CN106541403A - A kind of household cleaning machine people's control method - Google Patents
A kind of household cleaning machine people's control method Download PDFInfo
- Publication number
- CN106541403A CN106541403A CN201610930369.1A CN201610930369A CN106541403A CN 106541403 A CN106541403 A CN 106541403A CN 201610930369 A CN201610930369 A CN 201610930369A CN 106541403 A CN106541403 A CN 106541403A
- Authority
- CN
- China
- Prior art keywords
- robot
- cleaning
- effector
- built
- dead angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000012636 effector Substances 0.000 claims abstract description 11
- 238000005516 engineering process Methods 0.000 claims abstract description 5
- 230000000284 resting effect Effects 0.000 claims abstract description 4
- 238000004088 simulation Methods 0.000 claims abstract description 4
- 239000000779 smoke Substances 0.000 claims abstract description 4
- 230000001815 facial effect Effects 0.000 claims description 3
- 238000004134 energy conservation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of household cleaning machine people's control method, comprises the steps：1）Robot is in standby resting state usually, and effector can be waken up by two ways；2）By arbitrary wake-up mode of step 1, robot is made to enter pre-operation pattern；3）Effector is manually entered cleaning range, and robot will confirm working range centered on origin coordinates；4）Pathfinding navigation positioning system is built by instruments such as indoor-GPS technology matching embedded type processor, gyroscopes by robot, and simulation cleans path and records；5）After robot runs into dead angle in the process of walking, start mechanism of random collision, record dead angle coordinate, in order to avoid repeated collision；6）Robot built-in temperature, Smoke Sensor, run into dangerous situation in cleaning process and will quit work and send sound and light alarm；7）After robot completes cleaning project, origin coordinates point is returned to, into pre-operation pattern.
Description
Technical field
The present invention relates to technical field of robot control, more particularly to a kind of household cleaning machine people's control method.
Background technology
On market, domestic robot is more and more popularized, but how to cause robot more flexible, intelligence
, can still there is improvable space in control method.
The content of the invention
To solve the problems referred to above present in prior art and practical situation, the invention provides a kind of household cleaning machine
People's control method, it is characterised in that comprise the steps：
1）Robot is in standby resting state usually, and effector can be waken up by two ways：Mobile phone A PP Telnet and near
Field ID identification certifications,
Effectively ID certification modes include facial recognition, iris identification, fingerprint recognition；
2）By arbitrary wake-up mode of step 1, robot is made to enter pre-operation pattern；
3）Effector is manually entered cleaning range, and robot will confirm working range centered on origin coordinates.
4）Pathfinding navigation is built by instruments such as indoor-GPS technology matching embedded type processor, gyroscopes by robot
Alignment system, simulation clean path and record；
4）Person to be controlled selects cleaning modes：After slight cleaning, moderate cleaning, deep clean, robot is opened according to pre-determined route
Beginning enters mode of operation；
5）After robot runs into dead angle in the process of walking, start mechanism of random collision, record dead angle coordinate, in case repetition is touched
Hit；
6）Robot built-in temperature, Smoke Sensor, run into dangerous situation in cleaning process and will quit work and send sound and light alarm, and
The 180 ° of images in front are extracted by photographic head and is uploaded to effector's APP platforms, person to be controlled can work on after sounding all clear；
7）After robot completes cleaning project, origin coordinates point is returned to, into pre-operation pattern, person to be controlled enters after confirming and stops
Sleep mode, otherwise repeatedly cleaning task.
Beneficial effect：
A kind of household cleaning machine people's control method that the present invention is provided, can strengthen the intellectuality that robot is suitable to daily life
Function, energy-conservation, operation degree of freedom are high, domestic environment broad covered area, it is to avoid repeat to clean, greatly increase cleaning efficiency.
Specific embodiment
Technical solution of the present invention is described in detail below.
Embodiment 1
The invention provides a kind of household cleaning machine people's control method, comprises the steps：
1）Robot is in standby resting state usually, and effector can be waken up by two ways：Mobile phone A PP Telnet and near
Field ID identification certifications,
Effectively ID certification modes include facial recognition, iris identification, fingerprint recognition；
2）By arbitrary wake-up mode of step 1, robot is made to enter pre-operation pattern；
3）Effector is manually entered cleaning range, and robot will confirm working range centered on origin coordinates.
4）Pathfinding navigation is built by instruments such as indoor-GPS technology matching embedded type processor, gyroscopes by robot
Alignment system, simulation clean path and record；
4）Person to be controlled selects cleaning modes：After slight cleaning, moderate cleaning, deep clean, robot is opened according to pre-determined route
Beginning enters mode of operation；
5）After robot runs into dead angle in the process of walking, start mechanism of random collision, record dead angle coordinate, in case repetition is touched
Hit；
6）Robot built-in temperature, Smoke Sensor, run into dangerous situation in cleaning process and will quit work and send sound and light alarm, and
The 180 ° of images in front are extracted by photographic head and is uploaded to effector's APP platforms, person to be controlled can work on after sounding all clear；
7）After robot completes cleaning project, origin coordinates point is returned to, into pre-operation pattern, person to be controlled enters after confirming and stops
Sleep mode, otherwise repeatedly cleaning task.
A kind of household cleaning machine people's control method that the present invention is provided, can strengthen the intelligence that robot is suitable to daily life
Function can be changed, energy-conservation, operation degree of freedom are high, domestic environment broad covered area, it is to avoid repeat to clean, and greatly increase cleaning effect
Rate.
Finally it should be noted that：The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to,
Although being described in detail to the present invention with reference to the foregoing embodiments, for a person skilled in the art, which still may be used
To modify to the technical scheme described in foregoing embodiments, or equivalent is carried out to which part technical characteristic.
All any modification, equivalent substitution and improvements within the spirit and principles in the present invention, made etc., should be included in the present invention's
Within protection domain.
Claims (1)
1. a kind of household cleaning machine people's control method, it is characterised in that comprise the steps：
1）Robot is in standby resting state usually, and effector can be waken up by two ways：Mobile phone A PP Telnet and near
Field ID identification certifications, effective ID certification modes include facial recognition, iris identification, fingerprint recognition；
2）By arbitrary wake-up mode of step 1, robot is made to enter pre-operation pattern；
3）Effector is manually entered cleaning range, and robot will confirm working range centered on origin coordinates；
4）Pathfinding navigator fix is built by instruments such as indoor-GPS technology matching embedded type processor, gyroscopes by robot
System, simulation clean path and record；Person to be controlled selects cleaning modes：After slight cleaning, moderate cleaning, deep clean, machine
Device people initially enters mode of operation according to pre-determined route；
5）After robot runs into dead angle in the process of walking, start mechanism of random collision, record dead angle coordinate, in case repetition is touched
Hit；
6）Robot built-in temperature, Smoke Sensor, run into dangerous situation in cleaning process and will quit work and send sound and light alarm, and
The 180 ° of images in front are extracted by photographic head and is uploaded to effector's APP platforms, person to be controlled can work on after sounding all clear；
7）After robot completes cleaning project, origin coordinates point is returned to, into pre-operation pattern, person to be controlled enters after confirming and stops
Sleep mode, otherwise repeatedly cleaning task.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610930369.1A CN106541403A (en) | 2016-10-31 | 2016-10-31 | A kind of household cleaning machine people's control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610930369.1A CN106541403A (en) | 2016-10-31 | 2016-10-31 | A kind of household cleaning machine people's control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106541403A true CN106541403A (en) | 2017-03-29 |
Family
ID=58393460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610930369.1A Pending CN106541403A (en) | 2016-10-31 | 2016-10-31 | A kind of household cleaning machine people's control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106541403A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108354526A (en) * | 2018-02-11 | 2018-08-03 | 深圳市沃特沃德股份有限公司 | The safety protection method and device of sweeping robot |
| WO2018209493A1 (en) * | 2017-05-15 | 2018-11-22 | Microsoft Technology Licensing, Llc. | Device wake-up based on fingerprint sensor |
| CN109758039A (en) * | 2019-01-14 | 2019-05-17 | 深圳市银星智能科技股份有限公司 | Clean robot |
| WO2020103696A1 (en) * | 2018-11-19 | 2020-05-28 | 苏州宝时得电动工具有限公司 | Automatic walking device and control method therefor |
| CN111374602A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Robot danger alarm system and robot of sweeping floor sweeps floor |
| CN112932342A (en) * | 2021-03-30 | 2021-06-11 | 广东爱兰仕科技有限公司 | Robot of sweeping floor with remove indicating device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1519797A1 (en) * | 2002-07-04 | 2005-04-06 | DaimlerChrysler AG | Method for cleaning a component and appropriate cleaning device |
| KR20110053760A (en) * | 2009-11-16 | 2011-05-24 | 엘지전자 주식회사 | Robot cleaner, robot cleaning system, and method for controlling the robot cleaner |
| CN102670383A (en) * | 2011-03-05 | 2012-09-19 | 山东申普交通科技有限公司 | Full-automatic manned blind guide vehicle and control method based on image identification technology |
| CN102990667A (en) * | 2012-10-24 | 2013-03-27 | 蒋瑛倩 | Household cleaning robot control method |
| CN105259898A (en) * | 2015-10-13 | 2016-01-20 | 江苏拓新天机器人科技有限公司 | Floor sweeping robot controlled by smart phone |
| CN105425801A (en) * | 2015-12-10 | 2016-03-23 | 长安大学 | Intelligent cleaning robot based on advanced path programming technology and cleaning method thereof |
-
2016
- 2016-10-31 CN CN201610930369.1A patent/CN106541403A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1519797A1 (en) * | 2002-07-04 | 2005-04-06 | DaimlerChrysler AG | Method for cleaning a component and appropriate cleaning device |
| KR20110053760A (en) * | 2009-11-16 | 2011-05-24 | 엘지전자 주식회사 | Robot cleaner, robot cleaning system, and method for controlling the robot cleaner |
| CN102670383A (en) * | 2011-03-05 | 2012-09-19 | 山东申普交通科技有限公司 | Full-automatic manned blind guide vehicle and control method based on image identification technology |
| CN102990667A (en) * | 2012-10-24 | 2013-03-27 | 蒋瑛倩 | Household cleaning robot control method |
| CN105259898A (en) * | 2015-10-13 | 2016-01-20 | 江苏拓新天机器人科技有限公司 | Floor sweeping robot controlled by smart phone |
| CN105425801A (en) * | 2015-12-10 | 2016-03-23 | 长安大学 | Intelligent cleaning robot based on advanced path programming technology and cleaning method thereof |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018209493A1 (en) * | 2017-05-15 | 2018-11-22 | Microsoft Technology Licensing, Llc. | Device wake-up based on fingerprint sensor |
| CN111194444A (en) * | 2017-05-15 | 2020-05-22 | 微软技术许可有限责任公司 | Device wake-up based on fingerprint sensor |
| CN108354526A (en) * | 2018-02-11 | 2018-08-03 | 深圳市沃特沃德股份有限公司 | The safety protection method and device of sweeping robot |
| WO2020103696A1 (en) * | 2018-11-19 | 2020-05-28 | 苏州宝时得电动工具有限公司 | Automatic walking device and control method therefor |
| CN111374602A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Robot danger alarm system and robot of sweeping floor sweeps floor |
| CN109758039A (en) * | 2019-01-14 | 2019-05-17 | 深圳市银星智能科技股份有限公司 | Clean robot |
| CN112932342A (en) * | 2021-03-30 | 2021-06-11 | 广东爱兰仕科技有限公司 | Robot of sweeping floor with remove indicating device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170329 |
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| RJ01 | Rejection of invention patent application after publication |