CN106725129A - A kind of robot and the cleaning systems based on robot - Google Patents
A kind of robot and the cleaning systems based on robot Download PDFInfo
- Publication number
- CN106725129A CN106725129A CN201710207203.1A CN201710207203A CN106725129A CN 106725129 A CN106725129 A CN 106725129A CN 201710207203 A CN201710207203 A CN 201710207203A CN 106725129 A CN106725129 A CN 106725129A
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- China
- Prior art keywords
- robot
- cleaning equipment
- automatic cleaning
- present image
- equipment
- Prior art date
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Classifications
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- 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
-
- 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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- 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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Abstract
This application discloses a kind of robot and the cleaning systems based on robot, robot in the system has connecting portion and/or receiving portion, the robot is after the work completion instruction for representing automatic cleaning equipment cleaning completion is received, the automatic cleaning equipment is controlled to be moved to direction where the robot using the steering instruction, until the automatic cleaning equipment is connected by the connecting portion with the robot, and/or, in described accommodation section, it is achieved thereby that recovery of the automatic cleaning equipment after cleaning is completed, it is avoided to be parked in corner or the inferior local situation for being difficult to find of sofa, improve the property easy to use of the automatic cleaning equipment.
Description
Technical field
The application is related to robotics, more specifically to a kind of robot and the cleaning based on robot
System.
Background technology
Robot (Robot) is the installations for performing work automatically.It can both receive mankind commander, can run again
The program of advance layout, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.With robot technology not
Disconnected development, the type of robot is also more and more, and from the initial production robot for being applied to production field, developing into answer
With sweeping robot in the family etc., spread all over the every field of society.And sweeping robot is used as the generation of automatic cleaning equipment
Telogenesis is that numerous families assist to keep the competent assistant of domestic hygiene, is used by increasing family.
The sweeping robot being widely used at present will be out of service immediately after the current task that is finished, but such as
Really the location of its when user reuses, can take some time in the inferior place for being difficult to find in corner or sofa
To find, the convenience that sweeping robot brings is reduced, difficulty is brought to using the next time of user.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of robot and the cleaning systems based on robot, to solve
Certainly automatic cleaning equipment may be parked in the place for being difficult to find after completing current task, be made troubles to reusing for user,
So as to reduce the problem of the convenience of automatic cleaning equipment..
In order to solve the above technical problems, the embodiment of the invention provides following technical scheme：
A kind of cleaning systems based on robot, including：Robot and automatic cleaning equipment；Wherein,
The robot has the connecting portion of the connection automatic cleaning equipment and/or accommodates the automatic cleaning equipment
Receiving portion；
The automatic cleaning equipment is used to after cleaning completion complete to instruct to the robot transmission work；
After the robot is used to receive the work completion instruction, steering instruction is sent to the automatic cleaning equipment,
To control the automatic cleaning equipment to be moved to direction where the robot until the automatic cleaning equipment passes through the company
Socket part is connected with the robot, and/or, in described accommodation section.
Optionally, the robot also includes picture pick-up device, and the picture pick-up device is used to gather the picture pick-up device place
The present image in region；
The robot is additionally operable to query criteria image library and obtains corresponding with present image standard picture, and by institute
State standard picture to be contrasted with the present image, determine that the present image meets clean conditions, then start described automatic
Cleaning equipment, and the automatic cleaning equipment disengaging robot is carried out cleaning.
Optionally, the connecting portion is adsorption plant；
The adsorption plant is used for automated cleaning of the absorption centered on the robot in preset range when being powered and sets
It is standby；
The robot makes the automatic cleaning equipment depart from the robot carries out cleaning specifically for the machine
Device people powers off the adsorption plant so that the automatic cleaning equipment departs from the robot and carries out cleaning；
The robot is additionally operable to after the work completion instruction is received, and is that the adsorption plant is powered.
Optionally, the adsorption plant is the input coil of relay.
Optionally, the robot obtains standard picture corresponding with the present image in query criteria image library, and
The standard picture is contrasted with the present image, when determining that the present image meets clean conditions specifically for,
Query criteria image library obtains corresponding with present image standard picture, and by the present image and corresponding mark
Quasi- image is contrasted, and obtains the difference quantity of the present image and corresponding standard picture, judges the difference
Whether point quantity exceedes predetermined threshold value, if it is, judging that the present image meets clean conditions.
Optionally, the robot is contrasted by the present image and corresponding standard picture, obtains institute
Specifically for by the present image and corresponding when stating the difference quantity of present image and corresponding standard picture
Standard picture contrasted, obtain different zones, and whether judge the area of each different zones less than preset area, such as
Fruit is that the different zones then are judged into difference, counts all of difference and obtains the corresponding mark of the present image
The difference quantity of quasi- image.
Optionally, the automatic cleaning equipment is located at when in described accommodation section, is additionally operable to carry the robot.
Optionally, also include：Mobile communication equipment；
The mobile communication equipment is used to send cleaning instruction to the robot；
The robot is additionally operable to after the cleaning instruction is received, and starts the automatic cleaning equipment, and make described
Automatic cleaning equipment departs from the robot carries out cleaning.
Optionally, the robot also includes phonetic incepting equipment, and the robot is additionally operable to be connect by the voice
After receiving unit receives vice activation instruction, start the automatic cleaning equipment, and it is described to depart from the automatic cleaning equipment
Robot carries out cleaning.
A kind of robot, the robot has the connecting portion of the connection automatic cleaning equipment and/or receiving described certainly
The receiving portion of dynamic cleaning equipment；
The robot is used for after the work for receiving automatic cleaning equipment transmission completes instruction, to the automated cleaning
Equipment sends steering instruction, to control the automatic cleaning equipment to be moved to direction where the robot until described automatic clear
Clean equipment is connected by the connecting portion with the robot, and/or, in described accommodation section.
From above-mentioned technical proposal as can be seen that the embodiment of the invention provides a kind of robot and the cleaning based on robot
System, the robot in the system has connecting portion and/or a receiving portion, and the robot is representing automated cleaning and sets when receiving
After the work that standby cleaning is completed completes instruction, the automatic cleaning equipment is controlled to the machine using the steering instruction
Direction motion where people, until the automatic cleaning equipment is connected by the connecting portion with the robot, and/or, it is located at
In described accommodation section, it is achieved thereby that recovery of the automatic cleaning equipment after cleaning is completed, it is to avoid it is parked in corner or sand
The local situation for being difficult to find such as give, improve the property easy to use of the automatic cleaning equipment.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
A kind of structural representation of cleaning systems based on robot that Fig. 1 is provided for one embodiment of the application；
A kind of structural representation of cleaning systems based on robot that Fig. 2 is provided for another embodiment of the application；
A kind of structural representation of cleaning systems based on robot that Fig. 3 is provided for another embodiment of the application；
A kind of overlooking the structure diagram of running part that Fig. 4 is provided for one embodiment of the application；
A kind of structural representation of cleaning systems based on robot that Fig. 5 is provided for the further embodiment of the application；
A kind of structural representation of cleaning systems based on robot that Fig. 6 is provided for a preferred embodiment of the application
Figure；
A kind of structural representation of cleaning systems based on robot that Fig. 7 is provided for another preferred embodiment of the application
Figure；
A kind of structural representation of robot that Fig. 8 is provided for one embodiment of the application；
A kind of structural representation of robot that Fig. 9 is provided for another embodiment of the application；
A kind of structural representation of robot that Figure 10 is provided for another embodiment of the application.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
This application discloses a kind of cleaning systems based on robot, as shown in figure 1, including：Robot 100 is clear with automatic
Clean equipment 200；Wherein,
The robot 100 has the connecting portion 120 of the connection automatic cleaning equipment 200 and/or accommodates described automatic
The receiving portion 110 of cleaning equipment 200；
The automatic cleaning equipment 200 is used to after cleaning completion complete to refer to the transmission work of the robot 100
Order；
After the robot 100 is used to receive the work completion instruction, is sent to the automatic cleaning equipment 200 and guided
Instruction, to control the automatic cleaning equipment 200 to be moved to the place direction of the robot 100 until the automatic cleaning equipment
200 are connected by the connecting portion 120 with the robot 100, and/or, in described accommodation section 110.
It should be noted that in the present embodiment, the connecting portion 120 can be buckle, can also be electromagnet etc. even
Fitting.Described accommodation section 110 is arranged at the bottom of the robot 100, so that the automatic cleaning equipment 200 can be from traveling
Enter.In one embodiment of the application, the robot 100 only has the connecting portion 120, with reference to Fig. 2；The application's
In another embodiment, the robot 100 only has described accommodation section 110, with reference to Fig. 3；One in the application is preferred real
Apply in example, the robot 100 both has the connecting portion 120, and with described accommodation section 110, the connecting portion 120 is preferred
In described accommodation section 110, when the automatic cleaning equipment 200 is located in described accommodation section 110, also with the connecting portion
120 connections, strengthen stability of the automatic cleaning equipment 200 when working condition is not in；The application is not limited this
It is fixed, it is specific depending on actual conditions.
In addition, it can be infrared signal that the work completes instruction, can also be visible light signal, but in view of infrared ray
Good diffraction characteristic, the work completes instruction and is preferably infrared signal, to avoid in place numerous other equipments to work
Complete blocking for instruction.
The robot 100 when receive represent the cleaning of automatic cleaning equipment 200 completion work complete instruction
Afterwards, the automatic cleaning equipment 200 is controlled to be moved to the place direction of the robot 100 using the steering instruction, until institute
Automatic cleaning equipment 200 is stated to be connected with the robot 100 by the connecting portion 120, and/or, positioned at described accommodation section 110
It is interior, it is achieved thereby that recovery of the automatic cleaning equipment 200 after cleaning is completed, it is to avoid it is parked in corner or sofa is inferior not
The local situation for easily finding, improves the property easy to use of the automatic cleaning equipment 200.
On the basis of above-described embodiment, in a preferred embodiment of the application, the automatic cleaning equipment 200
When in described accommodation section 110, it is additionally operable to carry the robot 100.
In the present embodiment, when the automatic cleaning equipment 200 is located in described accommodation section 110, can be as described
The running part of robot 100, performs the walking function of robot 100；With reference to Fig. 4, Fig. 4 shows for the vertical view of described accommodation section 110
It is intended to, the receiving portion 110 of the robot 100 is realized by an apparatus capable of fluctuating, when the automatic cleaning equipment 200 needs
When carrying out cleaning, the apparatus capable of fluctuating first rises, so that the automatic cleaning equipment 200 departs from the robot 100, after
Decline, so that the stabilization of the robot 100 is arranged at ground；When the automatic cleaning equipment 200 needs to come back to the appearance
During the portion 110 of receiving, the apparatus capable of fluctuating first rises to form described accommodation section 110, when the automatic cleaning equipment 200 is located at the appearance
Receive when in portion 110, the apparatus capable of fluctuating declines again, the automatic cleaning equipment 200 is carried the robot 100.
On the basis of above-described embodiment, in one embodiment of the application, as shown in figure 5, the robot 100 is also
Including picture pick-up device 130, the picture pick-up device 130 is used to gather the present image of the region of the picture pick-up device 130；
The robot 100 is additionally operable to query criteria image library and obtains standard picture corresponding with the present image, and
The standard picture is contrasted with the present image, is determined that the present image meets clean conditions, then started described
Automatic cleaning equipment 200, and make the automatic cleaning equipment 200 depart from the robot 100 to carry out cleaning.
In the present embodiment, the robot 100 gathers the picture pick-up device 130 by setting the picture pick-up device 130
The present image of region, and it is described automatic clear to determine a need for startup according to the present image and the standard picture
Clean equipment 200, realizes the function of the intelligent starting of the automatic cleaning equipment 200.When the robot 100 has connecting portion
When 120, the robot 100 makes the automatic cleaning equipment 200 depart from the robot 100 by the corresponding of connecting portion 120
Action realization, such as when the connecting portion 120 is buckle, the automatic cleaning equipment is realized by moving up and down for buckle
200 purposes for departing from the robot 100；When the connecting portion 120 is electromagnet, by the behaviour powered off for the electromagnet
Realize that the automatic cleaning equipment 200 departs from the purpose of the robot 100.
It should be noted that the standard drawing of the regional being stored with the standard picture storehouse in the system application places
Picture, the implication of standard picture is the acquired image under the region clean state.So that application places are as family as an example, when this is
Uniting, it is preceding to use, and the image in each place is put into the standard picture storehouse for subsequently using under collection household cleaning state.
The robot 100 can be the other kinds of robot 100 in addition to sweeping robot 100, for example, accompany and attend to
Robot 100 etc..The application is not limited the specific species of the robot 100, specific depending on actual conditions.
On the basis of above-described embodiment, in another embodiment of the application, the connecting portion 120 sets for absorption
It is standby；
The adsorption plant is used for automated cleaning of the absorption centered on the robot 100 in preset range when being powered
Equipment 200；
The robot 100 makes the automatic cleaning equipment 200 depart from the robot 100 and carry out cleaning specifically to use
In the robot 100 powers off so that the automatic cleaning equipment 200 departs from the robot 100 and enters the adsorption plant
Row cleaning；
The robot 100 is additionally operable to after the work completion instruction is received, and is that the adsorption plant is powered.
The preset range centered on the robot 100 refers to the adsorption plant to the automatic cleaning equipment
The scope of 200 effective absorption, i.e., when the adsorption plant is in running order, the automatic cleaning equipment 200 is in should
Can be adsorbed by the adsorption plant during scope.
Specifically, the adsorption plant can be the input coil of relay.When the input coil of the relay is powered
When produce magnetic, to realize the absorption of the metal part to the automatic cleaning equipment 200, when the input coil of the relay
The release of the automatic cleaning equipment 200 is realized during dead electricity.
On the basis of above-described embodiment, in another embodiment of the application, the robot 100 is in query criteria
Image library obtains corresponding with present image standard picture, and the standard picture and the present image are carried out it is right
Than specifically for query criteria image library is obtained and the present image pair when determining that the present image meets clean conditions
The standard picture answered, and the present image and corresponding standard picture are contrasted, obtain the present image and
The difference quantity of corresponding standard picture, judges whether the difference quantity exceedes predetermined threshold value, if it is, sentencing
The fixed present image meets clean conditions.
In order to the explanation robot 100 definitely is sentenced according to the present image and corresponding standard picture
Whether the disconnected process for meeting clean conditions, is exemplified below.
Still so that application places are as family as an example, it is assumed that the image of the collection of the robot 100 is parlor ground, then root
According to parlor ground image querying described in standard picture storehouse obtain parlor ground standard picture, then will gather parlor ground
Image is contrasted with standard picture, obtain difference quantity, for example collection parlor ground image in have multiple spitballs and
The debris such as pericarp, and the debris such as multiple spitballs and pericarp are not contained in the standard picture on parlor ground, then after contrast
Difference of these spitballs and the pericarp standard picture just as parlor ground from the parlor ground image for shooting, the robot
100 these differences carry out statistics and obtain the difference quantity, and sentence when the difference quantity exceedes predetermined threshold value
Surely clean conditions are met, discharging and start the automatic cleaning equipment 200 carries out cleaning.
The predetermined threshold value can be with 2 or 3 or 4, it is also possible to which the use habit according to application places or user is voluntarily set, excellent
Selection of land, the predetermined threshold value is more than or equal to 2.The application is not limited the specific species of the predetermined threshold value, tool
Depending on stereoscopic actual conditions.
On the basis of above-described embodiment, in the further embodiment of the application, the robot 100 described will work as
Preceding image and corresponding standard picture are contrasted, and obtain the difference of the present image and corresponding standard picture
Specifically for being contrasted the present image and corresponding standard picture, acquisition different zones, and sentence during point quantity
Whether the area of each different zones of breaking is less than preset area, if it is, the different zones are judged into difference, counts
All of difference obtains the difference quantity of the corresponding standard picture of the present image.
In the present embodiment, in order to avoid other home equipments that will be had more in family are judged to due to rubbish or debris and
The difference caused, we are provided with the concept of preset area, and the area of each different zones is compared with preset area
Compared with only when the area of different zones is less than preset area, we are just judged to difference, can so be avoided family
The household goods such as the refrigerator, TV, the sofa that are had more in front yard are judged to the feelings of difference and automatic cleaning equipment 200 described in error starting
Condition, increased the fault freedom of the system.
On the basis of above-described embodiment, in a preferred embodiment of the application, as shown in fig. 6, described based on machine
The cleaning systems of device people also include：Mobile communication equipment 300；
The mobile communication equipment 300 is used to send cleaning instruction to the robot 100；
The robot 100 is additionally operable to after the cleaning instruction is received, and starts the automatic cleaning equipment 200, and
The automatic cleaning equipment 200 is departed from the robot 100 carries out cleaning.
In the present embodiment, the long-range of the automatic cleaning equipment 200 can be realized by the mobile communication equipment 300
Control.
The mobile communication equipment 300 can be mobile phone, panel computer or intelligent watch.The application is to the mobile communication
The specific species of equipment 300 is not limited, specific depending on actual conditions.
On the basis of above-described embodiment, in another preferred embodiment of the application, as shown in fig. 7, the machine
People 100 also includes phonetic incepting equipment 140, and the robot 100 is additionally operable to be received by the phonetic incepting equipment 140
After vice activation instruction, start the automatic cleaning equipment 200, and the automatic cleaning equipment 200 is departed from the robot
100 carry out cleaning.
In the present embodiment, the voice of the automatic cleaning equipment 200 can be realized by the phonetic incepting equipment 140
Control.
In a specific embodiment of the application, the automatic cleaning equipment 200 is sweeping robot 100.
Accordingly, the embodiment of the present application additionally provides a kind of robot 100, as shown in figure 8, the robot 100 has
The connecting portion 120 for connecting the automatic cleaning equipment 200 and/or the receiving portion 110 for accommodating the automatic cleaning equipment 200；
The robot 100 be used for receive automatic cleaning equipment 200 transmission work complete instruction after, to it is described from
Dynamic cleaning equipment 200 sends steering instruction, to control the automatic cleaning equipment 200 to be transported to the place direction of the robot 100
Move up to the automatic cleaning equipment 200 is connected by the connecting portion 120 with the robot 100, and/or, positioned at described
In receiving portion 110.
It should be noted that in the present embodiment, the connecting portion 120 can be buckle, can also be electromagnet etc. even
Fitting.Described accommodation section 110 is arranged at the bottom of the robot 100, so that the automatic cleaning equipment 200 can be from traveling
Enter.In one embodiment of the application, the robot 100 only has the connecting portion 120, with reference to Fig. 2；The application's
In another embodiment, the robot 100 only has described accommodation section 110, with reference to Fig. 3；One in the application is preferred real
Apply in example, the robot 100 both has the connecting portion 120, and with described accommodation section 110, the connecting portion 120 is preferred
In described accommodation section 110, when the automatic cleaning equipment 200 is located in described accommodation section 110, also with the connecting portion
120 connections, strengthen stability of the automatic cleaning equipment 200 when working condition is not in；The application is not limited this
It is fixed, it is specific depending on actual conditions.
The robot 100 when receive represent the cleaning of automatic cleaning equipment 200 completion work complete instruction
Afterwards, the automatic cleaning equipment 200 is controlled to be moved to the place direction of the robot 100 using the steering instruction, until institute
Automatic cleaning equipment 200 is stated to be connected with the robot 100 by the connecting portion 120, and/or, positioned at described accommodation section 110
It is interior, it is achieved thereby that recovery of the automatic cleaning equipment 200 after cleaning is completed, it is to avoid it is parked in corner or sofa is inferior not
The local situation for easily finding, improves the property easy to use of the automatic cleaning equipment 200.
On the basis of above-described embodiment, in one embodiment of the application, as shown in figure 9, the robot 100 is also
Including picture pick-up device 130, the picture pick-up device 130 is used to gather the present image of the region of the picture pick-up device 130；
The robot 100 is additionally operable to query criteria image library and obtains standard picture corresponding with the present image, and
The standard picture is contrasted with the present image, is determined that the present image meets clean conditions, then started described
Automatic cleaning equipment 200, the automatic cleaning equipment 200 is departed from the robot 100 carries out cleaning.
In the present embodiment, the robot 100 gathers the picture pick-up device 130 by setting the picture pick-up device 130
The present image of region, and it is described automatic clear to determine a need for startup according to the present image and the standard picture
Clean equipment 200, realizes the function of the intelligent starting of the automatic cleaning equipment 200.When the robot 100 has connecting portion
When 120, the robot 100 makes the automatic cleaning equipment 200 depart from the robot 100 by the corresponding of connecting portion 120
Action realization, such as when the connecting portion 120 is buckle, the automatic cleaning equipment is realized by moving up and down for buckle
200 purposes for departing from the robot 100；When the connecting portion 120 is electromagnet, by the behaviour powered off for the electromagnet
Realize that the automatic cleaning equipment 200 departs from the purpose of the robot 100.
It should be noted that the standard drawing of the regional being stored with the standard picture storehouse in the system application places
Picture, the implication of standard picture is the acquired image under the region clean state.So that application places are as family as an example, when this is
Uniting, it is preceding to use, and the image in each place is put into the standard picture storehouse for subsequently using under collection household cleaning state.
On the basis of above-described embodiment, in another embodiment of the application, the connecting portion 120 sets for absorption
It is standby；
The adsorption plant is used for automated cleaning of the absorption centered on the robot 100 in preset range when being powered
Equipment 200；
The robot 100 makes the automatic cleaning equipment 200 depart from the robot 100 and carry out cleaning specifically to use
In the robot 100 powers off so that the automatic cleaning equipment 200 departs from the robot 100 and enters the adsorption plant
Row cleaning；
The robot 100 is additionally operable to after the work completion instruction is received, and is that the adsorption plant is powered.
The preset range centered on the robot 100 refers to the adsorption plant to the automatic cleaning equipment
The scope of 200 effective absorption, i.e., when the adsorption plant is in running order, the automatic cleaning equipment 200 is in should
Can be adsorbed by the adsorption plant during scope.
Specifically, the adsorption plant can be the input coil of relay.When the input coil of the relay is powered
When produce magnetic, to realize the absorption of the metal part to the automatic cleaning equipment 200, when the input coil of the relay
The release of the automatic cleaning equipment 200 is realized during dead electricity.
On the basis of above-described embodiment, in another embodiment of the application, the robot 100 is in query criteria
Image library obtains corresponding with present image standard picture, and the standard picture and the present image are carried out it is right
Than specifically for query criteria image library is obtained and the present image pair when determining that the present image meets clean conditions
The standard picture answered, and the present image and corresponding standard picture are contrasted, obtain the present image and
The difference quantity of corresponding standard picture, judges whether the difference quantity exceedes predetermined threshold value, if it is, sentencing
The fixed present image meets clean conditions.
In order to the explanation robot 100 definitely is sentenced according to the present image and corresponding standard picture
Whether the disconnected process for meeting clean conditions, is exemplified below.
Still so that application places are as family as an example, it is assumed that the image of the collection of the robot 100 is parlor ground, then root
According to parlor ground image querying described in standard picture storehouse obtain parlor ground standard picture, then will gather parlor ground
Image is contrasted with standard picture, obtain difference quantity, for example collection parlor ground image in have multiple spitballs and
The debris such as pericarp, and the debris such as multiple spitballs and pericarp are not contained in the standard picture on parlor ground, then after contrast
Difference of these spitballs and the pericarp standard picture just as parlor ground from the parlor ground image for shooting, the robot
100 these differences carry out statistics and obtain the difference quantity, and sentence when the difference quantity exceedes predetermined threshold value
Surely clean conditions are met, discharging and start the automatic cleaning equipment 200 carries out cleaning.
The predetermined threshold value can be with 2 or 3 or 4, it is also possible to which the use habit according to application places or user is voluntarily set, excellent
Selection of land, the predetermined threshold value is more than or equal to 2.The application is not limited the specific species of the predetermined threshold value, tool
Depending on stereoscopic actual conditions.
On the basis of above-described embodiment, in the further embodiment of the application, the robot 100 described will work as
Preceding image and corresponding standard picture are contrasted, and obtain the difference of the present image and corresponding standard picture
Specifically for being contrasted the present image and corresponding standard picture, acquisition different zones, and sentence during point quantity
Whether the area of each different zones of breaking is less than preset area, if it is, the different zones are judged into difference, counts
All of difference obtains the difference quantity of the corresponding standard picture of the present image.
In the present embodiment, in order to avoid other home equipments that will be had more in family are judged to due to rubbish or debris and
The difference caused, we are provided with the concept of preset area, and the area of each different zones is compared with preset area
Compared with only when the area of different zones is less than preset area, we are just judged to difference, can so be avoided family
The household goods such as the refrigerator, TV, the sofa that are had more in front yard are judged to the feelings of difference and automatic cleaning equipment 200 described in error starting
Condition, increased the fault freedom of the system.
On the basis of above-described embodiment, in a preferred embodiment of the application, as shown in Figure 10, the robot
100 also include phonetic incepting equipment 140, and the robot 100 is additionally operable to receiving language by the phonetic incepting equipment 140
After sound enabled instruction, start the automatic cleaning equipment 200, and the automatic cleaning equipment 200 is departed from the robot 100
Carry out cleaning.
In the present embodiment, the voice of the automatic cleaning equipment 200 can be realized by the phonetic incepting equipment 140
Control.
In sum, the embodiment of the present application provides a kind of robot 100 and the cleaning systems based on robot, the system
In robot 100 there is connecting portion 120 and/or receiving portion 110, the robot 100 is representing automated cleaning when receiving
After the work that the cleaning of equipment 200 is completed completes instruction, using the steering instruction control the automatic cleaning equipment 200 to
The place direction motion of the robot 100, until the automatic cleaning equipment 200 passes through the connecting portion 120 and the machine
People 100 is connected, and/or, in described accommodation section 110, it is achieved thereby that automatic cleaning equipment 200 is after cleaning is completed
Recovery, it is to avoid it is parked in corner or the inferior local situation for being difficult to find of sofa, improves the automatic cleaning equipment 200
Property easy to use.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
Claims (10)
1. a kind of cleaning systems based on robot, it is characterised in that including：Robot and automatic cleaning equipment；Wherein,
The robot has the connecting portion of the connection automatic cleaning equipment and/or accommodates the receiving of the automatic cleaning equipment
Portion；
The automatic cleaning equipment is used to after cleaning completion complete to instruct to the robot transmission work；
After the robot is used to receive the work completion instruction, steering instruction is sent to the automatic cleaning equipment, to control
The automatic cleaning equipment is made to be moved to direction where the robot until the automatic cleaning equipment passes through the connecting portion
It is connected with the robot, and/or, in described accommodation section.
2. system according to claim 1, it is characterised in that the robot also includes picture pick-up device, the shooting sets
It is ready for use on the present image for gathering the picture pick-up device region；
The robot is additionally operable to query criteria image library and obtains corresponding with present image standard picture, and by the mark
Quasi- image is contrasted with the present image, determines that the present image meets clean conditions, then start the automated cleaning
Equipment, and the automatic cleaning equipment disengaging robot is carried out cleaning.
3. system according to claim 2, it is characterised in that the connecting portion is adsorption plant；
The adsorption plant is used for automatic cleaning equipment of the absorption centered on the robot in preset range when being powered；
The robot makes the automatic cleaning equipment depart from the robot carries out cleaning specifically for the robot
The adsorption plant is powered off so that the automatic cleaning equipment departs from the robot and carries out cleaning；
The robot is additionally operable to after the work completion instruction is received, and is that the adsorption plant is powered.
4. system according to claim 3, it is characterised in that the adsorption plant is the input coil of relay.
5. system according to claim 2, it is characterised in that the robot query criteria image library obtain with it is described
The corresponding standard picture of present image, and the standard picture is contrasted with the present image, determine the current figure
As meeting during clean conditions specifically for query criteria image library obtains standard picture corresponding with the present image, and will
The present image and corresponding standard picture are contrasted, and obtain the present image and corresponding standard picture
Difference quantity, judge whether the difference quantity exceedes predetermined threshold value, if it is, judging that the present image meets
Clean conditions.
6. system according to claim 5, it is characterised in that the robot is by the present image and corresponding
Standard picture contrasted, specifically used during the difference quantity for obtaining the present image and corresponding standard picture
In, the present image and corresponding standard picture are contrasted, different zones are obtained, and judge each not same district
Whether the area in domain is less than preset area, if it is, the different zones are judged into difference, count all of difference and obtains
Obtain the difference quantity of the corresponding standard picture of the present image.
7. system according to claim 1, it is characterised in that the automatic cleaning equipment is located at when in described accommodation section,
It is additionally operable to carry the robot.
8. system according to claim 1, it is characterised in that also include：Mobile communication equipment；
The mobile communication equipment is used to send cleaning instruction to the robot；
The robot is additionally operable to after the cleaning instruction is received, and starts the automatic cleaning equipment, and make described automatic
Cleaning equipment departs from the robot carries out cleaning.
9. system according to claim 1, it is characterised in that the robot also includes phonetic incepting equipment, the machine
Device people is additionally operable to after vice activation instruction is received by the phonetic incepting equipment, starts the automatic cleaning equipment, and
The automatic cleaning equipment is departed from the robot carries out cleaning.
10. a kind of robot, it is characterised in that the robot have the connection automatic cleaning equipment connecting portion and/or
Accommodate the receiving portion of the automatic cleaning equipment；
The robot is used for after the work for receiving automatic cleaning equipment transmission completes instruction, to the automatic cleaning equipment
Steering instruction is sent, to control the automatic cleaning equipment to be moved to direction where the robot until the automated cleaning sets
It is standby to be connected with the robot by the connecting portion, and/or, in described accommodation section.
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| CN201710207203.1A CN106725129A (en) | 2017-03-31 | 2017-03-31 | A kind of robot and the cleaning systems based on robot |
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| CN201710207203.1A CN106725129A (en) | 2017-03-31 | 2017-03-31 | A kind of robot and the cleaning systems based on robot |
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| CN111110117A (en) * | 2019-12-20 | 2020-05-08 | 小狗电器互联网科技（北京）股份有限公司 | Cleaning method for working surface of sweeping robot |
| CN112043208A (en) * | 2020-09-14 | 2020-12-08 | 北京洛必德科技有限公司 | Multifunctional intelligent cleaning robot device |
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| CN112056996A (en) * | 2020-09-27 | 2020-12-11 | 芯叶(广州)网络科技有限公司 | Obstacle avoidance device for intelligent sweeping robot |
| CN112244353A (en) * | 2020-10-30 | 2021-01-22 | 内蒙古昆明卷烟有限责任公司 | Intelligent ashtray capable of being cleaned automatically and control method thereof |
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Address after: 201207 (Shanghai) Pudong New Area free trade zone fanchun Road No. 400 Building 1 layer 3 Applicant after: SHANGHAI SIYIXUAN ROBOT TECHNOLOGY CO., LTD. Address before: 200233 room F21, room 4, building No. 18, Guiping Road, Xuhui District, Xuhui District, Shanghai Applicant before: SHANGHAI SIYIXUAN ROBOT TECHNOLOGY CO., LTD. |
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