CN108436921A - A kind of sweeping robot intelligent control method - Google Patents
A kind of sweeping robot intelligent control method Download PDFInfo
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- CN108436921A CN108436921A CN201810610613.5A CN201810610613A CN108436921A CN 108436921 A CN108436921 A CN 108436921A CN 201810610613 A CN201810610613 A CN 201810610613A CN 108436921 A CN108436921 A CN 108436921A
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- sweeping robot
- cleaning
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- breakpoint
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention provides a kind of sweeping robot intelligent control method, this method based on solar energy realization without charging pile on the basis of being charged, the charge position and the stop position after cleaning of intelligent planning solar recharging, avoid the interference to personnel activity, save the occupancy to domestic space.
Description
Technical field
This application involves technical field of robot control more particularly to a kind of sweeping robot intelligent control methods.
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, certain artificial intelligence can be relied on, complete floor cleaning work in the room automatically.General use brush is swept and vacuum mode,
Ground sundries is first received into the rubbish storage box into itself, to complete the function of land clearing.In general, it will complete clear
Sweep, dust suction, the robot to work to wiping, be also uniformly classified as sweeping robot.
Sweep the floor machine fuselage be radio equipment, based on collar plate shape.It is operated using rechargeable battery, mode of operation is to be remotely controlled
Operation panel on device or machine.Generally the reservation of energy setting time is swept, and is voluntarily charged.There is setting inductor in front, can detect
Barrier is surveyed, wall or other barriers is such as encountered, can voluntarily turn, and is set according to every different vendor, and walks different roads
Line has planning to clean area.Fuselage is the movable fixture of automatic technology, with the cleaning vacuum plant for having dust-collecting box, cooperation
Fuselage sets control path, walks repeatedly indoors, such as：Along side cleaning, concentrate the paths such as cleaning, random cleaning, straight line cleaning
It sweeps, and is aided with the modes such as side brush, the main brush rotation in center, rag, reinforce sweeping effect, cleaning at home is imitated to complete to personalize
Fruit.
Document CN107707014A provides a kind of charging method of Intelligent robot for sweeping floor, by the sweeper of sweeping robot
Body is placed on the region that can be shined upon, and tracks solar light using solar energy locator, when the sunlight tracked
When line shifts, control sweep the floor body movement so that the solar energy photovoltaic panel swept the floor on body by sunlight comprehensive photograph
It penetrates, then solar energy photovoltaic panel collects solar energy automatically, and by charging conversion circuit, converts the solar into electric energy and store
Can be body power supply of sweeping the floor with this in accumulator.It has and improves solar collection rate, charging using solar powered
The function of efficiency.
However, the above method there is also many defects, although the above method solves being filled without charging pile for sweeping robot
The problem of electricity, but sweeping robot occupies the more intensive place of the house persons such as balcony activity for a long time, is kinsfolk's
Activity brings inconvenience；In addition, the above method can not intelligence learning kinsfolk mechanics, can only be passive receive family
The control of personnel, and then inevitably mutually conflict with the activity of house person, influence the usage experience of user.Therefore, need to be proposed one
Kind sweeping robot intelligent charge, intelligent docking, intelligent planning under without fixed location charging situation clean sweeping the floor for scheme
Robot control method.
Invention content
The present invention provides a kind of sweeping robot intelligent control method, and described method includes following steps：
S1, the plane figure information of purging zone where the sweeping robot obtains, according to the plane figure information planning
The cleaning path of the sweeping robot；The sweeping robot upper surface is equipped with distance detection device and solar cell
Plate, the solar panel charge the solar energy being collected into the sweeping robot；
S2, the sweeping robot clean the purging zone according to the cleaning path；In cleaning process, if
The sweeping robot gets the electric energy of the solar panel, then carries out the first mark to the cleaning path position
Note；In cleaning process, if the distance values that the distance detection device is got are in the first preset height threshold value and second
Between preset height threshold value, then the second label is carried out to the cleaning path position；
S3, the sweeping robot draw the first docks according to first label, and the is drawn according to second label
Two docks；
S4, the sweeping robot are accommodated to first docks with by described automatically when electricity is less than low battery threshold value
Solar panel charges；The sweeping robot is accommodated to described the when completing the cleaning for cleaning path automatically
Two docks.
As a preferred embodiment, the sweeping robot obtains the plane figure information of place purging zone,
It specifically includes：
Purging zone where the photographic device of the sweeping robot is maked an inspection tour automatically obtains the obstacle distance in predetermined altitude,
The administrative division map that can be cleaned is drawn according to the distance, using the administrative division map as the plane figure information；Alternatively,
The user of the sweeping robot draws the administrative division map that can be cleaned in control terminal, using the administrative division map as the plane
Layout information.
As a preferred embodiment, described according to the clear of sweeping robot described in the plane figure information planning
Path is swept, is specifically included：
According to the optimal cleaning path of sweeping robot described in the plane figure information planning, the optimal cleaning path is energy
The region and the shortest path of operating range is enough completely covered.
As a preferred embodiment, described in cleaning process, if the sweeping robot get it is described
The electric energy of solar panel then carries out the first label to the cleaning path position, specifically includes：
In cleaning process, if the sweeping robot gets the electric energy of the solar panel, the sweeper
Device people reduces gait of march, detects charge power of the solar panel to the sweeping robot internal battery, if
The charge power is more than or equal to preset charged power threshold, then carries out the first label to the cleaning path position.
As a preferred embodiment, the sweeping robot draws first according to first label stops area
Domain specifically includes：
The sweeping robot obtains all first labels cleaned on paths, and the is drawn based on first label
One stops curve, and the Minimum Area of curve covering is stopped as the first docks using described first.
As a preferred embodiment, further including：
If described first stops curve, there are breakpoints, calculate the distance of the breakpoint；
If the distance of the breakpoint is more than or equal to default first breakpoint threshold value, song is stopped by described first at the breakpoint
Line is split, and fractionation obtains multiple first and stops sub- curve；By the smallest region of each sub- curve covering of the first stop
Subregion is stopped as first in domain；
If the distance of the breakpoint is less than default first breakpoint threshold value, described first is not split and stops curve.
As a preferred embodiment, described make each described first Minimum Area for stopping sub- curve covering
Subregion is stopped for first, further includes：
The mean power consumed when cleaning on cleaning path in each described first stop subregion is obtained, described in consumption
The minimum first stop subregion of mean power stops subregion as optimal first；
The sweeping robot electricity be less than low battery threshold value when be accommodated to automatically it is described it is optimal first stop subregion with by
The solar panel charges.
As a preferred embodiment, described draw the second docks according to second label, further include：
The sweeping robot obtains all second labels cleaned on paths, and the is drawn based on second label
Two stop curve, and the Minimum Area of curve covering is stopped as the second docks using described second.
As a preferred embodiment, further including：
If described second stops curve, there are breakpoints, calculate the distance of the breakpoint；
If the distance of the breakpoint is more than or equal to default second breakpoint threshold value, song is stopped by described second at the breakpoint
Line is split, and fractionation obtains multiple second and stops sub- curve；By the smallest region of each sub- curve covering of the second stop
Subregion is stopped as second in domain；
If the distance of the breakpoint is less than default second breakpoint threshold value, described second is not split and stops curve.
As a preferred embodiment, described make each described second Minimum Area for stopping sub- curve covering
Subregion is stopped for second, further includes：
The mean power consumed when cleaning on cleaning path in each described second stop subregion is obtained, described in consumption
Mean power maximum described second stops subregion and stops subregion as optimal second；
The sweeping robot is accommodated to described optimal second when completing the cleaning for cleaning path and stops subregion automatically.
The present invention provides a kind of sweeping robot intelligent control method, and this method is being filled based on solar energy realization without charging pile
On the basis of electricity, the charge position and the stop position after cleaning of intelligent planning solar recharging are avoided and are lived to personnel
Dynamic interference saves the occupancy to domestic space.
Description of the drawings
Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to institute in embodiment and description of the prior art
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of illustrative schematic diagram of sweeping robot intelligent control method of the present invention.
Specific implementation mode
The embodiment further illustrated the present invention below in conjunction with attached drawing.
Embodiment one：
The present invention provides a kind of sweeping robot intelligent control method, and described method includes following steps：
S1, the plane figure information of purging zone where the sweeping robot obtains, as shown in Figure 1, according to the planar cloth
The cleaning path of sweeping robot described in office's information planning；The sweeping robot upper surface is equipped with distance detection device and too
The solar energy being collected into is given the sweeping robot to charge by positive energy solar panel, the solar panel；It should be noted that
Illustratively, place purging zone can be the room area of family；The plane figure information can be that layout structure is sky
Between be laid out, for example, the barrier that not may span across in the length and width dimensions in how many a rooms, each room, each room and its ruler
Very little and location information, according to the cleaning path of sweeping robot described in the Planning of spatial arrangement, for example, the starting point cleaned, terminal
And walking route, the walking route are obtained by calculation, it is most short that track route is subject in the calculating.On the sweeping robot
Surface is equipped with distance detection device, and illustratively, the distance detection device is infrared range-measurement system, the distance detection device
For detecting two kinds of distance, i.e., the height that the described sweeping robot can be crossed over, to ensure the sweeping robot energy
It is enough that position at this is cleaned；The distance detection device of the sweeping robot can also be measured more than the first default height
Threshold value such as 0.5 meter of height is spent, and as the region where the sweeping robot marks the preset height, which is used for can
With the reference as following second docks.
S2, the sweeping robot clean the purging zone according to the cleaning path；In cleaning process,
If the sweeping robot gets the electric energy of the solar panel, the is carried out to the cleaning path position
One label；In cleaning process, if the distance values that get of the distance detection device in the first preset height threshold value and
Between second preset height threshold value, then the second label is carried out to the cleaning path position；It should be noted that cleaning
In the process, if the sweeping robot gets the electric energy of the solar panel, show the purging zone by sunlight
Covering carries out the first label, in case subsequently needing to charge in the sweeping robot to the cleaning path position at this time
When rest in the region carry out solar recharging；As it can be seen that the solar charging electric process of the present invention does not need manual intervention, sweep
Floor-washing robot can automatic identification can carry out the region of solar recharging and carry out intelligent, automation charging.In addition, swept
Cheng Zhong, if the distance values that the distance detection device is got are less than the second preset height threshold value, for example, the height of bed
0.6 meter, then the second label is carried out to the cleaning path position；At this point, the distance number that distance detection device is got
It is worth the path in 0.5-0.6 meters of ranges and carries out the second label.
S3, the sweeping robot draw the first docks according to first label, are painted according to second label
Make the second docks；It should be noted that first docks, which are the sweeping robot, is carrying out solar recharging
Interim docks in the process, second docks are docks of the sweeping robot after completing to clean.
As it can be seen that the present invention is accommodated to first docks when the sweeping robot needs charging automatically carries out solar charging
Electricity is accommodated to the stop that the inferior personnel activity of such as bed of the machine intelligent recognition will not relate to automatically after completing to clean
Region greatly reduces the interference to personnel activity to realize the intelligent docking of sweeping robot, avoids artificial dry
In advance, the automatic management level of sweeping robot is improved.
S4, the sweeping robot electricity be less than low battery threshold value when be accommodated to automatically first docks with by
The solar panel charges；The sweeping robot is accommodated to institute automatically when completing the cleaning for cleaning path
State the second docks.It should be noted that first docks are interim, it is preferred that first docks
There is berthing time limitation, that is, is only limitted in the period of sunlight covering, such as 8:00-18:00, if not in the period
It is interior, then first docks are not stopped, in order to avoid solar recharging and excuse me personnel activity can not be carried out；At this point, if
Sweeping robot is not completed to clean, then can be charged by means of other modes, then proceedes to execute cleaning task；If swept
Floor-washing robot has been completed to clean, then rests directly against second docks.Second docks are conventional stop
Region, i.e. idle all rest in the region.
As a preferred embodiment, the sweeping robot obtains the plane figure information of place purging zone,
It specifically includes：
Purging zone where the photographic device of the sweeping robot is maked an inspection tour automatically obtains the obstacle distance in predetermined altitude,
The administrative division map that can be cleaned is drawn according to the distance, using the administrative division map as the plane figure information；It needs to illustrate
It is that the tour can be realized during first clean, and then when cleaning for second according to making an inspection tour result to cleaning road
Diameter makes optimization；The place purging zone is the region that can be swept, i.e., the region that sweeping robot can arrive safe and sound, including
The region that can be crossed over such as carpet.The obstacle distance is realized using range sensor, such as infrared range-measurement system；Here
Distance is to the height between the barrier of top at the top of sweeping robot, and the height distance is equally as the judgement of cleanable area
One of according to.Therefore, it is combined by both the above judgment mode, can effectively improve the standard for the administrative division map that identification can clean
True property.
Alternatively,
The user of the sweeping robot draws the administrative division map that can be cleaned in control terminal, using the administrative division map as the plane
Layout information.It should be noted that user can be can be cleaned described in manual drawing administrative division map, can also be by floor plan and its family
Tool layout uploads to the control APP of the sweeping robot in the control terminal；At this point, the latter is with higher accurate
Property.Under the embodiment, the obtained administrative division map cleaned is as the path planning foundation in first cleaning process；Institute
It states sweeping robot to carry out in first time cleaning process, the photographic device can be based on and range sensor test is accurate
The newer administrative division map cleaned, and according to the newer administrative division map cleaned in follow-up cleaning process path advise
It draws and is updated.
As a preferred embodiment, described according to the clear of sweeping robot described in the plane figure information planning
Path is swept, is specifically included：
According to the optimal cleaning path of sweeping robot described in the plane figure information planning, the optimal cleaning path is energy
The region and the shortest path of operating range is enough completely covered.It should be noted that the optimal cleaning path can be certainly
Dynamic planning, or what user voluntarily planned, and the priority that user voluntarily plans is higher than the priority planned automatically；When
Automatically when the optimal cleaning path planned has multiple, one of which can be automatically selected at random, it can also be by user voluntarily
One of which is selected, is not limited herein.
As a preferred embodiment, described in cleaning process, if the sweeping robot get it is described
The electric energy of solar panel then carries out the first label to the cleaning path position, specifically includes：
In cleaning process, if the sweeping robot gets the electric energy of the solar panel, the sweeper
Device people reduces gait of march, detects charge power of the solar panel to the sweeping robot internal battery, if
The charge power is more than or equal to preset charged power threshold, then carries out the first label to the cleaning path position.It needs
It is noted that it is for the ease of detecting the intensity of solar energy, to improve charging that the sweeping robot, which reduces gait of march,
The accuracy of power detection.
As a preferred embodiment, the sweeping robot draws first according to first label stops area
Domain specifically includes：
The sweeping robot obtains all first labels cleaned on paths, and the is drawn based on first label
One stops curve, and the Minimum Area of curve covering is stopped as the first docks using described first.It should be noted that by phase
First, which is formed, after adjacent the first label connection stops curve；Illustratively, it is sequentially connected the described first end for stopping curve
Point or outer ledge, to form first docks.
As a preferred embodiment, further including：
If described first stops curve, there are breakpoints, calculate the distance of the breakpoint；
If the distance of the breakpoint is more than or equal to default first breakpoint threshold value, song is stopped by described first at the breakpoint
Line is split, and fractionation obtains multiple first and stops sub- curve；By the smallest region of each sub- curve covering of the first stop
Subregion is stopped as first in domain；
If the distance of the breakpoint is less than default first breakpoint threshold value, described first is not split and stops curve.
It should be noted that since first label is present on the cleaning path, described first stops song
Line is the curved section on the cleaning path；At this point, the breakpoint of the first stop curve is divided into two kinds of situations, one is breakpoint
It is present in different cleaning subregions, for example, the balcony of the balcony in bedroom and parlor, in this case it is desirable to by described
One stop curve is split, and then splits out different stop subregions；Illustratively, the default first breakpoint threshold value is
2 meters or 3 meters.Secondly be present in identical cleaning subregion for breakpoint, and only because shelter makes blocking for sunlight
At breakpoint, the length of breakpoint is often smaller at this time, at this point, not splitting described first stops curve, still stops as one
It is handled by region.As it can be seen that the present invention carries out classification processing to the breakpoint for stopping curve, the accurate of docks judgement is improved
Property, it effectively prevents judging by accident.
As a preferred embodiment, described make each described first Minimum Area for stopping sub- curve covering
Subregion is stopped for first, further includes：
The mean power consumed when cleaning on cleaning path in each described first stop subregion is obtained, described in consumption
The minimum first stop subregion of mean power stops subregion as optimal first；
The sweeping robot electricity be less than low battery threshold value when be accommodated to automatically it is described it is optimal first stop subregion with by
The solar panel charges.It should be noted that if being cleaned on path in some first stop subregion
The mean power smaller consumed when cleaning shows that the rubbish of the first stop subregion is less, such as the region that personnel are inactive
Rubbish can less, then show this first stop subregion personnel activity it is less, at this point, using this first stop subregion as
Optimal first stops subregion, can effectively reduce the influence to personnel activity.In addition, present embodiment can also be arranged on the contrary
It is optimal first stop subregion selection method, i.e., by the mean power of consumption it is maximum it is described first stop subregion
Subregion is stopped as optimal first, shows that the rubbish of the first stop subregion is more at this time, shows this to a certain extent
The personnel activity of first stop subregion is less, such as the region of personnel activity can be less due to more focusing on sanitary garbage, and
The inactive region rubbish of personnel will be relatively more.Above two embodiment can be selected flexibly according to actual needs,
This is not repeated.
As a preferred embodiment, described draw the second docks according to second label, further include：
The sweeping robot obtains all second labels cleaned on paths, and the is drawn based on second label
Two stop curve, and the Minimum Area of curve covering is stopped as the second docks using described second.It should be noted that by phase
Second, which is formed, after adjacent the second label connection stops curve；Illustratively, it is sequentially connected the described second end for stopping curve
Point or outer ledge, to form second docks.
As a preferred embodiment, further including：
If described second stops curve, there are breakpoints, calculate the distance of the breakpoint；
If the distance of the breakpoint is more than or equal to default second breakpoint threshold value, song is stopped by described second at the breakpoint
Line is split, and fractionation obtains multiple second and stops sub- curve；By the smallest region of each sub- curve covering of the second stop
Subregion is stopped as second in domain；
If the distance of the breakpoint is less than default second breakpoint threshold value, described second is not split and stops curve.
It should be noted that since second label is present on the cleaning path, described second stops song
Line is the curved section on the cleaning path；At this point, the breakpoint of the second stop curve is divided into two kinds of situations, one is breakpoint
Be present in different cleaning subregions, for example, different bedrooms, in this case it is desirable to by described second stop curve into
Row is split, and then splits out different stop subregions；Illustratively, the default second breakpoint threshold value is 5 meters or 10 meters.
Secondly be present in identical cleaning subregion for breakpoint, and only because blocking for shelter causes breakpoint, breakpoint at this time
Length is often smaller, at this point, not splitting described second stops curve, is still handled as a docks.As it can be seen that
The present invention carries out classification processing to the breakpoint for stopping curve, improves the accuracy of docks judgement, effectively prevents judging by accident.
As a preferred embodiment, described make each described second Minimum Area for stopping sub- curve covering
Subregion is stopped for second, further includes：
The mean power consumed when cleaning on cleaning path in each described second stop subregion is obtained, described in consumption
Mean power maximum described second stops subregion and stops subregion as optimal second；
The sweeping robot is accommodated to described optimal second when completing the cleaning for cleaning path and stops subregion automatically.
It should be noted that the mean power smaller consumed when if cleaning cleaning on path in some second stop subregion,
Show this second stop subregion rubbish it is less, such as the inactive region of personnel rubbish can less, then show this second
The personnel activity for stopping subregion is less, at this point, stopping subregion, Ke Yiyou using the second stop subregion as optimal second
Effect reduces the influence to personnel activity.In addition, the choosing that opposite optimal second stops subregion can also be arranged in present embodiment
The mean power of consumption maximum described second is stopped subregion and stops subregion as optimal second by selection method,
Show that the rubbish of the second stop subregion is more at this time, shows the personnel activity of the second stop subregion to a certain extent
Less, such as the region of personnel activity can be less due to more focusing on sanitary garbage, and the inactive region rubbish of personnel will
It is relatively more.Above two embodiment can be selected flexibly according to actual needs, and this will not be repeated here.
The present invention provides a kind of sweeping robot intelligent control method, and this method is being filled based on solar energy realization without charging pile
On the basis of electricity, the charge position and the stop position after cleaning of intelligent planning solar recharging are avoided and are lived to personnel
Dynamic interference saves the occupancy to domestic space.
Those skilled in the art of the present technique be appreciated that can with computer program instructions come realize these structure charts and/or
The combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.It can be by this
A little computer program instructions are supplied to the processor of all-purpose computer, special purpose computer or other programmable data processing methods
Machine is generated, is used for be performed instruction by the processor of computer or other programmable data processing methods and create
Realize the method specified in the frame or multiple frames of structure chart and/or block diagram and/or flow graph.
Those skilled in the art of the present technique are appreciated that in the various operations crossed by discussion in the present invention, method, flow
Steps, measures, and schemes can be replaced, changed, combined or be deleted.Further, each with having been crossed by discussion in the present invention
Other steps, measures, and schemes in kind operation, method, flow may also be alternated, changed, rearranged, decomposed, combined or deleted.
Further, in the prior art to have and step, measure, the scheme in various operations, method, flow disclosed in the present invention
It may also be alternated, changed, rearranged, decomposed, combined or deleted.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of sweeping robot intelligent control method, which is characterized in that described method includes following steps：
S1, the plane figure information of purging zone where the sweeping robot obtains, according to the plane figure information planning
The cleaning path of the sweeping robot；The sweeping robot upper surface is equipped with distance detection device and solar cell
Plate, the solar panel charge the solar energy being collected into the sweeping robot；
S2, the sweeping robot clean the purging zone according to the cleaning path；In cleaning process, if
The sweeping robot gets the electric energy of the solar panel, then carries out the first mark to the cleaning path position
Note；In cleaning process, if the distance values that the distance detection device is got are in the first preset height threshold value and second
Between preset height threshold value, then the second label is carried out to the cleaning path position；
S3, the sweeping robot draw the first docks according to first label, and the is drawn according to second label
Two docks；
S4, the sweeping robot are accommodated to first docks with by described automatically when electricity is less than low battery threshold value
Solar panel charges；The sweeping robot is accommodated to described the when completing the cleaning for cleaning path automatically
Two docks.
2. according to the method described in claim 1, it is characterized in that, the sweeping robot obtains the plane of place purging zone
Layout information specifically includes：
Purging zone where the photographic device of the sweeping robot is maked an inspection tour automatically obtains the obstacle distance in predetermined altitude,
The administrative division map that can be cleaned is drawn according to the distance, using the administrative division map as the plane figure information；Alternatively,
The user of the sweeping robot draws the administrative division map that can be cleaned in control terminal, using the administrative division map as the plane
Layout information.
3. according to the method described in claim 2, it is characterized in that, described sweep the floor according to described in the plane figure information planning
The cleaning path of robot, specifically includes：
According to the optimal cleaning path of sweeping robot described in the plane figure information planning, the optimal cleaning path is energy
The region and the shortest path of operating range is enough completely covered.
4. according to the method described in claim 1, it is characterized in that, described in cleaning process, if the sweeping robot
The electric energy of the solar panel is got, then the first label is carried out to the cleaning path position, specifically included：
In cleaning process, if the sweeping robot gets the electric energy of the solar panel, the sweeper
Device people reduces gait of march, detects charge power of the solar panel to the sweeping robot internal battery, if
The charge power is more than or equal to preset charged power threshold, then carries out the first label to the cleaning path position.
5. according to the method described in claim 4, it is characterized in that, the sweeping robot draws the according to first label
One docks, specifically include：
The sweeping robot obtains all first labels cleaned on paths, and the is drawn based on first label
One stops curve, and the Minimum Area of curve covering is stopped as the first docks using described first.
6. according to the method described in claim 5, it is characterized in that, further including：
If described first stops curve, there are breakpoints, calculate the distance of the breakpoint；
If the distance of the breakpoint is more than or equal to default first breakpoint threshold value, song is stopped by described first at the breakpoint
Line is split, and fractionation obtains multiple first and stops sub- curve；By the smallest region of each sub- curve covering of the first stop
Subregion is stopped as first in domain；
If the distance of the breakpoint is less than default first breakpoint threshold value, described first is not split and stops curve.
7. according to the method described in claim 6, it is characterized in that, described described first stop the covering of sub- curve by each
Minimum Area stops subregion as first, further includes：
The mean power consumed when cleaning on cleaning path in each described first stop subregion is obtained, described in consumption
The minimum first stop subregion of mean power stops subregion as optimal first；
The sweeping robot electricity be less than low battery threshold value when be accommodated to automatically it is described it is optimal first stop subregion with by
The solar panel charges.
8. according to the method described in claim 1, it is characterized in that, described draw the second stop area according to second label
Domain further includes：
The sweeping robot obtains all second labels cleaned on paths, and the is drawn based on second label
Two stop curve, and the Minimum Area of curve covering is stopped as the second docks using described second.
9. according to the method described in claim 8, it is characterized in that, further including：
If described second stops curve, there are breakpoints, calculate the distance of the breakpoint；
If the distance of the breakpoint is more than or equal to default second breakpoint threshold value, song is stopped by described second at the breakpoint
Line is split, and fractionation obtains multiple second and stops sub- curve；By the smallest region of each sub- curve covering of the second stop
Subregion is stopped as second in domain；
If the distance of the breakpoint is less than default second breakpoint threshold value, described second is not split and stops curve.
10. according to the method described in claim 9, it is characterized in that, described cover each sub- curve of second stop
Minimum Area as second stop subregion, further include：
The mean power consumed when cleaning on cleaning path in each described second stop subregion is obtained, described in consumption
Mean power maximum described second stops subregion and stops subregion as optimal second；
The sweeping robot is accommodated to described optimal second when completing the cleaning for cleaning path and stops subregion automatically.
Priority Applications (1)
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