CN104460663A - Method for controlling cleaning robot through smart phone - Google Patents
Method for controlling cleaning robot through smart phone Download PDFInfo
- Publication number
- CN104460663A CN104460663A CN201310436173.3A CN201310436173A CN104460663A CN 104460663 A CN104460663 A CN 104460663A CN 201310436173 A CN201310436173 A CN 201310436173A CN 104460663 A CN104460663 A CN 104460663A
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- Prior art keywords
- sweeping robot
- smart mobile
- mobile phone
- controls
- described step
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000004140 cleaning Methods 0.000 title claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 238000010408 sweeping Methods 0.000 claims description 75
- 238000010926 purge Methods 0.000 claims description 21
- 238000013316 zoning Methods 0.000 claims description 6
- 238000002620 method output Methods 0.000 claims description 5
- 238000005295 random walk Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000010295 mobile communication Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 11
- 238000004891 communication Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0044—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0016—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Computing Systems (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
A method for controlling a cleaning robot through a smart phone comprises the following steps that (100) the cleaning robot collects information of a region to be cleaned to obtain cartographic information of the region to be cleaned, (200) the cleaning robot transmits the cartographic information to the smart phone in a wireless transmission mode, and (300) according to the cartographic information received by the smart phone, a user outputs an instruction to the cleaning robot through the smart phone in a wireless transmission mode to set specific operation programs for the cleaning robot. By means of the method for controlling the cleaning robot through the smart phone, the smart phone sets the specific operation programs of the cleaning robots in the wireless transmission mode by utilizing the mobile communication technology, operation is simple, convenient and rapid, working efficiency is high, and the effects of stability and reliability are achieved.
Description
Technical field
The present invention relates to a kind of method that mobile phone controls Intelligent sweeping machine device people, belong to technical field of household appliance manufacture.
Background technology
Existing sweeping robot conventional control mode probably comprises two kinds, one is controlled it by telepilot input control order, another kind is pre-set control programs as required in the control center that arranges therein, performs required various cleaning works under different control models.Along with the fast development of smart mobile phone, its purposes is more and more extensive, becomes people's belongings, uses the manipulation that smart mobile phone realizes household electrical appliance, can carry out whenever and wherever possible, with its conveniently control mode and gaining universal acceptance.But prior art is only the function of telepilot and smart mobile phone are integrated, realizes it and control or remote control, do not realize the controlling functions of more refinement.
In addition, concrete additional attachments device is all needed to come perform region or the working time of limiting robot in prior art, as US Patent No. 6,965,209 disclose the perform region being carried out limiting robot by virtual wall device transmission light beam, and robot performs go to action after receiving light; And for example Chinese publication CN101482754 discloses and arranges the perform region that magnetic boundary line device carrys out limiting robot on the ground, and the magnetic inductor Received signal strength number in robot performs go to action.But virtual wall device or magnetic boundary line device etc. all bring extra cost and operation complexity, inconvenient user uses.
Summary of the invention
Technical matters to be solved by this invention is for the deficiencies in the prior art, a kind of smart mobile phone is provided to control the method for sweeping robot, utilize mobile communication technology, the setting of smart mobile phone to sweeping robot specified operational procedure is realized by wireless transmission method, easy and simple to handle, quick, work efficiency is high and reliable and stable.
Technical matters to be solved of the present invention is achieved by the following technical solution:
Smart mobile phone controls a method for sweeping robot, comprises the steps:
Step 100: sweeping robot is treated cleaning area and carried out information acquisition, obtains the cartographic information in region to be cleaned;
Step 200: described cartographic information is passed to smart mobile phone by wireless transmission method by sweeping robot;
Step 300: the cartographic information that user receives according to smart mobile phone, by smart mobile phone with wireless transmission method output order to sweeping robot, it is carried out to the setting of specified operational procedure.
Cartographic information in described step 100 is the in-profile line graph in region to be cleaned.
Wireless transmission method in described step 200 comprises: WIFI, GPRS, WLAN, CDMA, HSPDA, LTE, bluetooth or infrared.
Specified operational procedure in described step 300 is: the sweep-out pattern arranging sweeping robot.
Described step 300 comprises: step 310: utilize outline line figure to come zoning.
Described step 310 specifically comprises: described region is set to purging zone and non-purging zone.
Described step 310 comprises further: be set to multiple by described purging zone, and is respectively its name.
After described step 310, also comprise step 320: be respectively the cleaning time that multiple different purging zone predetermined set is different.
Specified operational procedure in described step 300 is:
Step 310 ': utilize outline line figure to come zoning;
Step 320 ': for regional arranges cleaning modes.
Described step 320 ' in cleaning modes be random walk cleaning modes, welt walking cleaning modes or screwdriven fixed point cleaning modes.
Specified operational procedure in described step 300 is:
Step 310 ": increase in described cartographic information and virtual boundary line is set,
Step 320 ": limit the region job of sweeping robot in virtual boundary line.
In sum, the invention provides a kind of method that smart mobile phone controls sweeping robot, utilize mobile communication technology, the setting of smart mobile phone to sweeping robot specified operational procedure is realized by wireless transmission method, specifically as cleaning modes or the cleaning set of time of purging zone path planning, purging zone, or purging zone restrictions etc., easy and simple to handle, quick, work efficiency is high and reliable and stable.
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in detail.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that smart mobile phone of the present invention controls sweeping robot;
Fig. 2 is the operating type schematic diagram of the embodiment of the present invention one sweeping robot;
Fig. 3 is the operating type schematic diagram of the embodiment of the present invention two sweeping robot;
Fig. 4 is the operating type schematic diagram of the embodiment of the present invention three sweeping robot;
Fig. 5 is the operating type schematic diagram of the embodiment of the present invention four sweeping robot.
Embodiment
Fig. 1 is the schematic diagram that smart mobile phone of the present invention controls sweeping robot.As shown in Figure 1, the invention provides a kind of method that smart mobile phone controls sweeping robot, the smart mobile phone 100 shown in Fig. 1, by wireless transmission method 200 Long-distance Control sweeping robot 300.Wireless transmission method 200 wherein comprises: WIFI, GPRS, WLAN, CDMA, HSPDA, LTE, bluetooth or infrared etc.
Sweeping robot 300 mainly comprises robot control module, wireless communication module, sensor assembly, power module, driver module and cleaning module.
Robot control module comprises the control chip of robot manufacturing cell.
Wireless communication module is used for externally sending data and externally receiving data.
Sensor assembly comprises the crash sensor having clear for sensing sweeping robot working direction; For sensing the imageing sensor of sweeping robot environment to be cleaned, this imageing sensor is CCD or CMOS.
Power module provides the energy for sweeping robot.
Driver module comprises the driving wheel and drive motor that lay respectively at the sweeping robot left and right sides, makes drive motor work by the Power supply of power module, thus drives driving wheel to rotate, and realizes the movement of sweeping robot.
Cleaning module is the module for clean surface to be cleaned, and it is vacuum cleaner unit, can be also round brush unit, may also be the combination of vacuum cleaner unit and round brush unit.
When sweeping robot is started working, by the surrounding enviroment of imageing sensor perception robot, and treat cleaning area by sweeping robot and carry out information acquisition, thus obtain the cartographic information in region to be cleaned.Concrete, the scanning rangefinder by sweeping robot top measures the range information of surrounding enviroment barrier, then sets up the coordinate diagram of surrounding enviroment according to the range information obtained.Cartographic information is passed to smart mobile phone by wireless communication module with wireless transmission method by sweeping robot.The cartographic information that user receives according to smart mobile phone, by wireless transmission method output order to sweeping robot, carries out the setting of specified operational procedure to it.Specified operational procedure such as embodiment one is set to: the sweep-out pattern of remote control robot.
The method that concrete relevant smart mobile phone controls sweeping robot comprises the steps:
Step 100: sweeping robot is treated cleaning area and carried out information acquisition, obtains the cartographic information in region to be cleaned;
Step 200: cartographic information is passed to smart mobile phone by wireless transmission method by sweeping robot;
Step 300: the cartographic information that user receives according to smart mobile phone, by smart mobile phone with wireless transmission method output order to sweeping robot, it is carried out to the setting of specified operational procedure.
Cartographic information is in step 100 the in-profile line graph in region to be cleaned.Wireless transmission method in step 200 can be WIFI, GPRS, WLAN, CDMA, HSPDA, LTE, bluetooth or infrared in any one.
Specified operational procedure in step 300 is: the sweep-out pattern arranging sweeping robot.Described step 300 comprises step 310, and step 310 utilizes outline line figure to come zoning.Region is set to some purging zones, or region is set to purging zone and non-purging zone.
Described step 300 also comprises step 320, and step 320 is specially: be the cleaning time that different purging zone predetermined set is different.This setting different cleaning time can depend on the clean complexity of each purging zone that user differentiates voluntarily or the dirty degree of regional or the size etc. of regional.
For ease of some purging zones that district office divides, smart mobile phone can be named region according to sweeping robot feedack and map.
Introduce specific embodiment below.
Embodiment one
Fig. 2 is the operating type schematic diagram of the embodiment of the present invention one sweeping robot.As shown in Figure 2, in embodiment one, the method that smart mobile phone provided by the present invention controls sweeping robot comprises the steps: step 100: sweeping robot 300 is treated cleaning area A and carried out information acquisition, obtain the cartographic information of region A to be cleaned, described cartographic information is the in-profile line graph of region A to be cleaned, such as: region A to be cleaned is parlor, which includes sofa 400, cupboard 500 and TV 600.The scanning rangefinder that sweeping robot 300 can be arranged by self, obtains parlor overall profile and is placed on the outline line figure of various objects of inside, parlor.Step 200: described cartographic information is passed to smart mobile phone by wireless transmission method by sweeping robot.Step 300: the cartographic information that user receives according to smart mobile phone, by smart mobile phone with wireless transmission method output order to sweeping robot, it is carried out to the setting of specified operational procedure, the sweep-out pattern of sweeping robot in region to be cleaned is namely set, namely according to the X sweep-out pattern shown in Fig. 2, cleaning work is carried out to parlor.
Embodiment two
Fig. 3 is the operating type schematic diagram of the embodiment of the present invention two sweeping robot.As shown in Figure 3, in embodiment two, the step 100 in the method for smart mobile phone control sweeping robot provided by the present invention and step 200 are identical with embodiment one.As shown in Figure 3, such as: region B to be cleaned is still parlor, which includes sofa 400.The scanning rangefinder that sweeping robot 300 can be arranged by self equally, obtains parlor overall profile and is placed on the outline line figure of various objects of inside, parlor.Difference is to include step 310 in step 300: utilize outline line figure to come zoning, and a part of region of placing sofa 400 is set to purging zone B1, and the region of relatively not placing any furniture is set to non-purging zone B2.Certainly, it is simple example in Fig. 3, the situation in actual region to be cleaned comparatively speaking can more complicated, now can described purging zone be set to multiple, and be respectively its name, clean-up performance required for regional or size etc. can also be respectively multiple different purging zone predetermined set different cleaning time.
Embodiment three
Fig. 4 is the operating type schematic diagram of the embodiment of the present invention three sweeping robot.As shown in Figure 4, similarly, in embodiment three, the step 100 in the method for smart mobile phone control sweeping robot provided by the present invention and step 200 are identical with embodiment one, and difference is step 300.Region C to be cleaned in embodiment three is also parlor, and the method that the present embodiment provides comprises step 310 ': utilize outline line figure to be divided into C1 and C2 region; Step 320 ': for regional C1 and C2 arranges cleaning modes, cleaning modes wherein can be random walk cleaning modes, welt walking cleaning modes, screwdriven fixed point cleaning modes or along long limit arc type cleaning modes etc.As shown in Figure 4, any furniture is not placed in the C1 of region, therefore can adopt along long limit bow type cleaning modes, the movement locus Y of sweeping robot 300 as shown in Figure 4, and in the C2 of region, welt walking mode can be utilized to clean sofa 400 around, and the movement locus Z of sweeping robot 300 as shown in Figure 4.
Embodiment four
Fig. 5 is the operating type schematic diagram of the embodiment of the present invention four sweeping robot.As shown in Figure 5, in embodiment four, step 100 in the method for smart mobile phone control sweeping robot provided by the present invention and step 200 are also identical with embodiment one, and difference is to include step 310 in step 300 ": increase in described cartographic information and virtual boundary line is set; Step 320 ": limit the region job of sweeping robot in virtual boundary line.Concrete after obtaining cartographic information by step 100 and step 200, in the region D to be cleaned of user in smart mobile phone, virtual boundary M is set as shown in Figure 5, and limits sweeping robot 300 and can only be positioned at the D1 region operation within virtual boundary M.After sweeping robot receives steering order, convert boundary M virtual in cartographic information to straight-line segment coordinate, during work, do not cross the region D1 that this straight-line segment coordinate limits.
Certainly, be just illustrated a certain set-up mode in four above-mentioned embodiments, in the application of reality, various set-up mode can realize the intersection of function each other completely or overlap, and particular content does not repeat them here.
In sum, the invention provides a kind of method that smart mobile phone controls sweeping robot, utilize mobile communication technology, realize the setting of smart mobile phone to sweeping robot specified operational procedure by wireless transmission method, easy and simple to handle, quick, work efficiency is high and reliable and stable.
Claims (11)
1. smart mobile phone controls a method for sweeping robot, and it is characterized in that, the method comprises the steps:
Step 100: sweeping robot is treated cleaning area and carried out information acquisition, obtains the cartographic information in region to be cleaned;
Step 200: described cartographic information is passed to smart mobile phone by wireless transmission method by sweeping robot;
Step 300: the cartographic information that user receives according to smart mobile phone, by smart mobile phone with wireless transmission method output order to sweeping robot, it is carried out to the setting of specified operational procedure.
2. smart mobile phone as claimed in claim 1 controls the method for sweeping robot, and it is characterized in that, the cartographic information in described step 100 is the in-profile line graph in region to be cleaned.
3. smart mobile phone as claimed in claim 1 controls the method for sweeping robot, and it is characterized in that, the wireless transmission method in described step 200 comprises: WIFI, GPRS, WLAN, CDMA, HSPDA, LTE, bluetooth or infrared.
4. smart mobile phone as claimed in claim 1 controls the method for sweeping robot, and it is characterized in that, the specified operational procedure in described step 300 is: the sweep-out pattern arranging sweeping robot.
5. smart mobile phone as claimed in claim 2 controls the method for sweeping robot, and it is characterized in that, described step 300 comprises: step 310: utilize outline line figure to come zoning.
6. smart mobile phone as claimed in claim 5 controls the method for sweeping robot, and it is characterized in that, described step 310 specifically comprises: described region is set to purging zone and non-purging zone.
7. smart mobile phone as claimed in claim 6 controls the method for sweeping robot, and it is characterized in that, described step 310 comprises further: be set to multiple by described purging zone, and is respectively its name.
8. smart mobile phone as claimed in claim 7 controls the method for sweeping robot, it is characterized in that, after described step 310, also comprises step 320: be respectively the cleaning time that multiple different purging zone predetermined set is different.
9. smart mobile phone as claimed in claim 2 controls the method for sweeping robot, and it is characterized in that, the specified operational procedure in described step 300 is:
Step 310 ': utilize outline line figure to come zoning;
Step 320 ': for regional arranges cleaning modes.
10. smart mobile phone as claimed in claim 9 controls the method for sweeping robot, it is characterized in that, described step 320 ' in cleaning modes be random walk cleaning modes, welt walking cleaning modes or screwdriven fixed point cleaning modes.
11. smart mobile phones as claimed in claim 1 control the method for sweeping robot, and it is characterized in that, the specified operational procedure in described step 300 is:
Step 310 ": increase in described cartographic information and virtual boundary line is set,
Step 320 ": limit the region job of sweeping robot in virtual boundary line.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310436173.3A CN104460663A (en) | 2013-09-23 | 2013-09-23 | Method for controlling cleaning robot through smart phone |
| PCT/CN2014/086924 WO2015039621A1 (en) | 2013-09-23 | 2014-09-19 | Method for controlling cleaning robot by smart phone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310436173.3A CN104460663A (en) | 2013-09-23 | 2013-09-23 | Method for controlling cleaning robot through smart phone |
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| CN104460663A true CN104460663A (en) | 2015-03-25 |
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| CN201310436173.3A Pending CN104460663A (en) | 2013-09-23 | 2013-09-23 | Method for controlling cleaning robot through smart phone |
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