CN105068540B - Cleaning method and device in a kind of smart home robot chamber - Google Patents

Cleaning method and device in a kind of smart home robot chamber Download PDF

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Publication number
CN105068540B
CN105068540B CN201510528270.4A CN201510528270A CN105068540B CN 105068540 B CN105068540 B CN 105068540B CN 201510528270 A CN201510528270 A CN 201510528270A CN 105068540 B CN105068540 B CN 105068540B
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China
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smart home
motion track
device
terminal device
zigbee
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CN201510528270.4A
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Chinese (zh)
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CN105068540A (en
Inventor
邓志忠
吕诗雯
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深圳市奥亚电子有限公司
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Publication of CN105068540A publication Critical patent/CN105068540A/en
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Abstract

The present invention relates to Smart Home technical field, there is provided cleaning method and device in a kind of smart home robot chamber.Wherein, the interior includes at least three ZigBee anchor nodes, including one or more supports the terminal device of Zigbee protocol, and this method includes, and the terminal device completes indoor positioning by Zigbee protocol and at least three ZigBee anchor nodes;Record user carries the motion track of the terminal device indoors;If there is multiple users, the motion track of the user in the case of record carried terminal equipment;The motion track of one or more of users is transferred in smart home robot, and the smart home robot analyzes cleaning path according to motion track is received.Present invention utilizes the function for the terminal device records user's motion track for supporting Zigbee protocol, and the motion track is fed back into smart home indoor floor-sweeping machine device people, path is targetedly cleaned so as to be provided to the indoor floor-sweeping machine device people.

Description

Cleaning method and device in a kind of smart home robot chamber

【Technical field】

The present invention relates to Smart Home technical field, in more particularly to a kind of smart home robot chamber cleaning method and Device.

【Background technology】

Current smart home product, Intelligent hardware product flourishes, and intelligent robot also enters into rapidly the life of people. What is used in mesh family has intelligent sweeping, and intelligent sound accompanies robot.However, existing intelligent sweeping does not have but So-called intelligence is reached, is avoided when being at most exactly and can run into obstacle, and possesses cleaning strategy planned in advance, example It is such as tactful as cleaning using the progressive spiral path of ecto-entad.

The problem of prior art has general character is can't to distinguish indoor situations, but is full side after each start The cleaning of position, this not only reduced by only cleaning speed, also bring the waste in resource.

In consideration of it, overcoming the defect present in the prior art to be the art urgent problem to be solved.

【The content of the invention】

The technical problem to be solved in the present invention is to provide a kind of indoor cleaning method of more intelligent and high-efficiency and device, so that Overcome in the prior art intelligence it is step-by-step according to being previously set path policy, and using by the way of avoiding and completing cleaning.

The technical problem of the invention further to be solved is to provide cleaning method and dress in a kind of smart home robot chamber Put.

The present invention is adopted the following technical scheme that:

In a first aspect, the embodiments of the invention provide cleaning method in a kind of smart home robot chamber, interior is included extremely Few three ZigBee anchor nodes, include the terminal device of one or more support Zigbee protocol, specifically:

The terminal device completes indoor positioning by Zigbee protocol and at least three ZigBee anchor nodes;Record User carries the motion track of the terminal device indoors;If there is multiple users, in the case of record carried terminal equipment The motion track of user;The motion track of one or more of users is transferred in smart home robot, the intelligence Energy household robot analyzes cleaning path according to motion track is received.

It is preferred that, the terminal device completes indoor fixed by Zigbee protocol and at least three ZigBee anchor nodes Position, is specifically included

The terminal device sends localizer beacon signal with specified power to whole ZigBee wireless sensor networks;Each Anchor node is received after the localizer beacon signal, the performance number of localizer beacon signal is calculated respectively, by the performance number calculated Location data bag is packaged into corresponding anchor node network ID, the terminal device is sent to;The terminal device is according to positioning Performance number in packet calculates the distance between the node to be measured and each anchor node.

It is preferred that, the record user carries the motion track of the terminal device indoors, specifically includes:

The terminal device periodically sends localizer beacon with specified power to whole ZigBee wireless sensor networks Signal;Each anchor node is received after the localizer beacon signal, and the performance number of localizer beacon signal is calculated respectively, will be calculated Performance number and corresponding anchor node network ID be packaged into location data bag, be sent to the terminal device;The terminal device Performance number in location data bag calculates the distance between the node to be measured and each anchor node;According to the meter in cycle The distance calculated, is recorded as the motion track of user.

It is preferred that, the smart home robot is made up of clearing apparatus and drive device, and the drive device is specially The first terminal equipment, then the motion track of one or more of users be transferred in smart home robot, have Body includes:

First terminal equipment is after the drive device is installed to, and the first terminal equipment is set to other indoor each terminals Preparation send motion track request message;The carrying that the first terminal equipment receives other each terminal devices returns is each self-recording The message of motion track.

It is preferred that, the smart home robot analyzes cleaning path according to motion track is received, and specifically includes:

The first terminal equipment is by way of merging, by the motion track from other each terminal devices received It is integrated into a complete cleaning path.

The second aspect embodiment of the present invention additionally provides purging system in a kind of smart home robot chamber, and interior is included extremely Few three ZigBee anchor nodes, include the terminal device of one or more support Zigbee protocol, specifically:

The terminal device completes indoor positioning by Zigbee protocol and at least three ZigBee anchor nodes;It is described Terminal device by user when being carried, the motion track of record user indoors;If there is multiple users, the end entrained by everyone End equipment, records respective motion track;The motion track of one or more of users is transferred to smart home machine In people, the smart home robot analyzes cleaning path according to motion track is received.

It is preferred that, the terminal device completes indoor fixed by Zigbee protocol and at least three ZigBee anchor nodes Position, is specifically included

The terminal device sends localizer beacon signal with specified power to whole ZigBee wireless sensor networks;Each Anchor node is received after the localizer beacon signal, the performance number of localizer beacon signal is calculated respectively, by the performance number calculated Location data bag is packaged into corresponding anchor node network ID, the terminal device is sent to;The terminal device is according to positioning Performance number in packet calculates the distance between the node to be measured and each anchor node.

It is preferred that, the record user carries the motion track of the terminal device indoors, specifically includes:

The terminal device periodically sends localizer beacon with specified power to whole ZigBee wireless sensor networks Signal;Each anchor node is received after the localizer beacon signal, and the performance number of localizer beacon signal is calculated respectively, will be calculated Performance number and corresponding anchor node network ID be packaged into location data bag, be sent to the terminal device;The terminal device Performance number in location data bag calculates the distance between the node to be measured and each anchor node;According to the meter in cycle The distance calculated, is recorded as the motion track of user.

It is preferred that, the smart home robot is made up of clearing apparatus and drive device, and the drive device is specially The first terminal equipment, then the motion track of one or more of users be transferred in smart home robot, have Body includes:

First terminal equipment is after the drive device is installed to, and the first terminal equipment is set to other indoor each terminals Preparation send motion track request message;The carrying that the first terminal equipment receives other each terminal devices returns is each self-recording The message of motion track.

It is preferred that, the smart home robot analyzes cleaning path according to motion track is received, and specifically includes:

The first terminal equipment is by way of merging, by the motion track from other each terminal devices received It is integrated into a complete cleaning path.

The third aspect, the embodiment of the present invention additionally provides a kind of smart home indoor floor-sweeping machine device people's device, including cleans Device and at least one drive device, specifically:

The drive device is portable terminal device, for passing through Zigbee protocol and indoor at least three ZigBee anchor nodes complete indoor positioning;The drive device, is additionally operable to when being carried by user, the shifting of record user indoors Dynamic rail mark;If there is multiple drive devices, the drive device entrained by everyone records respective motion track;The driving dress Put and analyzed clearly for the motion track installed in the clearing apparatus, and according to itself and/or the motion track received Sweep path.

It is preferred that, the drive device also includes storage device, specifically:

The storage device be used for store doors structure figure, wherein, the doors structure figure be inputted by user or It is that positional information generation is gathered in cleaning process by smart home indoor floor-sweeping machine device people's device.

It is preferred that, the clearing apparatus specifically includes infrared sensor and motor power device, specifically:

The infrared sensor, which is used for sensing, to be needed to avoid object, and sensing data is sent into the drive device, so as to The drive device is calculated and decision-making goes out avoidance strategy;Motor power device is controlled to complete corresponding avoid.

It is preferred that, the drive device is specially smart mobile phone, intelligent watch, movement spire lamella or other supports ZigBee The portable equipment of agreement.

Compared with prior art, the beneficial effects of the present invention are:Present invention utilizes the terminal for supporting Zigbee protocol Equipment records the function of user's motion track, and the motion track is fed back into smart home indoor floor-sweeping machine device people, so as to Enough provided to the indoor floor-sweeping machine device people targetedly cleans path.Track is not movable by the user for those for a long time The region covered, can go to complete to clear up according to the cycle of setting, so as to ensure that the efficient and section in usually cleaning process Energy.

【Brief description of the drawings】

Fig. 1 is the schematic flow sheet of cleaning method in a kind of smart home robot chamber provided in an embodiment of the present invention;

Fig. 2 is the schematic flow sheet of cleaning method in a kind of smart home robot chamber provided in an embodiment of the present invention;

Fig. 3 is the schematic flow sheet of cleaning method in a kind of smart home robot chamber provided in an embodiment of the present invention;

Fig. 4 is purging system configuration diagram in a kind of smart home robot chamber provided in an embodiment of the present invention;

Fig. 5 is purging system configuration diagram in a kind of smart home robot chamber provided in an embodiment of the present invention;

Fig. 6 is the structural representation of clearing apparatus in a kind of smart home robot chamber provided in an embodiment of the present invention;

Fig. 7 is the structural representation of clearing apparatus in a kind of smart home robot chamber provided in an embodiment of the present invention;

Fig. 8 is the structural representation of clearing apparatus in a kind of smart home robot chamber provided in an embodiment of the present invention.

【Embodiment】

In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.

As long as in addition, technical characteristic involved in each embodiment of invention described below is each other not Constituting conflict can just be mutually combined.

Embodiment 1:

The embodiment of the present invention 1 provides cleaning method in a kind of smart home robot chamber, and interior includes at least three ZigBee anchor nodes, include the terminal device of one or more support Zigbee protocol, specifically:

In step 201, the terminal device is completed by Zigbee protocol and at least three ZigBee anchor nodes Indoor positioning.

Wherein, the ZigBee anchor nodes can be socket or the support for supporting ZigBee communication agreement The air-conditioning of ZigBee communication agreement, can also be the various household electrical appliance for supporting ZigBee communication agreement, can be used as this hair The ZigBee anchor nodes being previously mentioned in bright embodiment.

In step 202., record user carries the motion track of the terminal device indoors.

Wherein, the equipment for completing the writing function can be the terminal device itself or by Node in ZigBee gateways or ZigBee networkings is completed.

In step 203, if there is multiple users, the motion track of the user in the case of record carried terminal equipment.

In step 204, the motion track of one or more of users is transferred in smart home robot, institute State smart home robot and analyze cleaning path according to motion track is received.

Wherein, the transmission action has different implications in different application examples, specifically:

Example one, terminal device exists as the control core of smart home robot device, then transmission action now It is embodied in the foundation of the control link of the terminal device and smart home robot;

Example two, terminal device is used as the component units of purging system in smart home robot chamber, then transmission now Action is embodied in the control that motion track is sent to smart home robot by the terminal device in the form of packet Core.

Present invention utilizes the function for the terminal device records user's motion track for supporting Zigbee protocol, and this is moved Track feeds back to smart home indoor floor-sweeping machine device people, so as to provide targetedly clear to the indoor floor-sweeping machine device people Sweep path.The region that track is covered is not movable by the user for a long time for those, can go to complete according to the cycle of setting Cleaning, so as to ensure that the efficient and energy-conservation in usually cleaning process.

In the range of the protection of the present invention, the terminal device can be single equipment, for example smart mobile phone, intelligence The portable equipment of wrist-watch, movement spire lamella or other support Zigbee protocols;These equipment are preferably able to record that the shifting of user Dynamic rail mark, and it is sent to smart home robot (as shown in Figure 6).The terminal device can be to be embedded in work in combination mode Worked together with the smart home robot, fixing groove is provided with the middle of the shell of smart home robot as shown in Figure 7, can Terminal device for installing the support ZigBee, so that directly collected by the terminal device and motion track is provided, with Toilet states the cleaning works on smart home robot completion correspondence motion track, wherein, the terminal device and the intelligence It can be set up and connected by cable network or wireless network between household robot.

With reference to the embodiment of the present invention, there is a kind of preferred implementation, wherein, system architecture as shown in Figure 4 and Figure 5, The terminal device completes indoor by Zigbee protocol and at least three ZigBee anchor nodes (hereinafter referred to as anchor node) The implementation of positioning, as shown in Fig. 2 specifically including following steps:

In step 2011, the terminal device is positioned with specifying power to be sent to whole ZigBee wireless sensor networks Beacon signal.

In step 2012, each anchor node is received after the localizer beacon signal, and localizer beacon signal is calculated respectively Performance number, the performance number calculated and corresponding anchor node network ID are packaged into location data bag, the terminal is sent to Equipment.

In step 2013, performance number of the terminal device in location data bag calculate the node to be measured and The distance between each anchor node.

In concrete implementation environment, the number of the anchor node is probably upper ten, and (the example below is with 16 anchor nodes Exemplified by), now, the embodiment of the present invention additionally provides a kind of method of enhancing accuracy of judgement degree.Specifically, when between two radio frequencies When having a pedestrian, 30dBm will be reduced by receiving signal.In order to compensate this species diversity, and for positioning result accuracy Consideration, engine of positioning carries out related location Calculation (for example by according to the RSSI value from up to 16 radio frequencies:Ask 16 RSSI averages of radio frequency, or give and averaged after different weights etc., and in the hope of average be used as positioning reference value).

With reference to the embodiment of the present invention, there is a kind of preferred implementation, wherein, the record user carries institute indoors The implementation of the motion track of terminal device is stated, as shown in figure 3, specifically including following steps:

In step 2021, the terminal device is periodically to specify power to whole ZigBee wireless sensor networks Send localizer beacon signal.

In step 2022, each anchor node is received after the localizer beacon signal, and localizer beacon signal is calculated respectively Performance number, the performance number calculated and corresponding anchor node network ID are packaged into location data bag, the terminal is sent to Equipment.

In step 2023, performance number of the terminal device in location data bag calculate the node to be measured and The distance between each anchor node.

In step 2024, according to the distance calculated in cycle, the motion track of user is recorded as.

With reference to the embodiment of the present invention, there is a kind of preferred implementation, wherein, the smart home robot is by cleaning Device and drive device are constituted, and the drive device is specially the shifting of first terminal equipment, then one or more of users Dynamic rail mark is transferred in smart home robot, is specifically included:

First terminal equipment is after the drive device is installed to, and the first terminal equipment is set to other indoor each terminals Preparation send motion track request message;The carrying that the first terminal equipment receives other each terminal devices returns is each self-recording The message of motion track.

With reference to the embodiment of the present invention, there is a kind of preferred implementation, wherein, the smart home robot is according to connecing Receive motion track and analyze cleaning path, specifically include:

The first terminal equipment is by way of merging, by the motion track from other each terminal devices received It is integrated into a complete cleaning path.

Embodiment two

The embodiment of the present invention additionally provides purging system in a kind of smart home robot chamber, as shown in Figures 4 and 5, indoor Including at least three ZigBee anchor nodes, including one or more supports the terminal device of Zigbee protocol, specifically:

The terminal device completes indoor positioning by Zigbee protocol and at least three ZigBee anchor nodes;It is described Terminal device by user when being carried, the motion track of record user indoors;If there is multiple users, the end entrained by everyone End equipment, records respective motion track;The motion track of one or more of users is transferred to smart home machine In people, the smart home robot analyzes cleaning path according to motion track is received.

With reference to the embodiment of the present invention, there is a kind of preferred implementation, wherein, the terminal device passes through ZigBee Agreement and at least three ZigBee anchor nodes complete indoor positioning, specifically include

The terminal device sends localizer beacon signal with specified power to whole ZigBee wireless sensor networks;

Each anchor node is received after the localizer beacon signal, and the performance number of localizer beacon signal is calculated respectively, will be counted The performance number and corresponding anchor node network ID calculated is packaged into location data bag, is sent to the terminal device;

Performance number of the terminal device in location data bag calculate the node to be measured and each anchor node it Between distance.

With reference to the embodiment of the present invention, there is a kind of preferred implementation, wherein, the record user carries institute indoors The motion track of terminal device is stated, is specifically included:

The terminal device periodically sends localizer beacon with specified power to whole ZigBee wireless sensor networks Signal;

Each anchor node is received after the localizer beacon signal, and the performance number of localizer beacon signal is calculated respectively, will be counted The performance number and corresponding anchor node network ID calculated is packaged into location data bag, is sent to the terminal device;

Performance number of the terminal device in location data bag calculate the node to be measured and each anchor node it Between distance;

According to the distance calculated in cycle, the motion track of user is recorded as.

With reference to the embodiment of the present invention, there is a kind of preferred implementation, wherein, the smart home robot is by cleaning Device and drive device are constituted, and the drive device is specially the first terminal equipment, then one or more of users Motion track be transferred in smart home robot, specifically include:

First terminal equipment is after the drive device is installed to, and the first terminal equipment is set to other indoor each terminals Preparation send motion track request message;

The first terminal equipment receives the message for each self-recording motion track of carrying that other each terminal devices are returned.

With reference to the embodiment of the present invention, there is a kind of preferred implementation, wherein, the smart home robot is according to connecing Receive motion track and analyze cleaning path, specifically include:

The first terminal equipment is by way of merging, by the motion track from other each terminal devices received It is integrated into a complete cleaning path.

Embodiment three

The embodiment of the present invention additionally provides a kind of smart home indoor floor-sweeping machine device people's device, is wrapped as shown in Fig. 6 and Fig. 8 Clearing apparatus and at least one drive device are included, specifically:

The drive device is portable terminal device, for passing through Zigbee protocol and indoor at least three ZigBee anchor nodes complete indoor positioning;

The drive device, is additionally operable to when being carried by user, the motion track of record user indoors;

If there is multiple drive devices, the drive device entrained by everyone records respective motion track;

The drive device is for the motion track installed in the clearing apparatus, and according to itself and/or receives Motion track analyze cleaning path.

With reference to the embodiment of the present invention, there is a kind of preferred implementation, wherein, the drive device also includes storage dress Put, specifically:

The storage device is used to store doors structure figure (as shown in Figure 5), wherein, the doors structure figure is by user What is inputted either gathers positional information generation by smart home indoor floor-sweeping machine device people's device in cleaning process.Its In, the most plain mode of user's input is exactly to obtain the layout structure figure on network.

With reference to the embodiment of the present invention, there is a kind of preferred implementation, wherein, the clearing apparatus specifically includes infrared Sensor and motor power device (not shown), as shown in figure 8, specifically:

The infrared sensor, which is used for sensing, to be needed to avoid object, and sensing data is sent into the drive device, so as to The drive device is calculated and decision-making goes out avoidance strategy;Motor power device is controlled to complete corresponding avoid.

With reference to the embodiment of the present invention, there is a kind of preferred implementation, wherein, the drive device is specially intelligent hand Machine, intelligent watch, movement spire lamella or other support Zigbee protocols portable equipment.

What deserves to be explained is, in information exchange, implementation procedure between module, unit in said apparatus and system etc. Hold, due to being based on same design with the processing method embodiment of the present invention, particular content can be found in the inventive method embodiment Narration, here is omitted.

Example IV

The present embodiment be based on the method described in the embodiment of the present invention one on the basis of, several applications under concrete scene are real Example.Specifically include:

Scene one:

User A is after going back home, and its smart mobile phone positions by ZigBee networkings and records the motion track of itself, When it prepares to exit house and when starting the smart home robot designed by the embodiment of the present invention, via the APP in smart mobile phone, Just now the user's motion track recorded is imported into smart home robot, now, smart home robot can then analyze use Family A movement locus, and design sweep-out pattern (can specifically use critical path method (CPM), do not repeat one by one herein).

Scene two:

User A and user B stayed at home and walked about, and it is desirable that starting smart home robot cleans family environment, now, User A and user B are the motion track records based on intelligent watch and Intelligent bracelet completion.When startup smart home robot When, it can travel through the terminal device registry of itself, and confirm that surrounding enviroment whether there is what is registered on terminal device registry Terminal device, if finding then transmission motion track request message, and intelligent watch and user B intelligent hand according to user A The motion track that ring is returned, by merging after the pretreatment of path (duplicate paths take one), designing sweep-out pattern (specifically can be with Using critical path method (CPM), do not repeat one by one herein).

Scene three:

User A is after going back home, and its smart mobile phone positions by ZigBee networkings and records the motion track of itself, When it wants to start the smart home robot designed by the embodiment of the present invention, smart mobile phone is directly placed on such as Fig. 6 by user A In the fixing groove of shown smart home robot, via the APP in smart mobile phone, according to the user's moving rail recorded just now Mark designs sweep-out pattern (can specifically use critical path method (CPM), do not repeat one by one herein), and keeping away using infrared sensor Allow mechanism, drive motor power set complete to clean the ergodic process in path.

Scene four:

User A is after going back home, and its Intelligent bracelet is positioned and recorded by ZigBee gateways described by ZigBee networkings The motion track of Intelligent bracelet, when the smart home robot designed by user's startup embodiment of the present invention, the intelligent family Occupy robot and send motion track request to ZigBee gateways, and after the message for carrying motion track is received, according to user Motion track designs sweep-out pattern (can specifically use critical path method (CPM), do not repeat one by one herein), and utilizes infrared sensing The avoidance mechanism of device, drive motor power set complete to clean the ergodic process in path.

Cognition based on those skilled in the art, by the present embodiment and each concrete scene, is deduced by rational, without Cleaning method and device belong to the protection model of the present invention in the smart home robot chamber visualized in the case of creativeness work Enclose.

One of ordinary skill in the art will appreciate that all or part of step in the various methods of embodiment is to lead to Cross program to instruct the hardware of correlation to complete, the program can be stored in a computer-readable recording medium, storage medium It can include:Read-only storage (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc..

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.

Claims (9)

1. a kind of cleaning method in smart home robot chamber, interior includes at least three ZigBee anchor nodes, it is characterised in that Include the terminal device of one or more support Zigbee protocol, specifically:
The terminal device completes indoor positioning by Zigbee protocol and at least three ZigBee anchor nodes;
Record user carries the motion track of the terminal device indoors;
If there is multiple users, the motion track of the user in the case of record carried terminal equipment;
The motion track of one or more of users is transferred in smart home robot, the smart home robot Cleaning path is analyzed according to motion track is received.
2. cleaning method in smart home robot chamber according to claim 1, it is characterised in that the terminal device leads to Cross Zigbee protocol and at least three ZigBee anchor nodes complete indoor positioning, specifically include:
The terminal device sends localizer beacon signal with specified power to whole ZigBee wireless sensor networks;
Each anchor node is received after the localizer beacon signal, and the performance number of localizer beacon signal is calculated respectively, will be calculated Performance number and corresponding anchor node network ID be packaged into location data bag, be sent to the terminal device;
Performance number of the terminal device in location data bag calculates the distance between node to be measured and each anchor node.
3. cleaning method in smart home robot chamber according to claim 1, it is characterised in that the record user exists The motion track of the indoor carrying terminal device, is specifically included:
The terminal device periodically sends localizer beacon signal with specified power to whole ZigBee wireless sensor networks;
Each anchor node is received after the localizer beacon signal, and the performance number of localizer beacon signal is calculated respectively, will be calculated Performance number and corresponding anchor node network ID be packaged into location data bag, be sent to the terminal device;
Performance number of the terminal device in location data bag calculates the distance between node to be measured and each anchor node;
According to the distance calculated in cycle, the motion track of user is recorded as.
4. cleaning method in smart home robot chamber according to claim 1, it is characterised in that the smart home machine Device people is made up of clearing apparatus and drive device, and the drive device is specially first terminal equipment, then one or many The motion track of individual user is transferred in smart home robot, is specifically included:
First terminal equipment is after the drive device is installed to, and the first terminal equipment is sent out to other indoor each terminal devices Send motion track request message;
The first terminal equipment receives the message for each self-recording motion track of carrying that other each terminal devices are returned.
5. cleaning method in smart home robot chamber according to claim 4, it is characterised in that the smart home machine Device people analyzes cleaning path according to motion track is received, and specifically includes:
The first terminal equipment is integrated the motion track from other each terminal devices received by way of merging Into a complete cleaning path.
6. a kind of smart home indoor floor-sweeping machine device people's device, it is characterised in that including clearing apparatus and at least one driving dress Put, specifically:
The drive device is portable terminal device, for passing through Zigbee protocol and at least three indoor ZigBee anchors Node completes indoor positioning;
The drive device, is additionally operable to when being carried by user, the motion track of record user indoors;
If there is multiple drive devices, the drive device entrained by everyone records respective motion track;
The drive device is for the motion track installed in the clearing apparatus, and according to itself and/or the shifting received Dynamic rail mark analyzes cleaning path.
7. smart home indoor floor-sweeping machine device people's device according to claim 6, it is characterised in that the drive device is also Including storage device, specifically:
The storage device be used for store doors structure figure, wherein, the doors structure figure be by user input either by Smart home indoor floor-sweeping machine device people's device gathers positional information generation in cleaning process.
8. smart home indoor floor-sweeping machine device people's device according to claim 6, it is characterised in that the clearing apparatus tool Body includes infrared sensor and motor power device, specifically:
The infrared sensor, which is used for sensing, to be needed to avoid object, sensing data is sent into the drive device, so as to described Drive device is calculated and decision-making goes out avoidance strategy;Motor power device is controlled to complete corresponding avoid.
9. smart home indoor floor-sweeping machine device people's device according to claim 6, it is characterised in that the drive device tool Body is the portable equipment of smart mobile phone, intelligent watch, movement spire lamella or other support Zigbee protocols.
CN201510528270.4A 2015-08-25 2015-08-25 Cleaning method and device in a kind of smart home robot chamber CN105068540B (en)

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