CN103120573A - Working method and working system of intelligent cleaning robot - Google Patents
Working method and working system of intelligent cleaning robot Download PDFInfo
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- CN103120573A CN103120573A CN2012105194663A CN201210519466A CN103120573A CN 103120573 A CN103120573 A CN 103120573A CN 2012105194663 A CN2012105194663 A CN 2012105194663A CN 201210519466 A CN201210519466 A CN 201210519466A CN 103120573 A CN103120573 A CN 103120573A
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Abstract
The invention provides a working method and a working system of an intelligent cleaning robot. The working method of the intelligent cleaning robot comprises the steps of receiving initial cleaning route information and analyzing the initial cleaning route information to an operation command; executing the operation command and carrying out cleaning; storing finished route information and judging whether a non-cleaning route exists through comparing the finished route information with the initial cleaning route information; if the non-cleaning route exists, obtaining non-cleaning route information and continuing the cleaning according to the non-cleaning route information; and if the non-cleaning route does not exist, stopping cleaning. According to the working method of the intelligent cleaning robot, when the method is used for cleaning, real-time operation or monitoring of the working of the intelligent cleaning robot is not needed for a client, the client just needs to set relevant parameters about cleaning at the initial stage, and then whole cleaning work can be accomplished by the intelligent cleaning robot independently. Therefore, time is saved for a user, and labor of the user is reduced.
Description
[technical field]
The present invention relates to the robot field, relate in particular to a kind of method of work and work system of robot that can intelligence cleaning.
[background technology]
Along with the progress of society and the raising of living standards of the people, Smart Home has goed deep in the middle of people's life, and cleaning ground is one and numerous and diverse the house trival matters of losing time is arranged, and the sweeping robot that therefore is used for cleaning ground is subject to consumers in general's welcome.
At present, the sweeping robot that many types are arranged on market, but no matter be with armed sweeping robot or the sweeping robot that can use a teleswitch and control, they have a common shortcoming: that is exactly that cleaning process must have people's on-site supervision even to operate, this has caused very large inconvenience to the user, and most of sweeping robot because the None-identified walking path whether cleaned, and can carry out the subregion repeat the cleaning, cause inefficiency, waste energy.
As seen, existing sweeping robot also can't satisfy the requirement of Smart Home.
[summary of the invention]
can not be in the situation that separate men from machines carries out cleaning works and whether common sweeper has cleaned because can not identify purging zone the defective that causes operating efficiency low for solving sweeping robot of the prior art, the invention provides a kind of Intelligent sweeping machine device people's method of work, adopt the method to carry out cleaning works, whole process can be by Intelligent sweeping machine device people complete independently, do not need artificial intervention, under system controls, but this robot automatic identification purging zone and standard are cleaned the path, thereby reach accurate cleaning and can not repeat sweep-out pattern, improve sweeping efficiency, be the new technical scheme of Smart Home.
Do not reach the purpose of technique scheme, Intelligent sweeping machine device people's provided by the present invention method of work comprises the following steps: receive initial cleaning routing information, and described initial cleaning routing information is resolved to operational order; Carry out described operational order, carry out cleaning works; Routing information is completed in storage, and will complete routing information and compare with initial cleaning routing information, judges whether to exist and does not clean the path; If judgment result is that to be, draw and do not clean routing information and proceed cleaning according to not cleaning routing information, if the determination result is NO, cleaning works stops.
Preferably, described method also comprises: detect the initial step that whether has barrier on the path of cleaning, if testing result is yes, sends and have obstacle information; On the step of induction barrier size, and adjust actual cleaning path according to the barrier dimension information, control run to original cleaning path along the barrier edge.
Preferably, described method comprises that also the routing information with the barrier place becomes with the stack of actual cleaning routing information the step of completing routing information jointly.
Preferably, described method also comprises after cleaning works stops, and controls the step that sweeping robot is got back to initial position.
Preferably, whether described method also comprises the testing power supply lower than the alarm electric weight, if testing result is yes, controls sweeping robot and get back to initial position and charge, and on returning after charging is completed, once job site works on.
Preferably, described method also comprises detecting initially cleans the step that whether has depression on the path, if testing result is yes, sends the depression information that exists; On the step of induction depression size, and adjust actual cleaning path according to the depression dimension information, control run to original cleaning path along concave edges.
Preferably, described method comprises that also water level in monitoring water tank whether lower than the smallest limit value or higher than the step of maximum upper limit, if testing result is yes, sends prompting.
In addition, the present invention also provides a kind of and can walk according to the standard path, and can rapidly and efficiently complete the Intelligent sweeping machine device people's of clean up task work system, described system comprises: control module, be used for receiving initial cleaning routing information, and described initial cleaning routing information is resolved to operational order; The cleaning module is used for carrying out described operational order, carries out cleaning works; Memory module, routing information is completed in storage, and will complete routing information and compare with initial cleaning routing information, judges whether to exist and does not clean the path; If judgment result is that to be, described control module also is used for drawing does not clean routing information and proceeds cleaning according to not cleaning routing information, if the determination result is NO, control module stops for controlling cleaning works.
Preferably, described system also comprises: obstacle detector, clean on the path whether have barrier for detection of initial, and if testing result is yes, sends to control module and have obstacle information; The barrier induction installation is used for the size of induction barrier, and the barrier dimension information is sent to control module; Described control module also is used for walking the path according to existing obstacle information and barrier dimension information to adjust machine People's Bank of China, makes on it runs to original cleaning path along the barrier edge.
Preferably, when having barrier on initial cleaning path, the routing information of completing of memory module storage is the stack of the routing information of actual cleaning and barrier place routing information.
Preferably, described control module also is used for controlling sweeping robot and getting back to the work initial position after cleaning is completed.
Whether preferably, described system also comprises power detection system,,, send charging to control module and remind if testing result is yes lower than the alarm electric weight for detection of working power; Described control module is also got back to initial position for control sweeping robot when receiving that charging is reminded and is charged, and the job site that the control sweeping robot returns once after charging is completed works on.
Preferably, described system also comprises: the depression checkout gear, clean on the path whether have depression for detection of initial, and if testing result is yes, send to control module the depression information that exists; The depression induction installation be used for the size that induction is caved in, and the dimension information that will cave in is sent to control module; Described control module also is used for walking the path according to existing depression information and depression dimension information to adjust machine People's Bank of China, makes on it runs to original cleaning path along concave edges.
Preferably, described system also comprises the water level monitoring module, is used for the water level situation of monitoring water tank, and the water level in monitoring water tank sends prompting during lower than the smallest limit value or higher than maximum upper limit.
Compared with prior art, adopt Intelligent sweeping machine device people work of the present invention system to carry out cleaning works, the client need not the work of real-time operation or monitoring intelligent sweeping robot, only need to arrange in the cleaning starting stage relevant parameter of cleaning, can independently complete whole cleaning works by Intelligent sweeping machine device people, saved the user time, reduced user's the amount of labour.
[description of drawings]
Fig. 1 is the Intelligent sweeping machine device people's of the inventive method the first embodiment the flow chart of method of work;
Fig. 2 is the Intelligent sweeping machine device people's of the inventive method the second embodiment the flow chart of method of work;
Fig. 3 is the Intelligent sweeping machine device people's of the inventive method the 3rd embodiment the flow chart of method of work;
Fig. 4 is the Intelligent sweeping machine device people's of the first embodiment of system of the present invention work system structured flowchart.
[specific embodiment]
For realizing that the purpose, technical solutions and advantages of the present invention are clearer, the present invention is described in further detail below in conjunction with drawings and the specific embodiments.
Embodiment of the method
According to the embodiment of the present invention, provide a kind of Intelligent sweeping machine device people's method of work.Fig. 1 is the flow chart of first embodiment of the inventive method, and as described in Figure 1, the method comprises:
S102: Intelligent sweeping machine device people receives initial cleaning routing information, and described initial cleaning routing information is resolved to operational order.wherein, initial cleaning routing information can be arranged by the cleaning environment of client or manufacturer normality according to the client, take the family parlor as example, the client can measure the overall length in parlor, wide, and the sofa that in the parlor, normality is put, tea table, the length of television set etc., wide and position, the rear formulation according to above-mentioned metrical information initially cleaned the path, turn right afterwards for 2.5 meters as advancing forward, advance forward again 4 meters to turn left afterwards etc., preferably, the sweep-out pattern in the initial cleaning path that sets is greater than the real area that needs in the room to clean, like this, can guarantee to be swept into each position in room, the design of this route can be the design of S type, can be also by along the inside diminishing concentric path of wall, preferred cleaning path is first along wall one week of cleaning, then according to the path cleaning of S type.
S104: Intelligent sweeping machine device people carries out described operational order, carries out cleaning works according to the path of setting.This cleaning works comprises, cleaning dust, the work such as wiping bottom surface.
S106: routing information is completed in storage, and will complete routing information and compare with initial cleaning routing information, judges whether to exist and does not clean the path.Intelligent sweeping machine device people will complete path information storage, and real-time comparing with initial cleaning routing information, to judge whether to exist the not path of cleaning.
S108: when the path is not cleaned in the judgement existence, intelligent robot will calculate the not routing information of cleaning according to completing routing information and initially cleaning routing information, and according to the remaining path of routing information cleaning of not cleaning.
S110: when judgement does not exist when not cleaning the path, show that cleaning works completes, control Intelligent sweeping machine device people and stop cleaning works.
Adopt the method for work of the first embodiment to complete cleaning works, the client need not real-time on-site supervision or operative intelligence sweeping robot, and only need original cleaning routing information be set in Intelligent sweeping machine device people inside, and the order to a startup of sweeping robot gets final product when the cleaning beginning, sweeping robot will independently be completed cleaning works according to the sweep-out pattern of client's design afterwards, save client's time and labour.Initial path information wherein is in the situation that purging zone and inner ornaments are constant, can repeatedly use, certainly, if the client has a plurality of purging zones, the path of the original cleaning of cover more than also can arranging in Intelligent sweeping machine device people inside, when Intelligent sweeping machine device people entered wherein certain purging zone, the original cleaning path of transferring this zone correspondence got final product.
Simultaneously the method for the present embodiment will be completed that path information storage is got up and compare in real time with initial cleaning routing information, do not clean routing information in time to provide, sweeping robot does not carry out following cleaning works and just can avoid the work that repeats to clean according to cleaning routing information like this, namely saved the cleaning time, the energy waste of also having avoided the duplication of labour to bring.
According to embodiments of the invention, provide further improved the second embodiment of the first embodiment.Fig. 2 is the method flow diagram of second embodiment of the inventive method, and embodiment compares with the first, and the method also comprises:
S112: detect initially whether have barrier on the cleaning path.the initial cleaning routing information that we are stored in Intelligent sweeping machine device people is the routing information of a normality of purging zone, and in concrete the application, we can place some article at purging zone unavoidably temporarily, when having placed these article, Intelligent sweeping machine device people will bump against these interim article of placing in the process of cleaning according to initial cleaning path, at this moment, should clash into by the little tactile inductive switching of installing at the front end of robot direct of travel, and this hitting information is fed back to robot, the existence of barrier in the time of just can detection machine people walking path.
If testing result is yes, execution in step S114: control detours to initial cleaning path along the barrier edge.In this process, turn left when the robot strikes obstacles (right-hand rotation) can be set, simultaneously, the place ahead, right side (left side) in robot installs an infrared inductor additional, exist in the situation that this infrared inductor is sensed barrier, robot is according to straight line moving, in the situation that this infrared inductor induction exists less than barrier, robot turns right, until robot arrives the initial path of cleaning.Afterwards, the further execution in step S116 of intelligent robot: the routing information stack of the routing information at barrier place and actual cleaning is become jointly complete routing information.Like this, in cleaning works afterwards, the path of the path at barrier place and actual cleaning is all as completing the path and no longer cleaning, and avoided Intelligent sweeping machine device people to repeat to clean and the possibility of strikes obstacles repeatedly.
If testing result is no, execution in step S106.
In addition, this embodiment also comprises the S118 step: after cleaning works stops, controlling the step that sweeping robot is got back to the work initial position.After Intelligent sweeping machine device people completes cleaning works, can seek nearest path, get back to the initial position of work, after cleaning works was completed, the client did not need manually the home position to be put go back to by robot, has realized the full-automation of cleaning works fully like this.
Adopt the method for work of the second embodiment to complete cleaning works, Intelligent sweeping machine device people can get around the article of temporarily putting in purging zone automatically, and can clean along the barrier edge, guaranteed the carrying out continuously of cleaning works, and guaranteed cleaning works complete, do not stay the dead angle.
According to embodiments of the invention, provide the further improved embodiment of the first embodiment.Fig. 3 is the third embodiment of the invention method flow diagram, and as shown in Figure 3, the method also comprises:
S120: whether the testing power supply is lower than the alarm electric weight.
If testing result is yes, execution in step S122 controls sweeping robot and gets back to initial position and charge, and once job site on returning after charging is completed.In this step, preferred, Intelligent sweeping machine device people travels to and fro between between initial position and job site according to nearest path.
If testing result is no, this execution in step S106.
In Intelligent sweeping machine device people use procedure, in order to reduce power line to restriction and the obstruction of cleaning works, the preferred self-contained rechargable power supplies of Intelligent sweeping machine device people that adopts provides power supply for Intelligent sweeping machine device people, but, this power supply mode is when the area of purging zone is too large, when Intelligent sweeping machine device people's cleaning works is not also completed, just the situation of electric quantity of power supply deficiency might appear, if this moment is untimely to charging, will cause cleaning works to proceed, cleaning works can't be completed.
Adopt the method for work of the 3rd embodiment to complete cleaning works, the electric weight of the real-time rechargable power supplies that Intelligent sweeping machine device people is carried detects, when the electric weight of this power supply during lower than a certain predefined alarm value, controlling Intelligent sweeping machine device people gets back to initial position along nearest path and charges, can be back to again last job site after charging works on, so just guarantee the integrality of cleaning works, can not cause cleaning works to complete because of the purging zone area is excessive.
In the cleaning process of reality, having unavoidably depression on ground exists, although this situation is placed little many of probability that the situation of barrier occurs, but also can not be ignored, because the existence of recess may cause Intelligent sweeping machine device people to be absorbed in depression and can not carry out following cleaning works, therefore as a further improvement on the present invention, method of work of the present invention also comprises detecting initially cleans the step that whether has depression on the path, if testing result is yes, sends the depression information that exists; Carry out the step of induction depression size, and adjust actual cleaning path according to the depression dimension information, on control runs to original cleaning path along concave edges.Like this, in the situation that cleaning bottom surface existence depression, Intelligent sweeping machine device people can avoid recess smoothly, carries out following work, has guaranteed carrying out smoothly of whole cleaning works.Preferably, described method comprises also that routing information stack with the routing information at depression place and actual cleaning becomes jointly and completes routing information.Like this, in cleaning works afterwards, the path at the place of caving in and the path of actual cleaning are all as completing the path and no longer cleaning the possibility of having avoided Intelligent sweeping machine device people to repeat to clean.
When Intelligent sweeping machine device people cleans work to the bottom surface, the water tank that need to be arranged on Intelligent sweeping machine device people provides the water source, the water source be plentifully to clean the assurance that everything goes well with your work carries out, therefore as a further improvement on the present invention, method of work of the present invention comprises that also water level in monitoring water tank is whether lower than the smallest limit value or higher than the step of maximum upper limit, if testing result is yes, send prompting.This alerting pattern can be the modes such as sound prompting, indicator lamp flicker prompting, and the water yield that is intended to allow the user be concerned about in water tank is in abnormal condition, in order in time adjust.
System embodiment
The present invention also provides a kind of Intelligent sweeping machine device people's work system.Fig. 4 is the structured flowchart of work system the first embodiment of the present invention.
This system comprises control module 11, cleaning module 12, memory module 13, detection of obstacles module 14, barrier induction module 15, power supply detection module 16 and rechargable power supplies (not marking in figure).
Control module 11 is connected with cleaning module 12, be used for initially to clean routing information and resolve to operational order, and further control cleaning module 12 and carry out this operational order, for example: according to the initial cleaning path of setting, control cleaning module 12 and with S type path, purging zone is cleaned, this control module 11 is programmable digital control system (PLC).
Cleaning module 12 can be to have floor sweeping function, wipe the ground function or integrate the plant equipment etc. of sweeping the floor and wiping the ground function, and its each structure all is controlled by control module 11.
Memory module 13 is connected with control module 11, cleaning module 12 respectively, be used for storing initial cleaning routing information, complete routing information, compare by initially cleaning routing information and completing routing information, judge whether to exist and do not clean the path, when the path is not cleaned in existence, calculate the not routing information of cleaning.
Detection of obstacles module 14 can be mounted in the advance little tactile switch of direction front end of Intelligent sweeping machine device people, and preferably this little tactile switch is to be arranged on advance a continuous little tactile switch of row of direction front end of Intelligent sweeping machine device people.When Intelligent sweeping machine device people and barrier bumped, little tactile switch can be sharp felt this collision, and will exist obstacle information to send to control module 11.
Barrier induction module 15 can be mounted in infrared induction device, laser sensor of Intelligent sweeping machine device people both sides etc., be used for after the detection of obstacles module detects the barrier existence, the domain of the existence of induction barrier, make Intelligent sweeping machine device people can be accurately carry out cleaning works along the barrier edge, do not stay the dead angle.
When having barrier on initial cleaning path, memory module 13 also is used for barrier place routing information is superposeed to be stored as with the actual routing information that clean completing routing information.
power supply detection module 16 is connected with rechargable power supplies with control module 11 respectively, whether be used for real-time detection rechargable power supplies electric weight lower than alarm value, when the rechargable power supplies electric weight being detected lower than alarm value, power supply detection module 16 sends a warning to control module 11, control module 11 is controlled immediately Intelligent sweeping machine device people and is got back to initial position along nearest path and charge, when the electric weight that rechargable power supplies detected until power supply detection module 16 is full of, send electric quantity of power supply to control module 11 and be full of information, control module control this moment Intelligent sweeping machine device people is back to the place of last work and proceeds cleaning works.
When cleaning works finished, control module 11 was used for controlling Intelligent sweeping machine device people and gets back to initial position.
Rechargable power supplies is connected with each consumer of Intelligent sweeping machine device people, is used for to each consumer power supply.
Adopt the Intelligent sweeping machine device people's of the present embodiment work system to carry out cleaning works, the client need not the work of real-time operation or monitoring intelligent sweeping robot, only need to arrange in the cleaning starting stage relevant parameter of cleaning, can independently complete whole cleaning works by Intelligent sweeping machine device people, saved the user time, reduced user's the amount of labour.
In addition, the Intelligent sweeping machine device people system of working of the present embodiment can walk around the barrier that is positioned on original cleaning path, guaranteed cleaning works continuously and the cleaning quality; The Intelligent sweeping machine device people of the present embodiment can in time return to initial position during lower than alarm value at the rechargable power supplies electric weight and charge, and again is back to last job site and works on, and has guaranteed the integrality of whole cleaning works; The Intelligent sweeping machine device people of this example auto-returned initial position after cleaning works stops has reduced the trouble of client's intelligent movable sweeping robot, and is convenient and strength-saving.
Preferably, as a kind of preferred embodiment of native system, this system also comprises the depression detection module, cleans on the path whether have depression for detection of initial, and in the situation that testing result is to be to send to control system 11 information that has depression.This depression detection module can be mounted in Intelligent sweeping machine device people advance the direction front end, towards the detector on ground, when detector detects the bottom surface and has depression, halt, and will exist depression information to send to control module 11.Coordinate with the depression detection module, this system also comprises the depression induction module, it can be mounted in edge, the Intelligent sweeping machine device people left and right sides or outstanding both sides of the edge, towards the detector on ground, be used for after the depression detection module detects the depression existence, the domain of the existence of induction depression, make Intelligent sweeping machine device people accurately to carry out cleaning works along concave edges, do not stay the dead angle.Described detector can be infrared induction device, laser sensor etc.
When having depression on initial cleaning path, the memory module 13 place routing information that also is used for cave in superposes to be stored as with the actual routing information that cleaned and completes routing information.
Preferably, a kind of preferred embodiment as native system, this system also comprises the water level detecting module, be used for when Intelligent sweeping machine device people cleans work to the bottom surface, if in real time the cistern water level on Intelligent sweeping machine device people being detected testing result is lower than the smallest limit value or higher than maximum upper limit, send prompting, the water yield that is intended to allow the user be concerned about in water tank is in abnormal condition, in order in time adjust.This alerting pattern can be the modes such as sound prompting, indicator lamp flicker prompting.
Above content is in conjunction with concrete preferred embodiment further description made for the present invention, can not assert that concrete enforcement of the present invention is only limited to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (14)
1. an Intelligent sweeping machine device people method of work comprises the following steps:
Receive initial cleaning routing information, and described initial cleaning routing information is resolved to operational order;
Carry out described operational order, carry out cleaning works;
Routing information is completed in storage, and will complete routing information and compare with initial cleaning routing information, judges whether to exist and does not clean the path; If judgment result is that to be, draw and do not clean routing information and proceed cleaning according to not cleaning routing information, if the determination result is NO, cleaning works stops.
2. the method for claim 1, it is characterized in that: described method also comprises:
Detect the initial step that whether has barrier on the path of cleaning, if testing result is yes, sends and have obstacle information;
On the step of induction barrier size, and adjust actual cleaning path according to the barrier dimension information, control run to original cleaning path along the barrier edge.
3. method as claimed in claim 2 is characterized in that: described method comprises that also the routing information with the barrier place becomes with the stack of actual cleaning routing information the step of completing routing information jointly.
4. the described method of claim as arbitrary in claim 1-3 is characterized in that: described method also comprises after cleaning works stops, and controls the step that sweeping robot is got back to initial position.
5. the method for claim 1, it is characterized in that: described method comprises that also whether the testing power supply is lower than the alarm electric weight, if testing result is yes, control sweeping robot and get back to initial position and charge, and on returning after charging is completed, once job site works on.
6. the method for claim 1, it is characterized in that: described method also comprises:
Detect the initial step that whether has depression on the path of cleaning, if testing result is yes, send the depression information that exists;
On the step of induction depression size, and adjust actual cleaning path according to the depression dimension information, control run to original cleaning path along concave edges.
7. the method for claim 1, it is characterized in that: described method also comprises:
Whether water level in monitoring water tank lower than the smallest limit value or higher than the step of maximum upper limit, if testing result is yes, sends prompting.
8. an Intelligent sweeping machine device people work system, it is characterized in that: described system comprises:
Control module is used for receiving initial cleaning routing information, and described initial cleaning routing information is resolved to operational order;
The cleaning module is used for carrying out described operational order, carries out cleaning works;
Memory module, routing information is completed in storage, and will complete routing information and compare with initial cleaning routing information, judges whether to exist and does not clean the path;
If judgment result is that to be, described control module also is used for drawing does not clean routing information and proceeds cleaning according to not cleaning routing information, if the determination result is NO, control module stops for controlling cleaning works.
9. system as claimed in claim 8, it is characterized in that: described system also comprises:
Obstacle detector cleans on the path whether have barrier for detection of initial, if testing result is yes, sends to control module and has obstacle information;
The barrier induction installation is used for the size of induction barrier, and the barrier dimension information is sent to control module;
Described control module also is used for walking the path according to existing obstacle information and barrier dimension information to adjust machine People's Bank of China, makes on it runs to original cleaning path along the barrier edge.
10. system as claimed in claim 8 is characterized in that: when having barrier on initial cleaning path, the routing information of completing of memory module storage is the stack of the routing information of actual cleaning and barrier place routing information.
11. system as claimed in claim 8 is characterized in that: described control module also is used for controlling sweeping robot and getting back to the work initial position after cleaning is completed.
Whether 12. system as claimed in claim 8 is characterized in that: described system also comprises power detection system,,, send charging to control module and remind if testing result is yes lower than the alarm electric weight for detection of working power;
Described control module is also got back to initial position for control sweeping robot when receiving that charging is reminded and is charged, and the job site that the control sweeping robot returns once after charging is completed works on.
13. system as claimed in claim 8 is characterized in that: described system also comprises:
The depression checkout gear cleans on the path whether have depression for detection of initial, if testing result is yes, sends to control module the depression information that exists;
The depression induction installation be used for the size that induction is caved in, and the dimension information that will cave in is sent to control module;
Described control module also is used for walking the path according to existing depression information and depression dimension information to adjust machine People's Bank of China, makes on it runs to original cleaning path along concave edges.
14. system as claimed in claim 8 is characterized in that: described system also comprises the water level monitoring module, is used for the water level situation of monitoring water tank, and the water level in monitoring water tank sends prompting during lower than the smallest limit value or higher than maximum upper limit.
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