the mobile elements to move and turn the body.

In the signal guided cleaning system, the first reception instructions on the basis of intensity can be correctly decoded for creation of the first controlling instructions by which the drivers make outputs of different driving speeds.

In the signal guided cleaning system, a first connection unit is configured on the underneath of the body and near the third signal receiver, the charging dock further comprises a second connection unit located at the base and matching the first connection unit in shape and size, and the second connection unit properly joins the first connection unit when the signal guided cleaning device is shifted to the charging dock.

In the signal guided cleaning system, the first connection unit and each of the two connection units can be a recess (bump) and a bump (recess), respectively.

In the signal guided cleaning system, both the first emission units and the second emission unit can be infrared emitters from which the first emission signals and the second emission signals, that is, infrared rays, are sent.

In the signal guided cleaning system, predetermined codes with different coded formats are added into the first emission signals and the second emission signals, respectively.

A method of returning a signal guided cleaning device to a charging dock in a signal guided cleaning system comprises steps as follows:A. The first emission signals from the first emission units on the charging dock are received by the first signal receivers of the signal guided cleaning device for creation of the corresponding first reception instructions by the first signal receivers.B. The signal guided cleaning device drives the connected mobile elements according to the first reception instructions or the first controlling instruction that controlling unit based on the first reception instruction to generate. The drivers are based on the first controlling instruction to output corresponding driving speed so as to drive those mobile elements and body moving or turning so as to forward to the direction of the charging dock.C. The signal guided cleaning device selects the first signal receivers or the second signal receivers to receive the second emission signal emitted by the second emission unit of the charging dock, and provides a corresponding second reception instruction. The drivers of the signal guided cleaning device controls the connected mobile element according to the second reception instruction or a second controlling instruction that the controlling unit based on the second reception instruction to generate. The drivers output corresponding driving speed according to the received second controlling instruction, and make the drivers drive the mobile element and body moving or turning so as to make the charging connection unit of the signal guided device forward to the charging dock.D. The second signal receiver of the signal guided cleaning device receivers the second emission signal and provide a corresponding third reception instruction. The drivers of signal guided cleaning device control the connected mobile elements according to the third reception instruction or the third controlling instruction that the controlling unit of the signal guided cleaning device based on the third reception instruction to generate. The drivers based on the received third controlling instruction to drive the mobile elements, and further drive the body moving or turning to a direction of the charging dock.E. The first connection unit on the body properly joins the second connection unit on the charging dock.

In contrast to conventional cleaning devices, the signal guided cleaning device in the present disclosure has advantages as follows:1. The first emission signals received by the first signal receivers are used in guiding the signal guided cleaning device to move toward a direction from which the first emission signals originate.2. In the signal guided cleaning device, the first reception instructions depending on either distinct intensity of received first emission signals or differently decoded number of first emission signals due to a distance between the first signal receivers and the signal source from which the first emission signals originate will be dissimilar to each other. Therefore, the drivers depending on the different first reception instructions or the first controlling instructions drive the mobile elements and the body to move or turn by different driving speeds.3. The signal guided cleaning device moves toward a direction from which the first emission signals originate with the first emission units coordinating the first signal receivers and turns and links a charge dock with the second emission unit coordinating the second and third signal receivers.4. During the trip of returning to the charging dock, the body of the signal guided cleaning device correctively and stably follows the first, second and third reception instructions or the first, second and third controlling instructions because of no emission signal from the first emission units overlapped and different detection ranges between the first emission units and the second emission unit.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

A signal guided cleaning device will be further illustrated with embodiments as well as accompanying drawings for clear understanding of its purposes, technical measures and advantages. It should be understood that the embodiments hereinafter are used to explain but not restrict a signal guided cleaning device in the present disclosure.

Please refer toFIGS. 1 and 2which illustrate a signal guided cleaning device comprises a body100, a plurality of first signal receivers101, drivers102, mobile elements103and a power supply unit104. As shown inFIGS. 1 and 2, a signal guided cleaning system comprises the aforementioned signal guided cleaning device and a signal emitter200. And the signal guided cleaning device is guided by first emission signals from the signal emitter200which comprises a first emitter unit201. The body100is provided with the first signal receivers101on one side, that is, the top side or the lateral side (FIG. 3) or the bottom side (FIG. 1) of the body100; the first signal receivers101on the top side or the bottom side are also located near the lateral side and receive the first emission signals from the signal emitter200within a reception range for creation of a first reception instruction.

In the signal guided cleaning device, the mobile elements103are mounted on the bottom side of the body100(FIGS. 1 and 3) and the drivers102are configured in the body100wherein at least some of the mobile elements103are connected to one of the drivers102and the remaining mobile elements103are neither connected to nor driven by the drivers102and taken as driven wheels to support the body100. Or, each of the mobile elements103links one of the drivers102. Based on the first reception instructions, the drivers102drive the connected mobile elements103and further the body100toward the direction from which the first emission signals received by the first signal receivers101originate; the power supply unit104configured inside the body100provides electric power to both the signal receivers and the drivers.

In the signal guided cleaning device, the first reception instruction has intensity inversely proportional to a distance through which the first emission signal is received by the first signal receivers; the fixed intensity of the first emission signals which are closed to the first signal receivers contributes to the robust first reception instruction created by the first signal receivers. In the signal guided cleaning device, the first emission signals as coded signals with fixed intensity will be more correctly decoded by the first signal receivers and immune to interference of external signals, that is, the first signal receivers closed to the first emission signals produce the robust first reception instruction; whereas, the first emission signals which have fixed intensity but are not fully and correctly decoded by the first signal receivers imply a remote distance, which is unfavorable to the first emission signals caught by the first signal receivers, and the weak first reception instructions created by the first signal receivers. As such, the drivers102based on distinct levels of intensity of the first reception instructions drive the signal guided cleaning device to move at different speeds.

The body100further comprises a controlling unit105therein which is electrically connected between the first signal receivers101and the drivers102and receives the first reception instructions, creating at least one first controlling instruction which depends on distinct levels of intensity of the first reception instructions and is transmitted to the drivers102that make output of a corresponding driving speed, allowing the mobile elements103to move and turn the body100.

Please refer toFIG. 4which illustrates the signal emitter200is a hand-held remote control device220comprising a first emission unit221and an illuminant unit222. The first emission unit221sends the first emission signals along the direction identical to a light beam from the illuminant unit222. As such, a light beam projected on the ground from the hand-held remote control device220under control of a user is implied as a location to project the first emission signals; the body100under functions of the first signal receivers101, the drivers102and the mobile elements103moves with the light beam as described.

As shown inFIGS. 1, 3, 5 and 6for another embodiment of a signal guided cleaning device, the body100comprises a first connection unit107configured on underneath of body100and opposite to edges of the first signal receivers101. And the signal emitter200is a charging dock210comprising a base211, a prop212, first emission units213, a second emission unit214, a second signal receiver106, a power transmission unit216and an outer second connection unit217which is located between the base211and the prop212and connected to the first connection unit107for joining the charging dock210and the body100.

As shown inFIG. 7, the first emission units213configured on the prop212send first emission signals at a predetermined angle and away from the prop212without overlaps of the first emission signals in their emission ranges.

Moreover, a charging connection unit109configured on the lateral side of the body100and opposite to the first signal receivers101is connected to the power supply unit104and taken as a conductive terminal or an electricity reception end for wireless charging; the power transmission unit216as a conductive terminal or an electricity output end is developed on the prop212and appropriately links the charging connection unit109, transmitting externally received electricity to the charging connection unit109, the power supply unit104, the controlling unit105and the drivers102for power transmission and storage when the signal guided cleaning device is shifted to the charging dock210.

Please refer toFIG. 7again which illustrates the charging dock210further comprises a second emission unit215configured on the prop212and sends the second emission signals transmitted within a range less than that of the first emission signals.

Please refer toFIGS. 3 and 8which illustrate a second signal receiver106configured on the top of the body200. The signal guided cleaning device selects first signal receiver101or second signal receiver to receive second emission signal. The controlling unit105creates second controlling instructions based on the second reception instructions and the drivers102make output of a corresponding driving speed according to the received second controlling instructions and drive the mobile elements103to either move/turn the body100. Or the drivers102selects first signal receiver101or second signal receiver106to receive second emission signal to drive the mobile element moving and turning, until the charging connection forward to the charging dock.

Please refer toFIGS. 3 and 8again which illustrate a signal guided cleaning device further comprises a third signal receiver108on the lateral side of the body100and away from the first signal receivers101. The controlling unit105of the signal guided cleaning device creates third controlling instructions based on the third reception instructions, and the drivers102enable the mobile elements103to either move the body100toward the charging dock210according to the received third controlling instructions. Or the drivers102receive the external second emission signal by the third signal receiver108and provide a corresponding third reception instruction, and drive the mobile element103toward the charging dock210according to the third reception instruction.

Please refer toFIG. 9that illustrates the body100in one embodiment comprises four first signal receivers101such as directional infrared receivers, radio frequency signal receivers, etc. uniformly distributed on the bottom side and edges of the body100on which the second signal receiver106such as omni-directional infrared receiver, radio frequency signal receiver, etc. The body100is provided with the third signal receiver108such as directional infrared receiver, radio frequency signal receiver, etc. sideward and opposite to the second signal receiver106.

Please refer toFIGS. 10 and 11that illustrate the first signal receivers101indicated as S1, S2, S3or S4receive the first emission signals from location A1on which a light beam is projected and the first emission signals are coded signals, i.e., infrared signals or radio frequency signals, transmitted to and analyzed with the controlling unit105for creation of at least one first controlling instruction to be translated to the drivers102and used in driving the mobile elements103toward location A1. As shown inFIG. 10, the first signal receivers at S1and S2receive the first emission signals from the location on which a light beam is projected and within the detection ranges of the first signal receivers at S1and S2and the received first emission signals are transmitted to and analyzed with the controlling unit105by comparing different levels of intensity of the first emission signals received by the first signal receivers101at S1and S2for creation of the corresponding first controlling instructions used in driving the drivers102to move the mobile elements103toward location A1on which a light beam is projected. As shown inFIG. 11, location A2on which a light beam is projected is situated within the range of the first emission signals received by the first signal receivers101at S3and S4so that the body100is shifted to location A2. In practice, the first signal receivers101may be three rather than four signal receivers as shown inFIG. 3.

FIG. 12shows a processing aspect view that the first signal receivers101receive the first emission signal. The first signal receivers101are configured at the position S1, S2, S3, and S4respectively and the mobile elements are configured at the position WH1, WH2, WH3, and WH4. The determining of the first signal of present processing aspect is based on first signal receiver whether receiving the first emission signal, and divides the receiving region of first signal receivers103into receiving region Z1, Z12, Z2, Z23, Z3, Z34and Z4based on the signal receiving region. The relationship of each receiving region and first signal receivers as shown in Table 1:

After receiving the signal, the controlling unit105sets driving velocity of the mobile element103according to the combined status of signal receiving. The aforementioned driving velocity comprises speed V0(the minimum velocity), V1, V2, and V3(the maximum velocity). The receiving status of first signal receiver101is marked logic “1” when received the first emission signal; and the receiving status of first signal receiver101is marked logic “0” when not received the first emission signal. The signal receiving combination status of first signal receiving101as shown in Table 2:

When the controlling unit105received signal, it may determines the signal of S1˜S4by the positive logic or negative logic so as to know the located position of the first emission position. For example, the controlling unit105determines the first signal receiver101based on positive logic, and determines which first signal receiver101's status involving the logic “1” so as to know the related region. On the contrary, the controlling unit105also determines the first signal receiver101based on negative logic, and determines which first signal receiver101's status involving logic “0” so as to know the related region.

For example, when the controlling unit105receives a relation status of first signal is {S1, S2, S3, S4}={1,1,0,0}, then the controlling unit105determines the status by positive logic or negative to known the first signal is located on region “Z12”, then the controlling unit105sets driving velocity of mobile element as follow: {WH1, WH2, WH3}={V0, V1, V3} so as to make the signal guided cleaning device move to the direction of Z12based on mobile elements103with different driving velocity.

Please refer toFIGS. 7 and 8again. First of all, second emission signals are transmitted from the second emission unit214in the charging dock210and received by the second signal receiver106which translates the second emission signals to the controlling unit105for creation of the second controlling instruction by which the drivers102enable the mobile elements103to turn until the third signal receiver108faces the charging dock210. The second emission signals are received by the third signal receiver108and transmitted to the controlling unit105for creation of the third controlling instruction by which the drivers102enable the mobile elements103to move toward the charging dock210.

Please refer toFIGS. 13 and 14. Next, the second emission signals that are continuously received by the third signal receiver108when the body100moves toward the charging dock210enable the controlling unit105to generate the third controlling instruction by which the drivers102change the mobile elements103in angle and direction, keeping the body100move toward the charging dock210as shown inFIG. 13. Finally, the body100links the charging dock210for power transmission with the first connection unit107and the second connection unit217matching and joining together, as shown inFIG. 14.

The above descriptions are examples of preferred embodiments which do not restrict the scope of a signal guided cleaning device; any equivalent change or improvement without departing from spirit of the signal guided cleaning device should be incorporated in claims herein

It can be seen from above descriptions the signal guided cleaning device with effects and advantages over conventional cleaning devices meets patentability including novelty and non-obviousness.