CN106200639A - A kind of method of sweeping the floor of full-automatic sweeping robot - Google Patents
A kind of method of sweeping the floor of full-automatic sweeping robot Download PDFInfo
- Publication number
- CN106200639A CN106200639A CN201610573879.8A CN201610573879A CN106200639A CN 106200639 A CN106200639 A CN 106200639A CN 201610573879 A CN201610573879 A CN 201610573879A CN 106200639 A CN106200639 A CN 106200639A
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- Prior art keywords
- sweeper
- sweeping
- swept
- floor
- district
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
Abstract
The method of sweeping the floor of a kind of full-automatic sweeping robot of the present invention, belongs to Smart Home field.Purpose is to provide the method for sweeping the floor of the high intelligent sweeping of a kind of efficiency of sweeping the floor.Comprise the following steps: 1) set up district to be swept plane right-angle coordinate, by the plane graph typing terminal unit in district to be swept；The planning operation track of sweeper is set and barrier detours principle, and the principle that planning operation track and barrier detoured is stored in terminal unit；2) sweeper is treated by planning operation track and is swept district and clean, and records the actual motion track of sweeper；Its actual running orbit is sent to terminal unit by sweeper；3) planning operation track is compared by terminal unit with actual motion track, it is judged that the position not cleaned, and sweeper runs the position not cleaned to this and cleans.The method of sweeping the floor of this kind of full-automatic sweeping robot, solves the problem repeating to sweep, thus improves the efficiency swept.
Description
Technical field
The invention belongs to full-automatic household field, a kind of method of sweeping the floor of full-automatic sweeping robot.
Background technology
Along with growth in the living standard, full-automatic household gradually enters into the life of people.And automatically sweeper is as entirely
Automatically the requirement of household is arisen at the historic moment.During existing full-automatic floor sweeper, remote controller is generally utilized to be controlled, remote control
Device does not reaches required precision, and, sweeper self cannot accurately judge that sweeping Qu Hewei sweeps district, thus causes some district
Territory is not swept, and some region is repeated to sweep, and efficiency of sweeping the floor is low.
Summary of the invention
The technical problem to be solved is to provide the method for sweeping the floor of the high full-automatic sweeper of a kind of efficiency of sweeping the floor.
The technical solution used in the present invention is: a kind of method of sweeping the floor of full-automatic sweeping robot, comprises the following steps:
1) district to be swept plane right-angle coordinate is set up, with certain corner in district to be swept as the center of circle, at this corner
One sidewalls is X-axis with the intersecting lens in this district to be swept, with the intersecting lens of the another side wall at this corner with this district to be swept
For Y-axis, by the plane graph typing terminal unit in district to be swept；The planning operation track and the barrier that arrange sweeper detour former
Then, and by planning operation track and barrier the principle that detours is stored in terminal unit；
2) sweeper is treated by planning operation track and is swept district and clean, and records the actual motion track of sweeper；
Its actual running orbit is sent to terminal unit by sweeper；
3) planning operation track is compared by terminal unit with actual motion track, it is judged that the position not cleaned, and sweeps
Ground machine runs the position not cleaned to this and cleans.
Further, step 3) including: 3a) terminal unit reads the coordinate of sweeper and is not cleaned the coordinate of position；
3b) terminal unit calls the plane graph in district to be swept；3c) terminal unit planning sweeper is to not cleaned the optimum road of position
Line, and feed back to the central processing unit of sweeper, central processing unit instruction sweeper is run to not cleaned by this optimal route
Position.
Further, in cleaning process, sweeper measures the distance between self and barrier；And detour according to barrier
Principle detours.
Further, the distance between sweeper and barrier is more than or equal to 2cm, and during less than or equal to 3cm, sweeps
Ground machine detours.
Further, described sweeper is by the distance between infrared rays survey self and barrier.
Further, described terminal unit is mobile phone or home computer.
The invention has the beneficial effects as follows: the method for sweeping the floor of this kind of full-automatic sweeping robot, planned the fortune of sweeper
Walking along the street line, it is to avoid sweeper causes somewhere to repeat to sweep waiting to clean the room arbitrarily to sweep, and that does not sweeps again at other one shows
As；Further, the plane graph in district to be swept due to terminal unit typing, therefore, in sweeping afterwards, sweeper can be according to terminal
The plane graph in district to be swept of equipment storage identifies residing room automatically, it is to avoid repeat to sweep to room；Repeat to sweep
Problem be addressed, thus improve the efficiency swept.
Detailed description of the invention
A kind of method of sweeping the floor of full-automatic sweeping robot, comprises the following steps:
1) district to be swept plane right-angle coordinate is set up, with certain corner in district to be swept as the center of circle, at this corner
One sidewalls is X-axis with the intersecting lens in this district to be swept, with the intersecting lens of the another side wall at this corner with this district to be swept
For Y-axis, by the plane graph typing terminal unit in district to be swept；The planning operation track and the barrier that arrange sweeper detour former
Then, and by planning operation track and barrier the principle that detours is stored in terminal unit；
2) sweeper is treated by planning operation track and is swept district and clean, and records the actual motion track of sweeper；
Its actual running orbit is sent to terminal unit by sweeper；
3) planning operation track is compared by terminal unit with actual motion track, it is judged that the position not cleaned, and sweeps
Ground machine runs the position not cleaned to this and cleans.
The method of sweeping the floor of this kind of full-automatic sweeping robot, by by the plane graph typing terminal unit in district to be swept,
Set up planning operation track, the trajectory diagram that planning operation track is formed and the planes overlapping sweeping district from initiating terminal to clearing end.
Sweeper is treated by planning operation track and is swept district and clean, and the most no matter sweeper is positioned over the somewhere in district to be swept, sweeps
Ground machine, by running to the clearing end of planning operation track by the route of planning operation track, carries out cleaning works.That is, sweeper is worked as
It is positioned over the circle centre position of rectangular coordinate system, then, the actual motion track of sweeper overlaps with planning operation track completely.
The method of sweeping the floor of this kind of full-automatic sweeping robot, planned the running route of sweeper, it is to avoid sweeper
Somewhere is caused to repeat to sweep waiting to clean the room arbitrarily to sweep, the phenomenon do not swept again at other；Further, due to terminal unit
The typing plane graph in district to be swept, therefore, in sweeping afterwards, sweeper can be according to the district to be swept of terminal unit storage
Plane graph identifies residing room automatically, it is to avoid repeat to sweep to room；The problem repeating to sweep is addressed, thus carries
The high efficiency swept.
Preferably, step 3) including: 3a) terminal unit reads the coordinate of sweeper and is not cleaned the coordinate of position；3b)
Terminal unit calls the plane graph in district to be swept；3c) terminal unit planning sweeper is to not cleaned the optimal route of position, and
Feeding back to the central processing unit of sweeper, central processing unit instruction sweeper is run to not cleaned position by this optimal route.
Run to not cleaned position by optimal route, i.e. run to not cleaned position, further by the shortest time
Improve work efficiency.
Preferably, in cleaning process, sweeper measures the distance between self and barrier；And it is former to detour according to barrier
Then detour.
Barrier is indoor equipment, such as furniture etc., if sweeper collision object, can cause the damage of object or sweeper,
Therefore, in cleaning process, sweeper measures the distance between self and barrier；And detour according to the barrier principle that detours.From
And avoid the contact-impact of sweeper and barrier.Play protection sweeper and the effect of indoor equipment.
Due to sweeper accept detour instruction moment cannot perform at once, around line command, to have buffering, in order to avoid
With bar contact during buffering, it is preferred, therefore, that the distance between sweeper and barrier is more than or equal to 2cm,
And during less than or equal to 3cm, sweeper detours.
Sweeper can be by the distance between ultrasonic measurement self and barrier.Preferably, described sweeper is by red
The distance between self and barrier is measured in outside line.
Preferably, described terminal unit is mobile phone or home computer.
Claims (6)
1. the method for sweeping the floor of a full-automatic sweeping robot, it is characterised in that: comprise the following steps:
1) district to be swept plane right-angle coordinate is set up, with certain corner in district to be swept as the center of circle, with the one side at this corner
Wall is X-axis with the intersecting lens in this district to be swept, with the intersecting lens in the another side wall at this corner and this district to be swept as Y
Axle, by the plane graph typing terminal unit in district to be swept；The planning operation track of sweeper is set and barrier detours principle, and
The principle that planning operation track and barrier detoured is stored in terminal unit；
2) sweeper is treated by planning operation track and is swept district and clean, and records the actual motion track of sweeper；Sweep the floor
Its actual running orbit is sent to terminal unit by machine；
3) planning operation track is compared by terminal unit with actual motion track, it is judged that the position not cleaned, sweeper
Run the position not cleaned to this to clean.
The method of sweeping the floor of a kind of full-automatic sweeping robot the most as claimed in claim 1, it is characterised in that: step 3) including:
3a) terminal unit reads the coordinate of sweeper and is not cleaned the coordinate of position；3b) terminal unit calls the plane in district to be swept
Figure；3c) terminal unit planning sweeper is to not cleaned the optimal route of position, and feeds back to the central processing unit of sweeper,
Central processing unit instruction sweeper is run to not cleaned position by this optimal route.
The method of sweeping the floor of a kind of full-automatic sweeping robot the most as claimed in claim 1, it is characterised in that: at cleaning process
In, sweeper measures the distance between self and barrier；And detour according to the barrier principle that detours.
The method of sweeping the floor of a kind of full-automatic sweeping robot the most as claimed in claim 3, it is characterised in that: sweeper and obstacle
Distance between thing is more than or equal to 2cm, and during less than or equal to 3cm, sweeper detours.
The method of sweeping the floor of a kind of full-automatic sweeping robot the most as claimed in claim 4, it is characterised in that: described sweeper leads to
Cross the distance between infrared rays survey self and barrier.
The method of sweeping the floor of a kind of full-automatic sweeping robot the most as claimed in claim 1 or 2, it is characterised in that: described terminal
Equipment is mobile phone or home computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610573879.8A CN106200639A (en) | 2016-07-20 | 2016-07-20 | A kind of method of sweeping the floor of full-automatic sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610573879.8A CN106200639A (en) | 2016-07-20 | 2016-07-20 | A kind of method of sweeping the floor of full-automatic sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106200639A true CN106200639A (en) | 2016-12-07 |
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ID=57493789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610573879.8A Pending CN106200639A (en) | 2016-07-20 | 2016-07-20 | A kind of method of sweeping the floor of full-automatic sweeping robot |
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| CN (1) | CN106200639A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108143364A (en) * | 2017-12-28 | 2018-06-12 | 湖南格兰博智能科技有限责任公司 | A kind of method for cleaning map area division from mobile clean robot |
| CN108185930A (en) * | 2018-01-18 | 2018-06-22 | 安徽三弟电子科技有限责任公司 | Sweep the floor machine ambulation control method and its clean control system |
| CN108445889A (en) * | 2018-05-15 | 2018-08-24 | 深圳市沃特沃德股份有限公司 | A kind of method and its system cleaned based on intelligent sound auxiliary sweeper |
| CN109032134A (en) * | 2018-07-16 | 2018-12-18 | 广州俊德信息科技有限公司 | The moving method of cleaning appliance, system, equipment and can storage medium |
| CN111281272A (en) * | 2020-02-20 | 2020-06-16 | 湖南炬神电子有限公司 | Method for realizing planning sweeping of sweeper by using coordinates |
| CN111685657A (en) * | 2019-03-14 | 2020-09-22 | 青岛海尔智能技术研发有限公司 | Information interaction control method and system |
| CN112890690A (en) * | 2021-01-28 | 2021-06-04 | 深圳拓邦股份有限公司 | Robot sweeping control method and device and sweeping robot |
| CN114246512A (en) * | 2020-09-25 | 2022-03-29 | 苏州三六零机器人科技有限公司 | Sweeping method and device of sweeper, sweeper and computer storage medium |
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| KR20150009413A (en) * | 2013-07-16 | 2015-01-26 | 주식회사 유진로봇 | System for cleaning user defined area using cleaning robot and method thereof |
| CN104536447A (en) * | 2014-12-29 | 2015-04-22 | 重庆广建装饰股份有限公司 | Navigation method for sweeping robot |
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Patent Citations (3)
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| CN1853876A (en) * | 2005-04-25 | 2006-11-01 | Lg电子株式会社 | Robot system capable of specifying moving area |
| KR20150009413A (en) * | 2013-07-16 | 2015-01-26 | 주식회사 유진로봇 | System for cleaning user defined area using cleaning robot and method thereof |
| CN104536447A (en) * | 2014-12-29 | 2015-04-22 | 重庆广建装饰股份有限公司 | Navigation method for sweeping robot |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108143364A (en) * | 2017-12-28 | 2018-06-12 | 湖南格兰博智能科技有限责任公司 | A kind of method for cleaning map area division from mobile clean robot |
| CN108143364B (en) * | 2017-12-28 | 2021-02-19 | 湖南格兰博智能科技有限责任公司 | Method for dividing map cleaning area by self-moving cleaning robot |
| CN108185930A (en) * | 2018-01-18 | 2018-06-22 | 安徽三弟电子科技有限责任公司 | Sweep the floor machine ambulation control method and its clean control system |
| CN108445889A (en) * | 2018-05-15 | 2018-08-24 | 深圳市沃特沃德股份有限公司 | A kind of method and its system cleaned based on intelligent sound auxiliary sweeper |
| CN108445889B (en) * | 2018-05-15 | 2021-06-29 | 深圳市无限动力发展有限公司 | Sweeping method and system based on intelligent sound equipment and assisted with sweeping machine |
| CN109032134A (en) * | 2018-07-16 | 2018-12-18 | 广州俊德信息科技有限公司 | The moving method of cleaning appliance, system, equipment and can storage medium |
| CN109032134B (en) * | 2018-07-16 | 2022-02-08 | 广州俊德信息科技有限公司 | Mobile method, system, device and storable medium for cleaning an electrical appliance |
| CN111685657A (en) * | 2019-03-14 | 2020-09-22 | 青岛海尔智能技术研发有限公司 | Information interaction control method and system |
| CN111281272A (en) * | 2020-02-20 | 2020-06-16 | 湖南炬神电子有限公司 | Method for realizing planning sweeping of sweeper by using coordinates |
| CN114246512A (en) * | 2020-09-25 | 2022-03-29 | 苏州三六零机器人科技有限公司 | Sweeping method and device of sweeper, sweeper and computer storage medium |
| CN112890690A (en) * | 2021-01-28 | 2021-06-04 | 深圳拓邦股份有限公司 | Robot sweeping control method and device and sweeping robot |
| CN112890690B (en) * | 2021-01-28 | 2022-08-12 | 深圳拓邦股份有限公司 | Robot sweeping control method and device and sweeping robot |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20161207 |