CN104757909B - A kind of cleaning mode of clean robot - Google Patents
A kind of cleaning mode of clean robot Download PDFInfo
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- CN104757909B CN104757909B CN201410668350.5A CN201410668350A CN104757909B CN 104757909 B CN104757909 B CN 104757909B CN 201410668350 A CN201410668350 A CN 201410668350A CN 104757909 B CN104757909 B CN 104757909B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 132
- 230000009885 systemic effect Effects 0.000 claims abstract description 28
- 238000012790 confirmation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 24
- 230000004888 barrier function Effects 0.000 description 7
- 230000000712 assembly Effects 0.000 description 6
- 238000000429 assembly Methods 0.000 description 6
- 239000000126 substance Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 201000004569 Blindness Diseases 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000005295 random walk Methods 0.000 description 1
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention provides a kind of cleaning mode of clean robot, clean robot is in the cleaning mode successively the following steps are included: a. clean robot carries out Coarse Acquisition to working environment and confirm the step of it has entered a depletion region into a working region；B. clean robot is the step of the depletion region carries out all standing cleaning；When clean robot carries out all standing cleaning, path coverage density is greater than path coverage density of the clean robot in Coarse Acquisition；C. clean robot meets the step of cleaning mode described in systemic presupposition condition backed off after random.The present invention can blindly clean in zone of ignorance to avoid clean robot, repeat cleaning to increase cleaning time and reduce cleaning efficiency.
Description
Technical field
The present invention relates to the control field of clean robot more particularly to the cleaning modes of clean robot.
Background technique
Clean robot is that one kind can carry out cleaning without the intelligent appliance of manual operation automatically comprising
For driving clean robot in the driving wheel module and dynamical system of ground running, for being cleaned when walking to ground
Cleaning module, for control robot by embedded program carry out cleaning and avoiding obstacles control system and for visiting
Survey working environment, path navigation, positioning various sensors.Clean robot is when being cleaned, according to setting for embedded program
Fixed, there are many operating paths, for example, along barrier edge walking along obstacle mode, encounter left after obstacle immediately it is random
Mode, encounter rubbish concentration it is more when carry out clean local cleaning mode of emphasis etc., under a variety of different modes, cleaning
There is corresponding cleaning path in robot.European patent specification EP1395888B1 discloses a kind of multi-mode covering automatic machine
The system and method for device people, the patent provides a variety of cleaning modes of clean robot, but these cleaning modes are also insufficient
To cope with the various working environments that clean robot is faced.
Summary of the invention
The present invention provides a kind of cleaning mode of clean robot, and the cleaning mode can be to avoid clean robot one
The problem of blindness of working region is cleaned and reduces cleaning efficiency in a relatively spacious region.The present invention is realized in
:
A kind of cleaning mode of clean robot, it is characterised in that: clean robot successively wraps in the cleaning mode
Include following steps:
A. clean robot enters a working region, carries out Coarse Acquisition to working environment and confirms that it has entered one
The step of depletion region；
B. clean robot is the step of the depletion region carries out all standing cleaning；It is clear that clean robot carries out all standing
When clean, path coverage density is greater than path coverage density of the clean robot in Coarse Acquisition；
C. clean robot meets the step of cleaning mode described in systemic presupposition condition backed off after random.
According to above-mentioned steps, clean robot first carries out Coarse Acquisition when entering a unknown cleaning region,
And determine that it enters a spacious region, all standing cleaning is then carried out again, finally meets systemic presupposition in clean robot
Cleaning mode described in condition (preset condition here refers to the preset condition for exiting the cleaning mode) backed off after random.It in this way can be with
It avoids clean robot from blindly cleaning in zone of ignorance, repeat cleaning to increase cleaning time and reduce cleaning efficiency.
Specifically, in a step, the clean robot is random to select when carrying out Coarse Acquisition to working environment
A kind of motion path (can be zigzag, pentalpha or random motion etc.) is selected, and records the clean robot during exercise
With the time interval or the distance between collision every time of barrier crash number or collision；When (such as 1 minute within the predetermined time
It is interior), the collision frequency of clean robot is less than systemic presupposition value (such as 6 beats/min) or in scheduled collision frequency (such as 6
It is secondary) in, there is the collision interval of scheduled collision frequency (such as 5 times) to be greater than systemic presupposition value (at least 5 in 6 collisions
Secondary time interval is greater than 5 seconds) or in predetermined collision frequency (such as 6 times), there is touching for scheduled collision frequency (such as 5 times)
It the distance between hits and to be greater than systemic presupposition value (the collision spacing of at least 5 times collisions are greater than 2.5 meters in 6 collisions), then clean
Robot confirms that it has entered a depletion region.
Specifically, in a step, to ground while the clean robot is to working environment progress Coarse Acquisition
It is cleaned.
Further, in the b step, when clean robot carries out all standing cleaning, cleaning power is greater than in institute
State cleaning power when clean robot described in a step carries out Coarse Acquisition to working environment.
Specifically, in a step, when clean robot carries out Coarse Acquisition to working environment, in the detecting area
At least two key points are recorded in domain, including starting point and a key point farthest away from the starting point；In the b
In step, clean robot carries out at least covering the key point when all standing cleaning；Clean robot is in the step c
In, systemic presupposition condition is that confirmation clean robot carries out after having covered the key point when all standing cleaning, exits institute
State cleaning mode.
In other embodiments, in the step c, systemic presupposition condition is clean robot when all standing is cleaned,
The collision frequency of clean robot and obstacle or the time interval collided every time are recorded during exercise or per between collision twice
Distance；When within the predetermined time (such as in 1 minute), the collision frequency of clean robot is greater than systemic presupposition value (such as 6
Beat/min) or in scheduled collision frequency (such as 6 times), there is the collision interval of scheduled collision frequency (such as 5 times)
Less than systemic presupposition value (at least 5 times time intervals are greater than 5 seconds in 6 collisions) or in predetermined collision frequency (such as 6 times)
It is interior, there is the distance between collision of scheduled collision frequency (such as 5 times) to be less than systemic presupposition value (at least 5 times in 6 collisions
The collision spacing of collision is greater than 2.5 meters), then clean robot exits the cleaning mode.
Specifically, in the b step, clean robot is clear to depletion region progress all standing to bend vee path V
It is clean.
In other embodiments, in the b step, clean robot carries out the depletion region with zigzag path
All standing cleaning.
In other embodiments, in the b step, clean robot carries out the depletion region with E vee path V
All standing cleaning.
In other embodiments, in the b step, clean robot carries out the depletion region with spirality path
All standing cleaning, the spiral shape include circle spiral and square spiral.
In other embodiments, in the b step, clean robot carries out the depletion region with latticed path
All standing cleaning.
The utility model has the advantages that clean robot of the present invention first carries out Coarse Acquisition to a unknown working region, and
After confirming that it has entered a depletion region, all standing cleaning is carried out to the region, avoid to the cleaning of the blindness in the region and
Reduce cleaning efficiency.
Detailed description of the invention
Fig. 1 show a kind of schematic perspective view of clean robot；
Fig. 2A show the bottom substance schematic diagram of clean robot shown in FIG. 1；
Fig. 2 B show another bottom substance schematic diagram of clean robot shown in FIG. 1；
Fig. 3 show the flow diagram of the cleaning mode of the clean robot of embodiment offer；
Fig. 4 show flow diagram of the clean robot when carrying out Coarse Acquisition to working region；
Fig. 5 show clean robot and confirms that it enters the schematic diagram of a depletion region with zigzag path；
Fig. 6 show clean robot to return origin after zigzag path shown in fig. 5 movement, to confirm its entrance
The schematic diagram of one depletion region；
Fig. 7 show clean robot and confirms that it enters the schematic diagram of a depletion region with random motion mode；
Fig. 8 show clean robot with the path movement of pentalpha to confirm that it enters the signal of a depletion region
Figure；
Fig. 9 show clean robot with the movement path of another pentalpha to confirm that it enters a spaciousness
The schematic diagram in region；
Figure 10 show clean robot to bend vee path V to depletion region and carry out the clean schematic diagram of all standing；
Figure 11 show clean robot and carries out the clean schematic diagram of all standing to depletion region with zigzag path
Figure 12 show clean robot and carries out the clean schematic diagram of all standing to depletion region with E vee path V；
Figure 13 show clean robot to justify screw to depletion region and carry out the clean schematic diagram of all standing；
Figure 14 show clean robot and carries out the clean schematic diagram of all standing with depletion region described in square screw team；
Figure 15 show clean robot and carries out the clean schematic diagram of all standing to the depletion region with latticed path.
Figure 16 show clean robot and confirms that it enters another schematic diagram of a depletion region with random motion；
Figure 17 show the schematic diagram for the depletion region that clean robot people confirms in working region；
Figure 18 show clean robot to bend the schematic diagram of depletion region shown in vee path V coverage diagram 17.
Specific embodiment
In order to enable the object, technical solutions and advantages of the present invention are more clearly understood, with reference to the accompanying drawings and embodiments
The present invention is described in further details.
It is as shown in Figure 1 a kind of schematic perspective view of clean robot 100, Fig. 2 show cleaner shown in FIG. 1
The bottom substance schematic diagram of device people 100.Clean robot 100 is mounted on clear including the pedestal 1 for installing each components
The cover 2 on clean 100 top of robot, is mounted on the collision cover board 3 of 100 front of clean robot.Pacify inside clean robot 100
Equipped with cleaning vacuum plant (not shown), air outlet 4 is set to the tail portion of the clean robot 100.Clean robot
Left-right parts among 100 bottom are equipped with for driving clean robot 100 in the driving wheel 5 of ground running, before bottom
End is equipped with universal wheel 6, and universal wheel 6 and two driving wheels 5 form 3 fulcrums, support clean robot 100 in ground running.Clearly
Clean 100 bottom of robot is additionally provided with cleaning assemblies 7, and cleaning assemblies 7 is set between two driving wheels 5.7 rear of cleaning assemblies is equipped with
For collecting the dustbin 8 of rubbish, dustbin 8 is equipped with the suction connecting with the cleaning vacuum plant inside clean robot 100
Suction inlet S is elongated in dirt mouth S, Fig. 2A, is set to 7 rear of cleaning assemblies and (makees by front of the direction of advance of clean robot
For reference, in Fig. 2A and Fig. 2 B, filled arrows indicate the direction of advance of robot).It is set on the cleaning assemblies 7 of the present embodiment diagram
There is Clean Brush for cleaning 71 and 72, when clean robot 100 is walked on the ground, Clean Brush for cleaning rotation is cleaned ground, ground
The rubbish in face is swept into dustbin 8, meanwhile, cleaning vacuum plant carries out dust suction to the dust that Clean Brush for cleaning raises.Such as Fig. 2 B institute
It is shown as another bottom substance schematic diagram of clean robot, this clean robot bottom only has a suction inlet S ', do not have
Clean Brush for cleaning, suction of the suction usually than clean robot shown in Fig. 2A are more powerful.It is additionally provided on clean robot various
For detection operations environment, path navigation.The various sensors (not indicated in figure) of positioning.When clean robot enters one
When relatively spacious working region, the present invention provides the cleaning modes for being directed to the region.Skill of the invention is described in detail below
Art scheme.
It is illustrated in figure 3 a kind of schematic diagram of the cleaning mode of clean robot provided by the invention, clean robot 100
In the cleaning mode successively the following steps are included:
A. clean robot enters a working region, carries out Coarse Acquisition to working environment and confirms that it has entered one
The step of depletion region；
B. for clean robot the step of the depletion region carries out all standing cleaning, it is clear that clean robot carries out all standing
When clean, path coverage density is greater than path coverage density of the clean robot in Coarse Acquisition；
C. clean robot meets the step of cleaning mode described in systemic presupposition condition backed off after random.
According to above-mentioned steps, clean robot 100 is first visited roughly when entering a unknown cleaning region
It surveys, and determines that it enters a spacious region, then carry out all standing cleaning again, finally cover the depletion region backed off after random
The cleaning mode.It can blindly be cleaned in zone of ignorance to avoid clean robot in this way, repeat cleaning to increase clearly
The clean time and reduce cleaning efficiency.
Depletion region of the present invention, which refers to, meets fixed condition set by cleaning robot system (will be described hereinafter)
Region.Depletion region i.e. described here refers to opposite depletion region, and clean robot carries out complete in the depletion region
The barrier encountered when covering cleaning is less, and clean robot has higher cleaning efficiency and cleaning effect.
All standing cleaning of the present invention refers to that path coverage density is greater than the clean robot in Coarse Acquisition
When path coverage density, and its cleaning path has specific sports rule, and cleaning path can be substantially over entire sky
Spacious region.
It should be noted that if clean robot is in a step, when to the Coarse Acquisition of working environment, working environment is simultaneously
It is unsatisfactory for the condition of a depletion region, then, b step is not carried out in clean robot, only confirmed a spacious job
After environment, clean robot can just execute b step, if clean robot can not confirm a depletion region, cleaner always
Device people executes other cleaning modes.Essence of the invention is that a depletion region is found in working region, thus in the area
Domain executes all standing cleaning, improves cleaning efficiency, avoids blindly being cleaned in depletion region, repeats cleaning and reduce cleaning
Efficiency.
It is illustrated in figure 4 clean robot and determines that it has entered the judgment method schematic diagram an of depletion region.In a
In step, the clean robot 100 randomly chooses a kind of motion path when carrying out Coarse Acquisition to working environment, and
The number or the distance between collision interval or each collision of collision are recorded in movement；When within the predetermined time (such as 1
In minute), the collision frequency of clean robot is less than systemic presupposition value (such as 6 beats/min) or in scheduled collision frequency (example
Such as 6 times) in, there is the collision interval of scheduled collision frequency (such as 5 times) to be greater than systemic presupposition value (in 6 collisions at least
There are 5 time intervals to be greater than 5 seconds) or in predetermined collision frequency (such as 6 times), there is scheduled collision frequency (such as 5 times)
The distance between collision be greater than systemic presupposition value (the collision spacing of at least 5 times collisions are greater than 2.5 meters in 6 collisions), then
Clean robot confirms that it has entered a depletion region.
Fig. 5 to Fig. 9 shows clean robot, and entering a working region, (in the present embodiment, working region is boundary 9
The region surrounded) after, several different walking paths when Coarse Acquisition are carried out to working environment, arrow direction indicates in each figure
The direction of motion of clean robot 100.
Specifically, in Fig. 5, the clean robot is walked with zigzag；Clean robot 100 by the lower right corner to the left
Walking encounters the oblique right side walking of one angle of rotation behind boundary 9, rotates an angle again (so that with setting out after encountering boundary 9
When direction it is roughly the same) backward left lateral walks, stops until encountering boundary 9；In Fig. 6, clean robot 100 is with Z as shown in Figure 5
Origin is returned to after font walking；In Fig. 7, clean robot random motion, when encountering boundary 9(wall or barrier), then change
Become the direction of motion far from barrier；In Fig. 8, clean robot 100 is using pentalpha as motion path；In Fig. 9, clean robot
Using another pentalpha as motion path.In above diagram, when within the predetermined time, when within the predetermined time,
The collision frequency of clean robot has the collision of scheduled collision frequency less than systemic presupposition value or in scheduled collision frequency
Time interval is greater than systemic presupposition value or in predetermined collision frequency, has the distance between the collision of scheduled collision frequency to be greater than
Systemic presupposition value, then clean robot confirms that it has entered a depletion region.
Specifically, in a step, clean robot 100 to working environment carry out Coarse Acquisition while also to ground into
Row cleaning, i.e., in Fig. 5 into motion path shown in Fig. 9, clean robot 100 simultaneously cleans ground.A kind of implementation
In example, in b step, when clean robot 100 carries out all standing cleaning, cleaning power is greater than the clean robot thick
Cleaning power when slightly cleaning.
In a step, when clean robot 100 is to working environment progress Coarse Acquisition (as shown in Figures 5 to 9
Path), at least two key point K1 and K2 are recorded in the search coverage, including starting point K1 and one farthest away from
The key point K2 of the starting point K1；In the b step, clean robot 100 at least to cover when all standing cleaning
The key point K1 and K2；For clean robot in the step c, systemic presupposition condition is that confirmation clean robot 100 carries out
After all standing has covered the key point K1 and K2 when cleaning, the cleaning mode is exited.
Figure 10 to Figure 15 shows several different cleaning paths of the clean robot when carrying out all standing cleaning, each to scheme
In arrow indicate clean robot moving direction.In the present embodiment, as shown in Fig. 5 to Figure 15, the work that is surrounded due to boundary 9
Make without barrier among region, therefore the working region that boundary 9 surrounds is defined as a depletion region by clean robot.
Specifically, Tu10Zhong, clean robot carry out all standing cleaning to bend vee path V to the depletion region.Cleaning
Robot 100 walks to the right from the off, and arrival 9 rear steering of boundary moves down a distance rear steering and walks to the left, arrives
A distance is moved down again after up to boundary 9 to walk to the right again, so repeats down, walks back and forth, advance downwardly, until covering
Entire depletion region.Since the walking path of clean robot is superimposed similar to multiple " bow " fonts, it is defined as " bow
Vee path V ".
In Figure 11, clean robot carries out all standing cleaning to the depletion region with zigzag path.Clean robot
100 walk to the right by starting point, and pivot stud reaches pivot stud court behind boundary 9 towards the oblique walking in left side after reaching boundary 9
Right side walking, so repeats down, walks back and forth, advance downwardly, until covering entire depletion region.Due to clean robot
Walking path is superimposed similar to multiple " Z " fonts, therefore is defined as " zigzag path ".It should be noted that shown in Figure 11
Zigzag path it is bigger than the density of zigzag shown in fig. 5, the cleaning assemblies of clean robot 100 can be covered substantially entirely
Depletion region.
In Figure 12, clean robot carries out all standing cleaning to the depletion region with E vee path V.Clean robot
Then 100 first run to the right from starting point to boundary 9, then backtracking move down a distance to starting point, then move right
It moves to boundary 9, then backtracking.That is, left and right is cleaned back and forth, a distance, then left and right is promoted to clean back and forth still further below, still further below
It promotes, so repeats, walk back and forth, advance downwardly, until covering entire depletion region.Since its motion path is similar to multiple
The superposition of " E " font, therefore it is defined as " E vee path V ".
In Figure 13 and Figure 14, clean robot carries out all standing cleaning to the depletion region with spirality path, wherein
Figure 13 show round spiral path, the side of showing Figure 14 spiral path.
In Figure 15, clean robot 100 carries out all standing cleaning to the depletion region with latticed path, is equivalent to cross
Superposition to " bow font " path and longitudinal " bow vee path V ".Due to the path be similar to it is latticed, which is determined
Justice is " latticed path ".
Clean robot is when carrying out all standing cleaning, other than Figure 10 to path shown in figure 15, can also there are many
Overlay path, the present invention are not necessarily to exhaustion herein, as long as path coverage density is greater than the clean robot in Coarse Acquisition work
Make path coverage density when environment, and its cleaning path has a specific sports rule, cleaning path can be substantially over
The present invention can be achieved in the path of entire depletion region.
In other embodiments, as shown in figure 16, in the working region that boundary 9 surrounds, be dispersed with three barriers 91,
92,93；Clean robot 100 selects random walk to carry out Coarse Acquisition to working environment in working region, when scheduled
In, such as in 1 minute, 6 collisions are had occurred in clean robot 100, less than the threshold value (example of cleaning robot system setting
Such as 8 beats/min), then clean robot 100 confirms that it is entered a depletion region (Figure 17 dotted line area defined), and
Selection " bow font " path carries out all standing cleaning to the depletion region, as shown in figure 18.Clean robot 100 is to workspace
When domain carries out Coarse Acquisition, three key points K1, K2 and K3 are had recorded, wherein K1 is that clean robot carries out slightly working environment
Starting point when slightly detecting；K2 is the point farthest away from K1；K3 is point when colliding in working region with obstacle 93.Clean machine
People 100 is when carrying out all standing cleaning to depletion region, after clean robot covers three key point K1, K2 and K3, i.e.,
The cleaning mode can be exited.
In other embodiments, in the step c, systemic presupposition condition is clean robot when all standing is cleaned,
The collision frequency of clean robot and obstacle or the time interval collided every time are recorded during exercise or per between collision twice
Distance；When within the predetermined time (such as in 1 minute), the collision frequency of clean robot is greater than systemic presupposition value (such as 6
Beat/min) or in scheduled collision frequency (such as 6 times), there is the collision interval of scheduled collision frequency (such as 5 times)
Less than systemic presupposition value (at least 5 times time intervals are greater than 5 seconds in 6 collisions) or in predetermined collision frequency (such as 6 times)
It is interior, there is the distance between collision of scheduled collision frequency (such as 5 times) to be less than systemic presupposition value (at least 5 times in 6 collisions
The collision spacing of collision is greater than 2.5 meters), then clean robot exits the cleaning mode.
The foregoing is merely presently preferred embodiments of the present invention, and not to limit the present invention, those skilled in the art may be used also
Several differentiation, all modifications made in design of the invention, improvement, equivalent replacement are made with the description according to above embodiments
Deng should be included within the scope of the present invention.
Claims (9)
1. a kind of cleaning mode of clean robot, it is characterised in that: clean robot successively includes in the cleaning mode
Following steps:
A. clean robot enters a working region, carries out Coarse Acquisition to working environment and confirms that it has entered a spaciousness
The step of region；In a step, the clean robot is when carrying out Coarse Acquisition to working environment, random selection one
Kind motion path, and the collision frequency or the time interval collided every time or every two of clean robot and obstacle are recorded during exercise
The distance between secondary collision；In scheduled collision frequency, there is the collision interval of scheduled collision frequency to be greater than system
Preset value or in predetermined collision frequency has the distance between collision of scheduled collision frequency to be greater than systemic presupposition value, then clearly
Clean robot confirms that it has entered a depletion region；
B. clean robot is the step of the depletion region carries out all standing cleaning；Clean robot carries out all standing cleaning
When, path coverage density is greater than path coverage density of the clean robot in Coarse Acquisition；
C. clean robot meets the step of cleaning mode described in systemic presupposition condition backed off after random.
2. cleaning mode according to claim 1, it is characterised in that: in a step, the clean robot is to work
Make environment clean ground while Coarse Acquisition.
3. cleaning mode according to claim 2, it is characterised in that: in the b step, the clean robot is carried out
When all standing is cleaned, cleaning power is greater than the clean robot described in a step and carries out Coarse Acquisition to working environment
When cleaning power.
4. cleaning mode according to claim 1, it is characterised in that: in a step, clean robot is to building ring
When border carries out Coarse Acquisition, at least two key points are recorded in the search coverage, it is farthest including starting point and one
Key point from the starting point；In the b step, clean robot carries out at least covering the pass when all standing cleaning
Key point；In the step c, confirmation clean robot carries out having covered the key when all standing cleaning clean robot
After point, the cleaning mode is exited.
5. cleaning mode according to claim 1, it is characterised in that: in the step c, systemic presupposition condition is described
The collision frequency or collision every time that clean robot records the clean robot and obstacle when all standing is cleaned during exercise
Time interval or per twice collision the distance between；It is when within the predetermined time, the collision frequency of clean robot is greater than
Unite preset value or in scheduled collision frequency, have the collision interval of scheduled collision frequency be less than systemic presupposition value or
In predetermined collision frequency, there is the distance between collision of scheduled collision frequency to be less than systemic presupposition value, then the cleaning machine
People exits the cleaning mode.
6. cleaning mode according to any one of claims 1 to 5, it is characterised in that: in the b step, clean machine
People carries out all standing cleaning to bend vee path V or zigzag path to the depletion region.
7. cleaning mode according to any one of claims 1 to 4, it is characterised in that: in the b step, clean machine
People carries out all standing cleaning to the depletion region with E vee path V.
8. cleaning mode according to any one of claims 1 to 4, it is characterised in that: in the b step, clean machine
People carries out all standing cleaning to the depletion region with spirality path, and the spiral shape includes circle spiral and square spiral.
9. cleaning mode according to any one of claims 1 to 4, it is characterised in that: in the b step, clean machine
People carries out all standing cleaning to the depletion region with latticed path.
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| CN201410668350.5A CN104757909B (en) | 2015-01-22 | 2015-01-22 | A kind of cleaning mode of clean robot |
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| CN201410668350.5A CN104757909B (en) | 2015-01-22 | 2015-01-22 | A kind of cleaning mode of clean robot |
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| CN104757909B true CN104757909B (en) | 2019-09-10 |
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| CN106020186A (en) * | 2016-05-13 | 2016-10-12 | 北京合众思壮科技股份有限公司 | Automatic driving method and device |
| CN108733037B (en) * | 2017-04-17 | 2021-03-16 | 哈工大机器人集团股份有限公司 | Avoidable sweeping method of sweeping robot |
| CN106970623B (en) * | 2017-04-18 | 2021-05-25 | 杭州匠龙机器人科技有限公司 | Intelligent cleaning device and grid path operation method thereof |
| CN107247454A (en) * | 2017-05-31 | 2017-10-13 | 珠海市微半导体有限公司 | Robot motion's covering method of random defined area |
| CN107224249B (en) * | 2017-07-06 | 2022-03-11 | 北京小米移动软件有限公司 | Cleaning operation execution method and device of cleaning equipment and readable storage medium |
| CN108415421A (en) * | 2018-01-26 | 2018-08-17 | 广东宝乐机器人股份有限公司 | Method for improving corner coverage rate of mobile robot |
| CN108196555B (en) * | 2018-03-09 | 2019-11-05 | 珠海市一微半导体有限公司 | The control method that autonomous mobile robot is walked along side |
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