CN105068540A - Indoor cleaning method and apparatus of intelligent household robot - Google Patents
Indoor cleaning method and apparatus of intelligent household robot Download PDFInfo
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- CN105068540A CN105068540A CN201510528270.4A CN201510528270A CN105068540A CN 105068540 A CN105068540 A CN 105068540A CN 201510528270 A CN201510528270 A CN 201510528270A CN 105068540 A CN105068540 A CN 105068540A
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Abstract
The invention, which relates to the technical field of the intelligent household, provides an indoor cleaning method and apparatus of an intelligent household robot. At least three ZigBee anchor nodes are arranged in a room; and one or more terminal devices supporting a ZigBee protocol are arranged. The method comprises: one terminal device, together with the at least three ZigBee anchor nodes, completes indoor positioning based on the ZigBee protocol; a moving track of the user carrying the terminal device indoors is recorded; if multiple users exit, moving tracks of users carrying terminal devices are recorded; the one or more user moving tracks are transmitted to the intelligent household robot and the intelligent household robot analyzes a cleaning path based on the received moving tracks. According to the invention, the terminal devices supporting the ZigBee protocols are used for recording moving tracks of users and the moving tracks are fed back to the intelligent household indoor cleaning robot, so that a targeted cleaning path can be provided for the indoor cleaning robot.
Description
[technical field]
The present invention relates to Smart Home technical field, particularly relate to cleaning method and device in a kind of Smart Home robot chamber.
[background technology]
Current Smart Home product, Intelligent hardware product is flourish, and intelligent robot also enters into rapidly the life of people.What use in order family has intelligent sweeping, and intelligent sound accompanies robot.But existing intelligent sweeping does not but reach so-called intelligence, dodge when can run into restraining mass at most exactly, and have cleaning planned in advance strategy, the spiral path such as adopting ecto-entad to go forward one by one is as cleaning strategy.
The problem that prior art exists general character is, can't distinguish indoor situations, but all does omnibearing cleaning after each startup, and this not only reduces cleaning speed, also brings the waste in resource.
Given this, the defect overcome existing for the prior art is the art problem demanding prompt solution.
[summary of the invention]
The technical problem to be solved in the present invention is to provide a kind of indoor cleaning method and device of intelligent and high-efficiency more, thus it is step-by-step according to prior set path strategy to overcome intelligence in prior art, and adopts the mode having dodged cleaning.
The technical matters that the present invention will solve further is to provide cleaning method and device in a kind of Smart Home robot chamber.
The present invention adopts following technical scheme:
First aspect, embodiments provides cleaning method in a kind of Smart Home robot chamber, and indoor comprise at least three ZigBee anchor nodes, comprises the terminal device that one or more supports Zigbee protocol, concrete:
Described terminal device completes indoor positioning by Zigbee protocol and described at least three ZigBee anchor nodes; Recording user carries the motion track of described terminal device in indoor; If there is multiple user, then record the motion track of the user in carried terminal equipment situation; The motion track of one or more user described is transferred in Smart Home robot, and described Smart Home robot analyzes cleaning path according to receiving motion track.
Preferably, described terminal device completes indoor positioning by Zigbee protocol and described at least three ZigBee anchor nodes, specifically comprises
Described terminal device sends localizer beacon signal with specified power to whole ZigBee wireless sensor network; Each anchor node calculates the performance number of localizer beacon signal after receiving described localizer beacon signal respectively, the performance number calculated and corresponding anchor node network ID is packaged into locator data bag, sends to described terminal device; Described terminal device calculates the distance between described node to be measured and each anchor node according to the performance number in locator data bag.
Preferably, described recording user carries the motion track of described terminal device in indoor, specifically comprise:
Described terminal device periodically sends localizer beacon signal with specified power to whole ZigBee wireless sensor network; Each anchor node calculates the performance number of localizer beacon signal after receiving described localizer beacon signal respectively, the performance number calculated and corresponding anchor node network ID is packaged into locator data bag, sends to described terminal device; Described terminal device calculates the distance between described node to be measured and each anchor node according to the performance number in locator data bag; According to the described distance calculated in cycle, be recorded as the motion track of user.
Preferably, described Smart Home robot is made up of clearing apparatus and drive unit, and described drive unit is specially described first terminal equipment, then the motion track of one or more user described is transferred in Smart Home robot, specifically comprises:
First terminal equipment is after being installed to described drive unit, and described first terminal equipment sends motion track request message to other each terminal devices indoor; Described first terminal equipment receives the message of carrying each self-recording motion track that other each terminal devices return.
Preferably, described Smart Home robot analyzes cleaning path according to receiving motion track, specifically comprises:
The mode of described first terminal equipment by merging, is integrated into a complete cleaning path by the motion track from other each terminal devices received.
The second aspect embodiment of the present invention additionally provides purging system in a kind of Smart Home robot chamber, and indoor comprise at least three ZigBee anchor nodes, comprises the terminal device that one or more supports Zigbee protocol, concrete:
Described terminal device completes indoor positioning by Zigbee protocol and described at least three ZigBee anchor nodes; Described terminal device is when being carried by user, and recording user is at the motion track of indoor; If there is multiple user, then the terminal device entrained by everyone, records respective motion track; The motion track of one or more user described is transferred in Smart Home robot, and described Smart Home robot analyzes cleaning path according to receiving motion track.
Preferably, described terminal device completes indoor positioning by Zigbee protocol and described at least three ZigBee anchor nodes, specifically comprises
Described terminal device sends localizer beacon signal with specified power to whole ZigBee wireless sensor network; Each anchor node calculates the performance number of localizer beacon signal after receiving described localizer beacon signal respectively, the performance number calculated and corresponding anchor node network ID is packaged into locator data bag, sends to described terminal device; Described terminal device calculates the distance between described node to be measured and each anchor node according to the performance number in locator data bag.
Preferably, described recording user carries the motion track of described terminal device in indoor, specifically comprise:
Described terminal device periodically sends localizer beacon signal with specified power to whole ZigBee wireless sensor network; Each anchor node calculates the performance number of localizer beacon signal after receiving described localizer beacon signal respectively, the performance number calculated and corresponding anchor node network ID is packaged into locator data bag, sends to described terminal device; Described terminal device calculates the distance between described node to be measured and each anchor node according to the performance number in locator data bag; According to the described distance calculated in cycle, be recorded as the motion track of user.
Preferably, described Smart Home robot is made up of clearing apparatus and drive unit, and described drive unit is specially described first terminal equipment, then the motion track of one or more user described is transferred in Smart Home robot, specifically comprises:
First terminal equipment is after being installed to described drive unit, and described first terminal equipment sends motion track request message to other each terminal devices indoor; Described first terminal equipment receives the message of carrying each self-recording motion track that other each terminal devices return.
Preferably, described Smart Home robot analyzes cleaning path according to receiving motion track, specifically comprises:
The mode of described first terminal equipment by merging, is integrated into a complete cleaning path by the motion track from other each terminal devices received.
The third aspect, the embodiment of the present invention additionally provides a kind of Smart Home indoor floor-sweeping machine device people device, comprises clearing apparatus and at least one drive unit, concrete:
Described drive unit is portable terminal device, for completing indoor positioning by Zigbee protocol and at least three indoor ZigBee anchor nodes; Described drive unit, also for when being carried by user, recording user is at the motion track of indoor; If there is multiple drive unit, then the drive unit entrained by everyone, records respective motion track; Described drive unit for being arranged on described clearing apparatus, and analyzes cleaning path according to self motion track and/or the motion track that receives.
Preferably, described drive unit also comprises memory storage, concrete:
Described memory storage be used for locker room inner structure figure, wherein, described doors structure figure be inputted by user or by described Smart Home indoor floor-sweeping machine device people device in cleaning process collection position information generate.
Preferably, described clearing apparatus specifically comprises infrared sensor and motor power device, concrete:
Described infrared sensor is used for sensing to be needed to dodge object, and sense data is sent to described drive unit, so that described drive unit calculates also decision-making go out avoidance strategy; Control motor power device and complete corresponding dodging.
Preferably, described drive unit is specially the portable equipment of smart mobile phone, intelligent watch, movement spire lamella or other support Zigbee protocols.
Compared with prior art, beneficial effect of the present invention is: the function that present invention utilizes the terminal device records user motion track supporting Zigbee protocol, and this motion track is fed back to Smart Home indoor floor-sweeping machine device people, thus provide and clean path targetedly to described indoor floor-sweeping machine device people.For those long-time not the region that covers by user's motion track, cleaning can have been gone according to the cycle of setting, thus efficient and energy-conservation in ensure that cleaning process at ordinary times.
[accompanying drawing explanation]
Fig. 1 is the schematic flow sheet of cleaning method in a kind of Smart Home robot chamber of providing of the embodiment of the present invention;
Fig. 2 is the schematic flow sheet of cleaning method in a kind of Smart Home robot chamber of providing of the embodiment of the present invention;
Fig. 3 is the schematic flow sheet of cleaning method in a kind of Smart Home robot chamber of providing of the embodiment of the present invention;
Fig. 4 is purging system configuration diagram in a kind of Smart Home robot chamber of providing of the embodiment of the present invention;
Fig. 5 is purging system configuration diagram in a kind of Smart Home robot chamber of providing of the embodiment of the present invention;
Fig. 6 is the structural representation of clearing apparatus in a kind of Smart Home robot chamber of providing of the embodiment of the present invention;
Fig. 7 is the structural representation of clearing apparatus in a kind of Smart Home robot chamber of providing of the embodiment of the present invention;
Fig. 8 is the structural representation of clearing apparatus in a kind of Smart Home robot chamber of providing of the embodiment of the present invention.
[embodiment]
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.
embodiment 1:
The embodiment of the present invention 1 provides cleaning method in a kind of Smart Home robot chamber, and indoor comprise at least three ZigBee anchor nodes, comprises the terminal device that one or more supports Zigbee protocol, concrete:
In step 201, described terminal device completes indoor positioning by Zigbee protocol and described at least three ZigBee anchor nodes.
Wherein, described ZigBee anchor node can be the socket supporting ZigBee communication agreement, also can be the air-conditioning supporting ZigBee communication agreement, can also be the various household electrical appliance supporting ZigBee communication agreement, all can as the ZigBee anchor node mentioned in the embodiment of the present invention.
In step 202., recording user carries the motion track of described terminal device in indoor.
Wherein, can be described terminal device self for completing the equipment of described writing function, also can be completed by the node in ZigBee gateway or ZigBee networking.
In step 203, if there is multiple user, then record the motion track of the user in carried terminal equipment situation.
In step 204, the motion track of one or more user described is transferred in Smart Home robot, and described Smart Home robot analyzes cleaning path according to receiving motion track.
Wherein, described transmission action has different implications in different application examples, concrete:
Example one, terminal device exists as the control core of Smart Home robot device, then transmission action is now embodied in the foundation of the control link of described terminal device and Smart Home robot;
Example two, terminal device is as the component units of purging system in Smart Home robot chamber, then transmission action is now embodied in motion track is sent to Smart Home robot by described terminal device control core with the form of packet.
Present invention utilizes the function of terminal device records user motion track supporting Zigbee protocol, and this motion track is fed back to Smart Home indoor floor-sweeping machine device people, thus provide to described indoor floor-sweeping machine device people to clean path targetedly.For those long-time not the region that covers by user's motion track, cleaning can have been gone according to the cycle of setting, thus efficient and energy-conservation in ensure that cleaning process at ordinary times.
In the scope of protection of the present invention, described terminal device can be independent equipment, such as the portable equipment of smart mobile phone, intelligent watch, movement spire lamella or other support Zigbee protocols; These equipment preferably can the motion track of recording user, and sends to Smart Home robot (as shown in Figure 6).Described terminal device can be embed work in combination mode to work together with described Smart Home robot, the shell of Smart Home robot is middle is as shown in Figure 7 provided with pickup groove, can be used for the terminal device installing described support ZigBee, thus directly collected by described terminal device and motion track is provided, so that described Smart Home robot completes the cleaning works on corresponding motion track, wherein, connection can be set up by cable network or wireless network between described terminal device and described Smart Home robot.
In conjunction with the embodiment of the present invention, there is a kind of preferred implementation, wherein, system architecture as shown in Figure 4 and Figure 5, described terminal device completes the implementation of indoor positioning by Zigbee protocol and described at least three ZigBee anchor nodes (being called for short anchor node below), as shown in Figure 2, specifically comprise the following steps:
In step 2011, described terminal device sends localizer beacon signal with specified power to whole ZigBee wireless sensor network.
In step 2012, each anchor node calculates the performance number of localizer beacon signal after receiving described localizer beacon signal respectively, the performance number calculated and corresponding anchor node network ID is packaged into locator data bag, sends to described terminal device.
In step 2013, described terminal device calculates the distance between described node to be measured and each anchor node according to the performance number in locator data bag.
Realize in environment concrete, the number of described anchor node may be upper ten (following example is for 16 anchor nodes), and now, the embodiment of the present invention additionally provides a kind of method strengthening accuracy of judgement degree.Concrete, when having a pedestrian between two radio frequencies, Received signal strength will reduce 30dBm.In order to compensate this species diversity, and for the consideration to positioning result accuracy, engine of positioning is by according to the RSSI value from nearly 16 radio frequencies, carry out the location Calculation of being correlated with (such as: the RSSI average asking 16 radio frequencies, or average etc. after giving different weight, and in the hope of average as position reference value).
In conjunction with the embodiment of the present invention, there is a kind of preferred implementation, wherein, described recording user carries the implementation of the motion track of described terminal device in indoor, as shown in Figure 3, specifically comprises following step:
In step 2021, described terminal device periodically sends localizer beacon signal with specified power to whole ZigBee wireless sensor network.
In step 2022, each anchor node calculates the performance number of localizer beacon signal after receiving described localizer beacon signal respectively, the performance number calculated and corresponding anchor node network ID is packaged into locator data bag, sends to described terminal device.
In step 2023, described terminal device calculates the distance between described node to be measured and each anchor node according to the performance number in locator data bag.
In step 2024, according to the described distance calculated in cycle, be recorded as the motion track of user.
In conjunction with the embodiment of the present invention, there is a kind of preferred implementation, wherein, described Smart Home robot is made up of clearing apparatus and drive unit, described drive unit is specially first terminal equipment, then the motion track of one or more user described is transferred in Smart Home robot, specifically comprises:
First terminal equipment is after being installed to described drive unit, and described first terminal equipment sends motion track request message to other each terminal devices indoor; Described first terminal equipment receives the message of carrying each self-recording motion track that other each terminal devices return.
In conjunction with the embodiment of the present invention, there is a kind of preferred implementation, wherein, described Smart Home robot analyzes cleaning path according to receiving motion track, specifically comprises:
The mode of described first terminal equipment by merging, is integrated into a complete cleaning path by the motion track from other each terminal devices received.
Embodiment two
The embodiment of the present invention additionally provides purging system in a kind of Smart Home robot chamber, and as shown in Figures 4 and 5, indoor comprise at least three ZigBee anchor nodes, comprises the terminal device that one or more supports Zigbee protocol, concrete:
Described terminal device completes indoor positioning by Zigbee protocol and described at least three ZigBee anchor nodes; Described terminal device is when being carried by user, and recording user is at the motion track of indoor; If there is multiple user, then the terminal device entrained by everyone, records respective motion track; The motion track of one or more user described is transferred in Smart Home robot, and described Smart Home robot analyzes cleaning path according to receiving motion track.
In conjunction with the embodiment of the present invention, there is a kind of preferred implementation, wherein, described terminal device completes indoor positioning by Zigbee protocol and described at least three ZigBee anchor nodes, specifically comprises
Described terminal device sends localizer beacon signal with specified power to whole ZigBee wireless sensor network;
Each anchor node calculates the performance number of localizer beacon signal after receiving described localizer beacon signal respectively, the performance number calculated and corresponding anchor node network ID is packaged into locator data bag, sends to described terminal device;
Described terminal device calculates the distance between described node to be measured and each anchor node according to the performance number in locator data bag.
In conjunction with the embodiment of the present invention, there is a kind of preferred implementation, wherein, described recording user carries the motion track of described terminal device in indoor, specifically comprise:
Described terminal device periodically sends localizer beacon signal with specified power to whole ZigBee wireless sensor network;
Each anchor node calculates the performance number of localizer beacon signal after receiving described localizer beacon signal respectively, the performance number calculated and corresponding anchor node network ID is packaged into locator data bag, sends to described terminal device;
Described terminal device calculates the distance between described node to be measured and each anchor node according to the performance number in locator data bag;
According to the described distance calculated in cycle, be recorded as the motion track of user.
In conjunction with the embodiment of the present invention, there is a kind of preferred implementation, wherein, described Smart Home robot is made up of clearing apparatus and drive unit, described drive unit is specially described first terminal equipment, then the motion track of one or more user described is transferred in Smart Home robot, specifically comprises:
First terminal equipment is after being installed to described drive unit, and described first terminal equipment sends motion track request message to other each terminal devices indoor;
Described first terminal equipment receives the message of carrying each self-recording motion track that other each terminal devices return.
In conjunction with the embodiment of the present invention, there is a kind of preferred implementation, wherein, described Smart Home robot analyzes cleaning path according to receiving motion track, specifically comprises:
The mode of described first terminal equipment by merging, is integrated into a complete cleaning path by the motion track from other each terminal devices received.
Embodiment three
The embodiment of the present invention additionally provides a kind of Smart Home indoor floor-sweeping machine device people device, comprises clearing apparatus and at least one drive unit as shown in Figure 6 and Figure 8, concrete:
Described drive unit is portable terminal device, for completing indoor positioning by Zigbee protocol and at least three indoor ZigBee anchor nodes;
Described drive unit, also for when being carried by user, recording user is at the motion track of indoor;
If there is multiple drive unit, then the drive unit entrained by everyone, records respective motion track;
Described drive unit for being arranged on described clearing apparatus, and analyzes cleaning path according to self motion track and/or the motion track that receives.
In conjunction with the embodiment of the present invention, there is a kind of preferred implementation, wherein, described drive unit also comprises memory storage, concrete:
Described memory storage be used for locker room inner structure figure (as shown in Figure 5), wherein, described doors structure figure be inputted by user or by described Smart Home indoor floor-sweeping machine device people device in cleaning process collection position information generate.Wherein, the most plain mode of user's input is exactly obtain the layout structure figure on network.
In conjunction with the embodiment of the present invention, there is a kind of preferred implementation, wherein, described clearing apparatus specifically comprises infrared sensor and motor power device (not shown), as shown in Figure 8, concrete:
Described infrared sensor is used for sensing to be needed to dodge object, and sense data is sent to described drive unit, so that described drive unit calculates also decision-making go out avoidance strategy; Control motor power device and complete corresponding dodging.
In conjunction with the embodiment of the present invention, there is a kind of preferred implementation, wherein, described drive unit is specially the portable equipment of smart mobile phone, intelligent watch, movement spire lamella or other support Zigbee protocols.
What deserves to be explained is, the content such as information interaction, implementation between said apparatus and intrasystem module, unit, due to disposal route embodiment of the present invention based on same design, particular content can see in the inventive method embodiment describe, repeat no more herein.
Embodiment four
The present embodiment for based on the method basis described in the embodiment of the present invention one, several application examples under concrete scene.Specifically comprise:
Scene one:
User A is after going back home, its smart mobile phone is by ZigBee networking, locate and record self motion track, when it prepares to exit house and starts the Smart Home robot designed by the embodiment of the present invention, via the APP in smart mobile phone, just now the user's motion track recorded is imported in Smart Home robot, now, Smart Home robot then can analyze the movement locus of user A, and design sweep-out pattern (specifically can use critical path method (CPM), not repeat one by one at this).
Scene two:
User A and user B had at home and walked about, and wished to start Smart Home robot cleaning family environment, and now, user A and user B is the motion track record completed based on intelligent watch and Intelligent bracelet.When starting Smart Home robot, it can travel through the terminal device registry of self, and confirm whether surrounding enviroment exist the terminal device that terminal device registry is registered, then motion track request message is sent if find, and according to the motion track that the intelligent watch of user A and the Intelligent bracelet of user B return, by (duplicate paths gets one) after merge way pre-service, design sweep-out pattern (specifically critical path method (CPM) can be used, not repeat one by one at this).
Scene three:
User A is after going back home, its smart mobile phone is by ZigBee networking, locate and record self motion track, when it wants to start the Smart Home robot designed by the embodiment of the present invention, smart mobile phone is directly placed in the pickup groove of Smart Home robot as shown in Figure 6 by user A, via the APP in smart mobile phone, design sweep-out pattern according to the user's motion track just now recorded and (specifically can use critical path method (CPM), do not repeat one by one at this), and utilize infrared sensor dodge mechanism, CD-ROM drive motor propulsion system complete the ergodic process in cleaning path.
Scene four:
User A is after going back home, its Intelligent bracelet is by ZigBee networking, the motion track of described Intelligent bracelet is also recorded in location by ZigBee gateway, when user starts the Smart Home robot designed by the embodiment of the present invention, described Smart Home robot sends motion track request to ZigBee gateway, and after receiving the message of carrying motion track, design sweep-out pattern according to user's motion track and (specifically can use critical path method (CPM), do not repeat one by one at this), and utilize infrared sensor dodge mechanism, CD-ROM drive motor propulsion system complete the ergodic process in cleaning path.
Based on the cognition of those skilled in the art, by the present embodiment and each concrete scene, through reasonably deducing, all belong to protection scope of the present invention without the need to cleaning method in the Smart Home robot chamber that visualizes in creativeness work situation and device.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of embodiment is that the hardware that can carry out instruction relevant by program has come, this program can be stored in a computer-readable recording medium, storage medium can comprise: ROM (read-only memory) (ROM, ReadOnlyMemory), random access memory (RAM, RandomAccessMemory), disk or CD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a cleaning method in Smart Home robot chamber, indoor comprise at least three ZigBee anchor nodes, it is characterized in that, comprise the terminal device that one or more supports Zigbee protocol, concrete:
Described terminal device completes indoor positioning by Zigbee protocol and described at least three ZigBee anchor nodes;
Recording user carries the motion track of described terminal device in indoor;
If there is multiple user, then record the motion track of the user in carried terminal equipment situation;
The motion track of one or more user described is transferred in Smart Home robot, and described Smart Home robot analyzes cleaning path according to receiving motion track.
2. cleaning method in Smart Home robot chamber according to claim 1, is characterized in that, described terminal device completes indoor positioning by Zigbee protocol and described at least three ZigBee anchor nodes, specifically comprises
Described terminal device sends localizer beacon signal with specified power to whole ZigBee wireless sensor network;
Each anchor node calculates the performance number of localizer beacon signal after receiving described localizer beacon signal respectively, the performance number calculated and corresponding anchor node network ID is packaged into locator data bag, sends to described terminal device;
Described terminal device calculates the distance between described node to be measured and each anchor node according to the performance number in locator data bag.
3. cleaning method in Smart Home robot chamber according to claim 1, is characterized in that, described recording user carries the motion track of described terminal device in indoor, specifically comprise:
Described terminal device periodically sends localizer beacon signal with specified power to whole ZigBee wireless sensor network;
Each anchor node calculates the performance number of localizer beacon signal after receiving described localizer beacon signal respectively, the performance number calculated and corresponding anchor node network ID is packaged into locator data bag, sends to described terminal device;
Described terminal device calculates the distance between described node to be measured and each anchor node according to the performance number in locator data bag;
According to the described distance calculated in cycle, be recorded as the motion track of user.
4. cleaning method in Smart Home robot chamber according to claim 1, it is characterized in that, described Smart Home robot is made up of clearing apparatus and drive unit, described drive unit is specially first terminal equipment, then the motion track of one or more user described is transferred in Smart Home robot, specifically comprises:
First terminal equipment is after being installed to described drive unit, and described first terminal equipment sends motion track request message to other each terminal devices indoor;
Described first terminal equipment receives the message of carrying each self-recording motion track that other each terminal devices return.
5. cleaning method in Smart Home robot chamber according to claim 4, is characterized in that, described Smart Home robot analyzes cleaning path according to receiving motion track, specifically comprises:
The mode of described first terminal equipment by merging, is integrated into a complete cleaning path by the motion track from other each terminal devices received.
6. a Smart Home indoor floor-sweeping machine device people device, is characterized in that, comprises clearing apparatus and at least one drive unit, concrete:
Described drive unit is portable terminal device, for completing indoor positioning by Zigbee protocol and at least three indoor ZigBee anchor nodes;
Described drive unit, also for when being carried by user, recording user is at the motion track of indoor;
If there is multiple drive unit, then the drive unit entrained by everyone, records respective motion track;
Described drive unit for being arranged on described clearing apparatus, and analyzes cleaning path according to self motion track and/or the motion track that receives.
7. Smart Home indoor floor-sweeping machine device people device according to claim 6, it is characterized in that, described drive unit also comprises memory storage, concrete:
Described memory storage be used for locker room inner structure figure, wherein, described doors structure figure be inputted by user or by described Smart Home indoor floor-sweeping machine device people device in cleaning process collection position information generate.
8. Smart Home indoor floor-sweeping machine device people device according to claim 6, it is characterized in that, described clearing apparatus specifically comprises infrared sensor and motor power device, concrete:
Described infrared sensor is used for sensing to be needed to dodge object, and sense data is sent to described drive unit, so that described drive unit calculates also decision-making go out avoidance strategy; Control motor power device and complete corresponding dodging.
9. Smart Home indoor floor-sweeping machine device people device according to claim 6, is characterized in that, described drive unit is specially the portable equipment of smart mobile phone, intelligent watch, movement spire lamella or other support Zigbee protocols.
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| CN106527235A (en) * | 2016-12-25 | 2017-03-22 | 湖南晖龙股份有限公司 | Bidirectional control switch based on single live wire power supply |
| CN107224249A (en) * | 2017-07-06 | 2017-10-03 | 北京小米移动软件有限公司 | The clean operation of cleaning equipment performs method, device and readable storage medium storing program for executing |
| CN108628311A (en) * | 2018-05-14 | 2018-10-09 | 努比亚技术有限公司 | A kind of control method, sweeping robot, terminal and computer readable storage medium |
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| WO2014175592A1 (en) * | 2013-04-23 | 2014-10-30 | Samsung Electronics Co., Ltd. | Moving robot, user terminal apparatus and control method thereof |
| CN104714411A (en) * | 2013-12-13 | 2015-06-17 | 青岛海尔机器人有限公司 | Intelligent household robot |
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| CN204143256U (en) * | 2014-10-21 | 2015-02-04 | 山东鲁能智能技术有限公司 | Based on the indoor track type intelligent inspection robot system of combined track |
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| WO2019006974A1 (en) * | 2017-07-06 | 2019-01-10 | 北京小米移动软件有限公司 | Cleaning operation execution method and device for cleaning equipment, and readable storage medium |
| US10996682B2 (en) | 2017-07-06 | 2021-05-04 | Beijing Xiaomi Mobile Software Co., Ltd. | Method and apparatus for performing cleaning operation by cleaning device and readable storage medium |
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