CLEANING ROBOT SYSTEM AND OPERATING METHOD THEREOF
A cleaning robot system includes a cleaning robot and a charging dock. The cleaning robot carries a first battery. The charging dock magnetically attracts a second battery and charges the second battery. When the cleaning robot is electrically connected to the charging dock and an electrical quantity of the first battery is lower than a default electrical quantity, the charging dock magnetically attracts the first battery and releases the second battery and the cleaning robot carries the second battery.
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This application claims the priority benefit of China application serial no. 201810096405.8, filed on Jan. 31, 2018. The entirety of the above-mentioned patent application is hereby incorporated by reference herein and made a part of this specification.
BACKGROUND Technical FieldThe disclosure relates to a robot system and an operating method thereof, and particularly relates to a cleaning robot system and an operating method thereof
Description of Related ArtPresently, development of robots gradually draws attention, and the field of robots includes cleaning robots for cleaning environments. However, as functions of the cleaning robots are gradually increased and application ranges thereof are no longer limited to household use, batteries for the cleaning robots require long-term endurance. The conventional cleaning robot must return and stay at a charging station at regular intervals to wait for the battery to be charged, and is unable to continuously carry out cleaning operations. Therefore, a cleaning robot system that may quickly and automatically replace the battery without waiting for a charging time and may increase a working time is an urgent product required in the field.
SUMMARYThe disclosure is directed to a cleaning robot system, which is adapted to automatically replace a battery in rapid, and has good working performance.
The disclosure is directed to an operating method of a cleaning robot system, which provides a cleaning robot adapted to work uninterruptedly, and has good working performance.
The disclosure provides a cleaning robot system including a cleaning robot and a charging dock. The cleaning robot carries a first battery. The charging dock magnetically attracts a second battery and charges the second battery. When the cleaning robot is electrically connected to the charging dock and an electrical quantity of the first battery is lower than a default electrical quantity, the charging dock magnetically attracts the first battery and releases the second battery, and the cleaning robot carries the second battery.
The disclosure provides an operating method of a cleaning robot system including following steps: carrying a first battery by a cleaning robot; magnetically attracting a second battery by a charging dock to charge the second battery; and when the cleaning robot is electrically connected to the charging dock and an electrical quantity of the first battery is lower than a default electrical quantity, magnetically attracting the first battery and releasing the second battery by the charging dock, so that the cleaning robot carries the second battery.
According to the above description, in the design of the cleaning robot system of the disclosure, the cleaning robot system includes a plurality of batteries, and first electromagnets magnetically attract the corresponding batteries to selectively carry a part of or all of the batteries. When the cleaning robot carries all of the batteries, a high power-consuming cleaning task is adapted to be carried out or a working time is adapted to be prolonged. When the cleaning robot carries a part of the batteries, since the charging dock of the disclosure is adapted to keep the other part of the batteries that are not carried by the cleaning robot in the charging dock for charging, the cleaning robot of the disclosure may return to the charging dock to rapidly and easily replace the battery, which prolongs a time that the cleaning robot carries out the cleaning task and reduces an idle time that the cleaning robot waits for batteries to charge, so as to achieve uninterrupted working of the cleaning robot to improve working efficiency. Moreover, the cleaning robot of the disclosure may be magnetically attracted and be positioned by the charging dock when executing a return procedure, so that the cleaning robot may be stably connected to the charging dock without fixing the charging dock on a wall, so as to improve configuration selectivity of the charging dock in the environment.
To make the aforementioned more comprehensible, several embodiments accompanied with drawings are described in detail as follows.
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification. The drawings illustrate exemplary embodiments of the disclosure and, together with the description, serve to explain the principles of the disclosure.
In the embodiment, the battery 300 further includes at least one wing-like portion 320 protruding out of the surface of the battery 300. The first battery slot 142 includes at least one first guide rail 146 corresponding to the wing-like portion 320. As shown in
Moreover, referring to
It should be noted that, referring to
In the embodiment, referring to
In the embodiment, referring to
It should be noted that when the stretchable base 140 stretches out of the fixed base 120, the first batter slots 142 are exposed out of the fixed base 120. At this time, the first electromagnets 124 corresponding to the first battery slots 142 may magnetically attract the battery 300 that is not carried by the cleaning robot 200 and retain the battery 300 in the first battery slot 142. Therefore, the battery 300 retained in the first battery slot 142 may still be electrically connected to the first electrode set 126, such that the battery 300 retained in the first battery slots 142 is charged while the cleaning robot 200 carries out the cleaning task. In this way, the idle time that the cleaning robot 200 waits for charging the battery 300 is decreased, so as to improve working efficiency.
An operating method of the cleaning robot system is briefly described below. Referring to
In detail, when the cleaning robot system 10 executes a return procedure, the cleaning robot 200 first approaches the stretchable base 140 stretching out of the fixed base 120 and moves to the first position P1 (as shown in
More specifically, in an embodiment of the disclosure, after the second electromagnets 144 magnetically attract the second magnetic conduction parts 240, the stretchable base 140 is retracted into the internal space 122, and the cleaning robot 200 is synchronously moved to the second position P2, but the disclosure is not limited thereto. In another embodiment, the second electromagnets 144 of the stretchable base 140 may fix the cleaning robot 200 to the stretchable base 140 and guide the cleaning robot 200 to the second position P2. Under the above configuration, the cleaning robot 200 may be positioned by the charging dock 100 and stably moved to the second position P2 without pushing the charging dock 100 away when the cleaning robot 200 executes the return procedure. Therefore, the charging dock 100 of the above embodiment is unnecessary to be fixed to a wall, and may be arbitrarily disposed in the environment, so as to increase configuration selectivity of the cleaning robot system 10. In yet another embodiment, after the cleaning robot 200 is fixed to the stretchable base 140, the cleaning robot 200 may push the stretchable base 140 into the internal space 122 and move to the second position P2.
At this time, the batteries 300 are fixed in the second battery slots 220. The first electrode sets 126 of the fixed base 120 penetrate through a plurality of the trenches 206 of the cleaning robot 200 and are connected to the second electrode sets 326 of the batteries 300 to charge the batteries 300.
Then, the cleaning robot system 10 executes a detaching procedure. First, the first control circuit 500 of the charging dock 100 controls the first electromagnets 124 to magnetically attract or not attract the batteries 300 respectively and selectively. The battery 300 magnetically attracted by the charging dock 100 is adapted to be released from a fixing relationship with the cleaning robot 200 to stay in the charging dock 100 during a process that the cleaning robot 200 moves away from the charging dock 100. The battery 300 that is not magnetically attracted by the charging dock 100 is adapted to stay in the cleaning robot 200, and moves away from the charging dock 100 together with the cleaning robot 200.
Specifically, when the detaching procedure is executed, the stretchable base 140 may be stretched out of the internal space 122 of the fixed base 120, and the cleaning robot 200 moves to the first position P1 from the second position P2. Now, at least one of the batteries 300 is carried by the cleaning robot 200. For example, the cleaning robot 200 may carry only one battery 300 and leave the other batteries 300 in the charging dock 100, though the disclosure is not limited thereto. In other embodiments, the cleaning robot 200 may also carry a plurality of (for example, two) batteries 300, and then move to the first position P1.
It should be noted that in the embodiment, the first control circuit 500 may individually control the currents provided to the first electromagnets 124 to change magnetic forces of the different first electromagnets 124. For example, the first electromagnet 124 corresponding to the battery 300 to be charged may be provided with the current to magnetically attract the first magnetic conduction part 340 corresponding to the battery 300 to be charged. Then, since the first electromagnet 124 magnetically attracts the battery 300 to be charged, when the cleaning robot system 10 executes the detaching procedure, the magnetic attraction between the first electromagnet 124 and the first magnetic conduction part 340 corresponding to the battery 300 to be charged may overcome a resistance between the second fixing member 360 of the battery 300 and the first fixing member 260 of the cleaning robot 200. The above resistance is used for fixing the battery 300 in the second battery slot 220. In other words, the battery 300 to be charged is retained in the first battery slot 142 of the charging dock 100 by the magnetic force of the first electromagnet 124.
Based on the above description, the cleaning robot system 10 of the embodiment may control the first electromagnets 124 to respectively and selectively retain the batteries 300 in the charging dock 100 or detach the batteries 300 from the charging dock 100 together with the cleaning robot 200. In the embodiment, two batteries (i.e. the first battery and the second battery) are taken as an example for description, but the disclosure is not limited thereto. When the cleaning robot 200 carries the two batteries 300, the cleaning robot 200 may carry out a cleaning task requiring a high electrical quantity or an extended working time. When the cleaning robot 200 only carries one of the batteries 300, the other battery 300 retained in the charging dock 100 may be charged. Therefore, when the battery 300 carried by the cleaning robot 200 is inadequate in electrical quantity, the cleaning robot 200 may return to the charging dock 100. The charging dock 100 retains the battery 300 with inadequate electrical quantity in the charging dock 100 through the magnetic force of the first electromagnet 124, and the cleaning robot 200 takes the battery 300 originally retained in the charging dock 100 for charging. In this way, rapid and easy replacement of the battery 300 with sufficient power is achieved, so as to prolong a time of the cleaning task performed by the cleaning robot 200. Since the charging dock 100 may simultaneously charge the battery 300 while the cleaning robot 200 carries out the cleaning task, the idle time that the cleaning robot 200 waits for battery charging after returning to the charging dock 100 is reduced, so as to achieve the expectation that the cleaning robot 200 may work without uninterruptedly, and further improve the working efficiency of the cleaning robot 200.
Control circuits of the cleaning robot system of an embodiment of the disclosure and executed functions of the control circuits in operation are briefly introduced below.
In the embodiment, referring to
In the embodiment, a situation that the program determines it is unnecessary to carry dual batteries 300 is similar to the situation of carrying dual batteries 300, and a difference there between is that in the step S430, the cleaning robot 200 carrying the single battery 300 first executes the cleaning task. Then, in step S432, the cleaning robot 200 carrying the single battery 300 determines whether the electrical quantity is inadequate and it is required to return to the charging dock 100 for charging. For example, the cleaning robot 200 determines whether the electrical quantity of the battery 300 carried by the cleaning robot 200 is lower than the default electrical quantity. If yes, in step S433, the cleaning robot 200 returns to the charging dock 100 and is electrically connected to the charging dock 100 for battery charging. At this time, in step S414, the charging dock 100 determines which battery 300 to be released or to wait for charging, such that the cleaning robot 200 may continually execute the cleaning task. In some embodiments, “release” represents “not magnetically attract”. In other words, when the charging dock 100 determines that the cleaning robot 200 is unnecessary to carry the dual batteries 300, the cleaning robot 200 may return to the charging dock 100 to replace the battery 300 and continually execute the cleaning task, so that the idle time that the cleaning robot 200 waits for charging the battery 300 is reduced, so as to improve the working efficiency.
Moreover, in the embodiment, in step S414, when the charging dock 100 determines which battery 300 to be released, the charging dock 100 may release the battery 300 with higher electrical quantity through the voltage detection and comparison circuit 520 and the electromagnet driving circuit 540 of the first control circuit 500, for example, the battery that is originally magnetically attracted by the charging dock 100 for charging. However, the disclosure is not limited thereto. In other embodiments, the first control circuit 500 may be adjusted to release a fixed one of the batteries 300 in priority according to the user's requirement. In other embodiments, the first control circuit 500 may also sequentially release different batteries 300 in turn, and the released battery 300 is moved away from the charging dock 100 along with the cleaning robot 200.
In step S432, if the cleaning robot 200 determines that it is unnecessary to return to the charging dock 100 for charging, a step S434 is executed. In the step S434, the cleaning robot 200 determines whether the cleaning task is completed. If not, in step S430, the cleaning robot 200 continually executes the cleaning task. If yes, in step S440, the cleaning robot 200 returns to the charging dock 100 for charging.
In summary, the cleaning robot system of the disclosure is designed to carry a plurality of or a part of (for example, one) batteries. As the first electromagnets of the charging dock magnetically attract the corresponding batteries, the cleaning robot may selectively retain a part of the batteries that are not carried by the cleaning robot in the charging dock for charging and carry another part of the batteries to carry out the cleaning task. Based on the above design, when the cleaning robot of the disclosure carries a plurality of batteries, a high power-consuming cleaning task is adapted to be carried out or a working time is adapted to be prolonged. When the cleaning robot carries a part of the batteries, the charging dock may replace the battery of the cleaning robot in a rapid and simple way, so as to prolong the time that the cleaning robot performs the cleaning task. Moreover, in the cleaning robot system of the disclosure, while the cleaning robot carries out the cleaning task, the charging dock may simultaneously charge the battery, so as to reduce an idle time that the cleaning robot returns to the charging dock and waits for battery charging, and achieve uninterrupted working of the cleaning robot to improve the working efficiency of the cleaning robot. Moreover, the cleaning robot of the disclosure may be magnetically attracted by the charging dock for positioning when executing a return procedure, so that the cleaning robot may be stably connected to the charging dock without fixing the charging dock, so as to improve configuration selectivity of the cleaning robot system.
It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed embodiments without departing from the scope or spirit of the disclosure. In view of the foregoing, it is intended that the disclosure covers modifications and variations provided that they fall within the scope of the following claims and their equivalents.
Claims
1. A cleaning robot system, comprising:
- a cleaning robot, carrying a first battery; and
- a charging dock, magnetically attracting a second battery and charging the second battery,
- wherein when the cleaning robot is electrically connected to the charging dock and an electrical quantity of the first battery is lower than a default electrical quantity, the charging dock magnetically attracts the first battery and releases the second battery, and the cleaning robot carries the second battery.
2. The cleaning robot system according to claim 1, wherein each of the first battery and the second battery has a first magnetic conduction part, the charging dock has a fixed base and a stretchable base, the stretchable base is connected to the fixed base in a stretchable manner, the fixed base has a plurality of first electromagnets, the stretchable base has a plurality of first battery slots, the cleaning robot has a main body and a plurality of second battery slots, the second battery slots are configured at one side of the main body, when the cleaning robot is electrically connected to the charging dock and the electrical quantity of the first battery is lower than the default electrical quantity, one of the first electromagnets magnetically attracts the first magnetic conduction part of the first battery and another one of the first electromagnets releases the first magnetic conduction part of the second battery, such that when the cleaning robot moves away from the charging dock, the first battery is configured in one of the first battery slots, and the second battery is configured in one of the second battery slots.
3. The cleaning robot system according to claim 2, wherein the stretchable base further comprises a second electromagnet, the cleaning robot further comprises a second magnetic conduction part, the second magnetic conduction part is disposed on a side surface of the main body, and the second electromagnet is configured to magnetically attract the second magnetic conduction part.
4. The cleaning robot system according to claim 3, wherein the charging dock has a control circuit, the control circuit is electrically connected to the first electromagnets and the second electromagnets, the control circuit is configured to respectively control currents provided to the first electromagnets and the second electromagnets.
5. The cleaning robot system according to claim 2, wherein the cleaning robot further comprises a plurality of first fixing members, the first fixing members are respectively disposed in the second battery slots, and each of the first battery and the second battery comprises a second fixing member, wherein when the first battery and the second battery are respectively configured in the second battery slots, the second fixing members are configured to respectively fix the first fixing members.
6. The cleaning robot system according to claim 2, wherein the fixed base further comprises a plurality of first electrode sets, and each of the first battery and the second battery comprises a second electrode set, and the second electrode sets are configured to respectively correspondingly connected to the first electrode sets.
7. The cleaning robot system according to claim 6, wherein the cleaning robot further comprises a plurality of trenches, the trenches are respectively connected to the second battery slots, and when the cleaning robot is electrically connected to the charging dock, the first electrode sets of the fixed base respectively penetrate through the trenches and are respectively connected to the second electrode sets.
8. The cleaning robot system according to claim 2, wherein the charging dock further comprises a motor, a gear connected to the motor and a gear rack engaged to the gear, the gear is disposed on one of the fixed base and the stretchable base, and the gear rack is disposed on another one of the fixed base and the stretchable base.
9. The cleaning robot system according to claim 2, wherein the first battery or the second battery comprises a wing-like portion, each of the first battery slots comprises a first guide rail corresponding to the wing-like portion, each of the second battery slots comprises a second guide rail corresponding to the wing-like portion, when the first battery or the second battery enters one of the first battery slots, the wing-like portion slides in the first guide rail, and when the first battery or the second battery enters one of the second battery slots, the wing-like portion slides in the second guide rail.
10. The cleaning robot system according to claim 2, wherein an outer surface contour of the first battery or the second battery exposed out of the second battery slots corresponds to a side surface contour of the cleaning robot.
11. An operating method of a cleaning robot system, comprising:
- carrying a first battery by a cleaning robot;
- magnetically attracting a second battery by a charging dock to charge the second battery; and
- when the cleaning robot is electrically connected to the charging dock and an electrical quantity of the first battery is lower than a default electrical quantity, magnetically attracting the first battery and releasing the second battery by the charging dock, so that the cleaning robot carries the second battery.
12. The operating method of a cleaning robot system according to claim 11, further comprising:
- magnetically attracting the cleaning robot by a stretchable base of the charging dock; and
- stretching the stretchable base into an internal space of the charging dock, such that the cleaning robot is electrically connected to the charging dock.
13. The operating method of a cleaning robot system according to claim 11, wherein each of the first battery and the second battery has a first magnetic conduction part, the charging dock comprises a fixed base and a stretchable base, the stretchable base is connected to the fixed base in a stretchable manner, the fixed base has a plurality of first electromagnets, the stretchable base has a plurality of first battery slots, the cleaning robot has a plurality of second battery slots, when the cleaning robot is electrically connected to the charging dock and the electrical quantity of the first battery is lower than the default electrical quantity, one of the first electromagnets magnetically attracts the first magnetic conduction part of the first battery and another one of the first electromagnets releases the first magnetic conduction part of the second battery, such that when the cleaning robot moves away from the charging dock, the first battery is configured in one of the first battery slots, and the second battery is configured in one of the second battery slots.
14. The operating method of a cleaning robot system according to claim 13, further comprising:
- when the cleaning robot has a dual-battery demand, releasing the first magnetic conduction parts by the first electromagnets, and carrying the first battery and the second battery by the cleaning robot.
Type: Application
Filed: Sep 17, 2018
Publication Date: Aug 1, 2019
Applicants: LITE-ON ELECTRONICS (GUANGZHOU) LIMITED (GUANGZHOU), Lite-On Technology Corporation (Taipei)
Inventors: Tien-Sheng Lu (Taipei), Yu-Chung Wu (Taipei)
Application Number: 16/132,490