CN108185930A - Sweep the floor machine ambulation control method and its clean control system - Google Patents
Sweep the floor machine ambulation control method and its clean control system Download PDFInfo
- Publication number
- CN108185930A CN108185930A CN201810048515.7A CN201810048515A CN108185930A CN 108185930 A CN108185930 A CN 108185930A CN 201810048515 A CN201810048515 A CN 201810048515A CN 108185930 A CN108185930 A CN 108185930A
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- sweeping
- machine
- walking
- module
- floor
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000010408 sweeping Methods 0.000 claims abstract description 53
- 238000004140 cleaning Methods 0.000 claims abstract description 24
- 244000025254 Cannabis sativa Species 0.000 claims abstract description 11
- 238000010926 purge Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 239000003973 paint Substances 0.000 claims abstract description 4
- 238000003860 storage Methods 0.000 claims description 16
- 230000004888 barrier function Effects 0.000 claims description 8
- 230000000052 comparative effect Effects 0.000 claims description 3
- 239000000428 dust Substances 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 244000007853 Sarothamnus scoparius Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000002000 scavenging effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses the ambulation control method for machine of sweeping the floor and its cleaning control systems.It is related to sweeping machine technical field.Include the following steps, step 1, start sweeping machine, cleaned in purging zone according to " snakelike walking manner ", and record its track route；Step 2 carries out walking grass by infrared scan mode and paints, and painted according to walking grass and carry out detour cleaning；Step 3 cleans and terminates clearing and clean garbage weight, and passes through wireless transmission method and will clean path and drawknot weight and upload；Step 4 is cleaned according to by being set for timing.The present invention is scanned by being timed flush system to sweeping machine, and then avoids missing a certain region, is voluntarily cleaned, and reduces cost of labor.
Description
Technical field
The invention belongs to sweeping machine technical field, ambulation control method and its cleaning control more particularly to machine of sweeping the floor
System processed.
Background technology
Sweeping robot also known as sweeps machine, intelligent dust suction, robot cleaner etc., is the one of controlling intelligent household appliances automatically
Kind, floor cleaning work can be completed in the room automatically by certain artificial intelligence, it is general to be swept and vacuum mode using brushing,
Ground sundries is first received into the rubbish storage box into itself, so as to complete the function of land clearing, in general, will be completed clear
Sweep, dust suction, wipe the robot that works, be also uniformly classified as sweeping robot, the sweeping robot sold currently on the market is more
Carry out walking cleaning in order to control or without purpose for people, carry out more repeat cleaning, the low gas of sweeping efficiency and not exclusively.
Invention content
The purpose of the present invention is to provide the ambulation control method for machine of sweeping the floor and its cleaning control system, by by right
Sweeping machine is timed flush system scanning, and then avoids missing a certain region, voluntarily cleans, and reduces cost of labor.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions：
Ambulation control method of the present invention for machine of sweeping the floor, includes the following steps, step 1, starts the sweeping machine,
It is cleaned in the purging zone according to " snakelike walking manner ", and records its track route；Step 2, by described red
Outer scan mode carries out walking grass and paints, and is painted according to walking grass and carry out detour cleaning；Step 3 cleans and terminates clearing cleaning rubbish
Weight, and path and drawknot weight will be cleaned by the wireless transmission method and uploaded；Step 4 is set according to passing through
It is timed cleaning.
Preferably, the snakelike walking manner as described in step 1 one laterally or longitudinally cleans certain length in purging zone
One is moved afterwards cleans bore 180 ° of cleanings of turning back of rotation.
Preferably, as grass of walking in step 2 is painted including following submethod；Step 2 a passes through the noctovisor scan instrument
Sweeping machine side is scanned, and according to the distance of infrared ambulator disturbance in judgement object distance sweeping machine；Step b leads to
The scanning patter is crossed storage object shape is carried out to carry out similar judgement to comparing scanning patter；If object is scanned as ellipse, institute
Sweeping machine is stated to break the barriers by detouring；If scanning patter is board-type, the sweeping machine is with " snakelike walking manner "
It carries out continuing to clean.
Preferably, as described in step b detour pass through to clean the wiring of face domain after with " snakelike walking manner " return up to
It is returned and scanned with " snakelike walking manner " again during the oval-shaped scan path, according to this aforesaid way clean until institute
State detour scan path edge.
Sweep the floor machine walking clean control system, further include for store data storage unit, for control clean
Machine sweeps the travelling control unit of walking along the street diameter, contrast module and sweeping machine for data comparison；The storage unit
Including figure memory module and path logging modle, wherein, the figure memory module is used to store comparative pattern data；It is described
Path logging modle is used to store travel path data；The travelling control unit includes tuning module, drive module, detour mould
Block and straight-line travelling module；Wherein, the tuning module is used to that the travel direction of trolley, the drive module to be controlled to be used for small
Vehicle provides driving dynamics.The contrast module is used for the contour of object information for being scanned profile scanner and figure memory module
The graphical information of storage compares and analyzes.
Preferably, the sweeping machine by a wireless transport module to information receiving terminal transfer data information；Wherein
It surveys in the week of sweeping machine and several ultrasonic range finders is installed for measuring distance of the sweeping machine away from barrier.
The invention has the advantages that：
The present invention carries out iterative method scanning, and carry out by profile scanner by " the snakelike walking manner " of setting
Outline identification selects detour or straight-line travelling according to scanning profile, avoids cleaning during sweeping machine is turned to
It omits, and path logging modle of reaching the same goal records the circuit of cleaning, and then avoids repeating to clean.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, embodiment will be described below required
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the ambulation control method flow chart of machine of the invention of sweeping the floor；
Fig. 2 is the cleaning control system block diagram of machine of the invention of sweeping the floor.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Embodiment：Sweeping machine is a collar plate shape scavenging machine, and postposition Two-wheeled, preceding is single universal wheel, and side is uniform
Ultrasonic detector is installed and traveling leading portion is equipped with spatial digitizer and carries out profile scan, inside is equipped with driving electricity
Machine turns to and takes motor for a small-sized private and controlled, cleaned by dust suction and rotary broom
Refering to Figure 1, ambulation control method of the present invention for machine of sweeping the floor, includes the following steps；
Step 1 starts sweeping machine, is cleaned in purging zone according to " snakelike walking manner ", and record its row
Walk route；
Step 2 carries out walking grass by infrared scan mode and paints, and painted according to walking grass and carry out detour cleaning；
Step 3 cleans end clearing cleaning garbage weight, and pass through wireless transmission method to clean path and drawknot
Weight is uploaded；
Step 4 is cleaned according to by being set for timing.
Wherein, snakelike walking manner one is laterally or longitudinally cleaned mobile one after certain length in purging zone in step 1
A cleaning bore rotates 180 ° of cleanings of turning back.
As grass of walking in step 2 is painted including following submethod；
Step 2 a is scanned, and judge according to infrared ambulator sweeping machine side by noctovisor scan instrument
Distance of the barrier away from sweeping machine；
Step b carries out storage object shape by scanning patter to carry out similar judgement to comparing scanning patter；
If scanning object as ellipse, sweeping machine is broken the barriers by detouring；
If scanning patter is board-type, sweeping machine carries out continuing to clean with " snakelike walking manner ".
As detoured in step b by being returned after extremely cleaning face domain wiring with " snakelike walking manner " up to oval-shaped scan road
It is returned and scanned with " snakelike walking manner " again during diameter, according to this aforesaid way clean until detour scan path edge.
As shown in Fig. 2, the walking for machine of sweeping the floor cleans control system；It further includes to store the storage unit of data, use
The travelling control unit of walking along the street diameter, contrast module and sweeping machine for data comparison are swept in control sweeping machine, clearly
It sweeps machine to design for three-wheel, wherein being separately installed with independent driving motor on two driving wheels, deflecting roller passes through one for a universal wheel
Worm and gear adjusted device carries out tuning；
Storage unit includes figure memory module and path logging modle,
Wherein, figure memory module is used to store comparative pattern data；Path logging modle is used to store walking path number
According to；
Travelling control unit includes tuning module, drive module, detour module and straight-line travelling module；
Wherein, tuning module is used to that the travel direction of trolley, drive module to be controlled to be used to provide driving dynamics to trolley.
Contrast module is used for the contour of object information for being scanned profile scanner and the figure of figure memory module storage
Information compares and analyzes.
Sweeping machine is by a wireless transport module to information receiving terminal transfer data information；The wherein week of sweeping machine
Survey is equipped with several ultrasonic range finders for measuring distance of the sweeping machine away from barrier.
It is worth noting that, in above system embodiment, included each unit is only drawn according to function logic
Point, but above-mentioned division is not limited to, as long as corresponding function can be realized；In addition, each functional unit is specific
Title is also only to facilitate mutually distinguish, the protection domain being not intended to restrict the invention.
In addition, one of ordinary skill in the art will appreciate that realize all or part of step in the various embodiments described above method
It is that relevant hardware can be instructed to complete by program, corresponding program can be stored in a computer-readable storage and be situated between
In matter, the storage medium, such as ROM/RAM, disk or CD.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.This specification is chosen and specifically describes these embodiments, is in order to preferably explain the present invention
Principle and practical application, so as to which skilled artisan be enable to be best understood by and utilize the present invention.The present invention is only
It is limited by claims and its four corner and equivalent.
Claims (6)
1. the ambulation control method for machine of sweeping the floor, which is characterized in that include the following steps：
Step 1 starts the sweeping machine, is cleaned, and record according to " snakelike walking manner " in the purging zone
Its track route；
Step 2 carries out walking grass by the infrared scan mode and paints, and painted according to walking grass and carry out detour cleaning；
Step 3 cleans end clearing cleaning garbage weight, and pass through the wireless transmission method to clean path and drawknot
Weight is uploaded；
Step 4 is cleaned according to by being set for timing.
2. the ambulation control method of machine according to claim 1 of sweeping the floor, which is characterized in that snakelike as described in step 1
Walking manner in purging zone one laterally or longitudinally clean after certain length mobile one clean bore rotate 180 ° turn back it is clear
It sweeps.
3. the ambulation control method of machine according to claim 1 of sweeping the floor, which is characterized in that as grass of walking in step 2 is painted
Including following submethod；
Step 2 a is scanned, and judge according to infrared ambulator sweeping machine side by the noctovisor scan instrument
Distance of the barrier away from sweeping machine；
Step b carries out storage object shape by the scanning patter to carry out similar judgement to comparing scanning patter；
If scanning object as ellipse, the sweeping machine is broken the barriers by detouring；
If scanning patter is board-type, the sweeping machine carries out continuing to clean with " snakelike walking manner ".
4. the ambulation control method of machine according to claim 3 of sweeping the floor and its cleaning control system, which is characterized in that such as
It detours described in step b and is returned after passing through to cleaning face domain wiring with " snakelike walking manner " up to the oval-shaped scan path
Shi Zaici is returned with " snakelike walking manner " and scanned, and according to this aforesaid way clean until the detour scan path side
Edge.
5. the walking of the machine of sweeping the floor as described in claim 1-4 is any one cleans control system, which is characterized in that further includes use
Storage unit in storage data, for sweeping machine to be controlled to sweep the travelling control unit of walking along the street diameter, for data comparison
Contrast module and sweeping machine；
The storage unit includes figure memory module and path logging modle,
Wherein, the figure memory module is used to store comparative pattern data；The path logging modle is walked for storage line
Diameter data；
The travelling control unit includes tuning module, drive module, detour module and straight-line travelling module；
Wherein, the tuning module is used to that the travel direction of trolley, the drive module to be controlled to be used to provide to travel to trolley to move
Power.
The contrast module is used for the contour of object information for being scanned profile scanner and the figure of figure memory module storage
Information compares and analyzes.
6. control system is cleaned according to the walking of any one machine of sweeping the floor of claim 5, which is characterized in that the cleaning
Machine is by a wireless transport module to information receiving terminal transfer data information；The week survey of wherein sweeping machine is equipped with several
Ultrasonic range finder is used to measure distance of the sweeping machine away from barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810048515.7A CN108185930A (en) | 2018-01-18 | 2018-01-18 | Sweep the floor machine ambulation control method and its clean control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810048515.7A CN108185930A (en) | 2018-01-18 | 2018-01-18 | Sweep the floor machine ambulation control method and its clean control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108185930A true CN108185930A (en) | 2018-06-22 |
Family
ID=62589698
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810048515.7A Pending CN108185930A (en) | 2018-01-18 | 2018-01-18 | Sweep the floor machine ambulation control method and its clean control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108185930A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102541059A (en) * | 2010-08-23 | 2012-07-04 | 德国福维克控股公司 | Self-propelled device |
| CN103099583A (en) * | 2011-11-14 | 2013-05-15 | 三星电子株式会社 | Robot cleaner and control method thereof |
| WO2015090404A1 (en) * | 2013-12-19 | 2015-06-25 | Aktiebolaget Electrolux | Prioritizing cleaning areas |
| CN106003064A (en) * | 2016-06-17 | 2016-10-12 | 上海工程技术大学 | Complex-environment multi-sensor intelligent detection robot |
| CN106200639A (en) * | 2016-07-20 | 2016-12-07 | 成都广迈科技有限公司 | A kind of method of sweeping the floor of full-automatic sweeping robot |
| CN107405037A (en) * | 2016-02-16 | 2017-11-28 | 东芝生活电器株式会社 | Self-discipline moving body |
-
2018
- 2018-01-18 CN CN201810048515.7A patent/CN108185930A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102541059A (en) * | 2010-08-23 | 2012-07-04 | 德国福维克控股公司 | Self-propelled device |
| CN103099583A (en) * | 2011-11-14 | 2013-05-15 | 三星电子株式会社 | Robot cleaner and control method thereof |
| WO2015090404A1 (en) * | 2013-12-19 | 2015-06-25 | Aktiebolaget Electrolux | Prioritizing cleaning areas |
| CN107405037A (en) * | 2016-02-16 | 2017-11-28 | 东芝生活电器株式会社 | Self-discipline moving body |
| CN106003064A (en) * | 2016-06-17 | 2016-10-12 | 上海工程技术大学 | Complex-environment multi-sensor intelligent detection robot |
| CN106200639A (en) * | 2016-07-20 | 2016-12-07 | 成都广迈科技有限公司 | A kind of method of sweeping the floor of full-automatic sweeping robot |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180622 |
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| RJ01 | Rejection of invention patent application after publication |