Self-moving sweeping device

Abstract

A self-moving sweeping device comprises a device body and at least two movement wheels and a direction change wheel located at the bottom of the device body. The direction change wheel includes a magnetic element which is turnable therewith and has a first magnetic pole and a second magnetic pole that are repulsive against each other in magnetism. The device body includes a magnetic induction unit faced the direction change wheel. During movement of the device body the magnetic induction unit detects in normal conditions whether the first magnetic pole has generated a detection signal sent to a behavior control module which determines whether the self-moving sweeping device moves abnormally based on whether the detection signal has been continuously received within a monitor time; if positive, judges the self-moving sweeping device moves normally; otherwise, abnormally.

What is claimed is: 
     
         1 . A self-moving sweeping device, comprising:
 a device body equipped with a dust suction module, a drive module and a behavior control module connected to the dust suction module and the drive module, the behavior control module determining work of the dust suction module and the drive module;   at least two movement wheels located at the bottom of the device body and connected to the drive module and driven by the drive module to generate rotation to drive the device body to move; and   a direction change wheel located at the bottom of the device body with the movement wheels and controlled by the drive module to guide direction change of the device body in movement;   wherein the direction change wheel includes a magnetic element which is turnable with the direction change wheel and includes a first magnetic pole and a second magnetic pole repulsive against each other in magnetism, the device body including a magnetic induction unit faced the direction change wheel to detect whether the first magnetic pole has generated a detection signal sent to the behavior control module during movement of the device body, the behavior control module determining whether the self-moving sweeping device moves abnormally based on whether the detection signal has been continuously received within a monitor time; the self-moving sweeping device being judged in normal movement when the detection signal has been received continuously within the monitor time; otherwise, judged abnormal.   
     
     
         2 . The self-moving sweeping device of  claim 1 , wherein the behavior control module captures the appearing frequency of the detection signal within the monitor time and converts to a frequency signal and judges whether the self-moving sweeping device in abnormal movement based on the frequency signal; and judges the self-moving sweeping device in abnormal movement when the frequency signal changes and decreases gradually. 
     
     
         3 . The self-moving sweeping device of  claim 1 , wherein the direction change wheel includes a first wheel hub and a second wheel hub that are coupled together and jointly define an installation space, the magnetic element being located in the installation space and fixedly mounted onto the first wheel hub. 
     
     
         4 . The self-moving sweeping device of  claim 3 , wherein the first wheel hub includes an installation trough to hold the magnetic element. 
     
     
         5 . The self-moving sweeping device of  claim 4 , wherein the second wheel hub includes a confining rib corresponding to the magnetic element and collaborating with the installation trough to confine the magnetic element. 
     
     
         6 . The self-moving sweeping device of  claim 4 , wherein the magnetic element is located on the direction change wheel perpendicular to the magnetic induction unit. 
     
     
         7 . The self-moving sweeping device of  claim 3 , wherein the direction change wheel includes a wheel shaft interposed between the first wheel hub and the second wheel hub, a wheel hood coupled with the wheel shaft and a transmission shaft coupled with the wheel hood and controlled by the drive module to generate direction turning. 
     
     
         8 . The self-moving sweeping device of  claim 1 , wherein the direction change wheel is located at the bottom of a front side of the device body.