CN106913289A - The cleaning treating method and apparatus of sweeping robot - Google Patents
The cleaning treating method and apparatus of sweeping robot Download PDFInfo
- Publication number
- CN106913289A CN106913289A CN201510993683.XA CN201510993683A CN106913289A CN 106913289 A CN106913289 A CN 106913289A CN 201510993683 A CN201510993683 A CN 201510993683A CN 106913289 A CN106913289 A CN 106913289A
- Authority
- CN
- China
- Prior art keywords
- region
- cleaned
- layout
- purging zone
- cleaning
- 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.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 77
- 238000010408 sweeping Methods 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000010926 purge Methods 0.000 claims abstract description 95
- 230000004888 barrier function Effects 0.000 claims description 55
- 238000003672 processing method Methods 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000005406 washing Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 11
- 238000009826 distribution Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention provides a kind of cleaning treating method and apparatus of sweeping robot, by receive clean instruction after, mark according to the region to be cleaned cleaned in instruction obtains the energy purging zone in the layout in corresponding region to be cleaned, and actual ratio information corresponding with layout, it is determined that the coordinate information of energy purging zone each position, according to the coordinate information of energy purging zone each position, the sweep-out pattern of planning energy purging zone, according to sweep-out pattern, treating purging zone carries out cleaning treatment.I.e. sweep-out pattern is planned according to the practical layout in region to be cleaned, therefore, path planning is more reasonable, improves the cleaning effect of sweeping robot, and sweeping robot is more intelligent, improves Consumer's Experience.
Description
Technical field
The present invention relates to intelligent appliance technology, more particularly to a kind of sweeping robot cleaning processing method and
Device.
Background technology
Sweeping robot can be swept the floor and be mopped floor because of it instead of people, be widely applied.
Existing sweeping robot is swept the floor according to preset path rule in machine, typically runs into barrier
Hinder and turn after thing, path of sweeping the floor in " Z " font, by the way that cleanings is repeated several times, with so that
Region to be swept is swept into entirely as far as possible.
However, it is complicated due to being laid out by purging zone, often there is a certain region and repeated to clean many
It is secondary, but the phenomenon that some regions are never swept into, therefore, prior art sweeping robot it is clear
Sweep effect on driving birds is not good.
The content of the invention
Regarding to the issue above, the present invention provides a kind of cleaning treating method and apparatus of sweeping robot, uses
In the defect of the cleaning effect on driving birds is not good for overcoming sweeping robot in the prior art.
In a first aspect, the present invention provides a kind of cleaning processing method of sweeping robot, including：
Receive and clean instruction, cleaning instruction includes the mark in region to be cleaned；
The energy purging zone in the layout in region to be cleaned corresponding with the mark in region to be cleaned is obtained,
And actual ratio information corresponding with layout；
According to layout and the corresponding actual ratio information of layout, the seat of energy purging zone each position is obtained
Mark information；
According to the coordinate information of energy purging zone each position, the sweep-out pattern of planning energy purging zone；
According to sweep-out pattern, treating purging zone carries out cleaning treatment.
Alternatively, the energy obtained in the layout in region to be cleaned corresponding with the mark in region to be cleaned is clear
Region is swept, including：
The layout in the region to be cleaned that electronic equipment sends is received, identified energy purging zone in layout；
According to be pre-configured with energy purging zone mark, to layout be identified treatment, obtain with it is advance
The energy purging zone mark of configuration is corresponding can purging zone.
Alternatively, the energy obtained in the layout in region to be cleaned corresponding with the mark in region to be cleaned is clear
Region, and actual ratio information corresponding with the layout in region to be cleaned are swept, including：
Treat purging zone and be scanned treatment, obtain the barrier region in region to be cleaned, and treat
The length information and width information of purging zone；
Length information and the width letter of barrier region and region to be cleaned in region to be cleaned
Breath, obtains the energy purging zone in region to be cleaned.
Alternatively, also include：
If in cleaning process, monitoring that sweeping robot runs into barrier, then barrier covering is obtained
Coordinate information；
Stop carrying out cleaning treatment to the corresponding region of coordinate information of barrier covering, and adjust sweeper
The cleaning direction of device people.
Alternatively, also include：
The coordinate information of record barrier covering, and the coordinate information covered according to barrier, updating can be clear
Sweep the coordinate information of region each position.
Second aspect, the present invention provides a kind of cleaning processing unit of sweeping robot, including：
Receiver module, instruction is cleaned for receiving, and cleaning instruction includes the mark in region to be cleaned；
Acquisition module, in the layout for obtaining region to be cleaned corresponding with the mark in region to be cleaned
Energy purging zone, and actual ratio information corresponding with layout；
Processing module, for according to layout and the corresponding actual ratio information of layout, acquisition can be cleaned
The coordinate information of region each position；
Planning module, for the coordinate information according to energy purging zone each position, planning energy purging zone
Sweep-out pattern；
Module is cleaned, cleaning treatment is carried out for according to sweep-out pattern, treating purging zone.
Alternatively, the layout in the region to be cleaned that acquisition module sends specifically for reception electronic equipment,
Identified energy purging zone in layout；According to the energy purging zone mark being pre-configured with, layout is entered
Row identifying processing, obtains energy purging zone corresponding with the energy purging zone mark being pre-configured with.
Alternatively, acquisition module is scanned treatment specifically for treating purging zone, obtains area to be cleaned
Barrier region in domain, and region to be cleaned length information and width information；According to area to be cleaned
The length information and width information of barrier region and region to be cleaned in domain, obtain region to be cleaned
In energy purging zone.
Alternatively, it is additionally operable in cleaning process if cleaning module, monitors that sweeping robot runs into obstacle
Thing, then obtain the coordinate information of barrier covering；Stop the corresponding area of coordinate information to barrier covering
Domain carries out cleaning treatment, and adjusts the cleaning direction of sweeping robot.
Alternatively, processing module, is additionally operable to record the coordinate information of barrier covering, and according to barrier
The coordinate information of covering, updates the coordinate information of purging zone each position.
The cleaning treating method and apparatus of the sweeping robot that the present invention is provided, instruction is cleaned by receiving
Afterwards, the mark according to the region to be cleaned cleaned in instruction obtains the cloth in corresponding region to be cleaned
Energy purging zone in office's figure, and actual ratio information corresponding with layout, it is determined that can purging zone
The coordinate information of each position, according to the coordinate information of energy purging zone each position, planning energy purging zone
Sweep-out pattern, according to sweep-out pattern, treating purging zone carries out cleaning treatment.I.e. sweep-out pattern is foundation
What the practical layout in region to be cleaned was planned, therefore, path planning is more reasonable, improves sweeper
The cleaning effect of device people, sweeping robot is more intelligent, improves Consumer's Experience.
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 reality
The accompanying drawing to be used needed for example or description of the prior art is applied to be briefly described, it should be apparent that, below
Accompanying drawing in description is only some embodiments of the present invention, for those of ordinary skill in the art,
Without having to pay creative labor, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of the cleaning processing method embodiment one of sweeping robot of the present invention；
Fig. 2 is Regional Distribution's figure one to be cleaned of the embodiment of the present invention；
Fig. 3 is Regional Distribution's figure two to be cleaned of the embodiment of the present invention；
Fig. 4 is Regional Distribution's figure three to be cleaned of the embodiment of the present invention；
Fig. 5 is the cleaning path of embodiment of the present invention planning；
Fig. 6 is the schematic flow sheet of the cleaning processing method embodiment two of sweeping robot of the present invention；
Fig. 7 is the schematic flow sheet of the cleaning processing method embodiment three of sweeping robot of the present invention；
Fig. 8 is the scan mode schematic diagram of the embodiment of the present invention；
Fig. 9 is the schematic flow sheet of the cleaning processing method example IV of sweeping robot of the present invention；
Figure 10 is the schematic flow sheet of the cleaning processing method embodiment five of sweeping robot of the present invention；
Figure 11 is the structural representation of the cleaning processing unit embodiment of sweeping robot of the present invention.
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
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the invention, and
It is not all, of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out the every other embodiment obtained under the premise of creative work, belong to the scope of protection of the invention.
Term " first ", " second " in description and claims of this specification and above-mentioned accompanying drawing,
(if present)s such as " the 3rd " " the 4 " is for distinguishing similar object, without for retouching
State specific order or precedence.It should be appreciated that the data for so using in the appropriate case can be mutual
Change, so that embodiments of the invention described herein for example can be with except illustrating or describing herein
Order beyond those is implemented.Additionally, term " comprising " and " having " and their any change
Shape, it is intended that covering is non-exclusive to be included, for example, contain the process of series of steps or unit,
Method, system, product or equipment are not necessarily limited to those steps clearly listed or unit, but can
Including it is not listing clearly or for these processes, method, product or equipment it is intrinsic other step
Rapid or unit.
The sweeping robot of the embodiment of the present invention is when cleaning path planning is carried out, it is contemplated that region to be cleaned
Practical layout figure, according to region to be cleaned practical layout figure planning sweep-out pattern, more rationally,
Sweeping efficiency is higher, cleans effect more, improves the intellectuality of sweeping robot, improves user's body
Test.
Technical scheme is described in detail with specifically embodiment below.These have below
The embodiment of body can be combined with each other, may be in some embodiments for same or analogous concept or process
Repeat no more.
Fig. 1 is the schematic flow sheet of the cleaning processing method embodiment one of sweeping robot of the present invention, this implementation
The method of example is as follows：
S101：Receive and clean instruction.
Wherein, cleaning instruction includes the mark in region to be cleaned.
Region to be cleaned can be bedroom, parlor and/or kitchen etc..
The selection key in region to be cleaned can be provided a user with the control panel of sweeping robot, or
Person provides a user with the selection key in region to be cleaned on remote control equipment, and user can select a region,
Multiple regions can also be selected, for example：Bedroom can be selected, i.e., only cleans bedroom, select bedroom and visitor
The Room, i.e., will clean bedroom and to clean parlor.
After user's selection, sent by acknowledgement key and clean instruction, user's selection is encapsulated in cleaning instruction
Region to be cleaned mark.Sweeping robot is received and cleans instruction, and is parsed to cleaning instruction,
Obtain the mark for cleaning the region to be cleaned in instruction.
S103：Can clean in the layout in acquisition region to be cleaned corresponding with the mark in region to be cleaned
Region, and actual ratio information corresponding with layout.
The layout in the corresponding region to be cleaned of mark in region to be cleaned can be preset at sweeping robot
The mark in region to be cleaned and the mapping of the layout in region to be cleaned are stored in memory, in memory
Relation, and layout actual ratio information；
Energy purging zone and barrier region are identified in layout, specifically：
Can be made a distinction by color in layout, as shown in Fig. 2 Fig. 2 is the embodiment of the present invention
Regional Distribution's figure one to be cleaned, white represents energy purging zone, and black represents barrier region.
Region can also be carried out by different patterns in layout, as shown in Figure 3 or Figure 4, Fig. 3 is this
Regional Distribution's figure two to be cleaned of inventive embodiments, Fig. 4 schemes for the Regional Distribution to be cleaned of the embodiment of the present invention
Three, blank parts represent energy purging zone, and dash area represents barrier region,
S105：According to layout and the corresponding actual ratio information of layout, obtain can purging zone everybody
The coordinate information put.
By layout according to the actual ratio information of the layout drawn, it is mapped in coordinate diagram, obtains energy
The coordinate information of purging zone each position.
S107：According to the coordinate information of energy purging zone each position, the sweep-out pattern of planning energy purging zone.
Can be according to from left to right, from right to left, bottom-up order carries out path planning, such as successively
Shown in Fig. 5, Fig. 5 is the cleaning path of embodiment of the present invention planning.Wherein, arrow represents sweeping robot
Cleaning direction.
S109：According to sweep-out pattern, treating purging zone carries out cleaning treatment.
The present embodiment, by receiving and cleaning instruction after, according to the region to be cleaned cleaned in instruction
Mark obtains the energy purging zone in the layout in corresponding region to be cleaned, and with layout pair
The actual ratio information answered, it is determined that the coordinate information of energy purging zone each position, each according to energy purging zone
The coordinate information of position, the sweep-out pattern of planning energy purging zone, according to sweep-out pattern, treats sweeping area
Domain carries out cleaning treatment.I.e. sweep-out pattern is planned according to the practical layout in region to be cleaned, because
This, path planning is more reasonable, improves the cleaning effect of sweeping robot, and sweeping robot is more intelligent
Change, improve Consumer's Experience.
Fig. 6 is the schematic flow sheet of the cleaning processing method embodiment two of sweeping robot of the present invention, and Fig. 6 is
On the basis of embodiment illustrated in fig. 1, to a kind of possible implementation of S103 in embodiment illustrated in fig. 1
Detailed description, it is as follows：
S103a：The layout in the region to be cleaned that electronic equipment sends is received, identified energy is clear in layout
Sweep region.
Wherein, electronic equipment can be mobile phone, camera or flat board etc., can by scanning, take pictures or
The modes such as drawing obtain the layout in region to be cleaned, and energy purging zone, mark are identified in layout
As long as mode it is consistent with the RM of sweeping robot, for example：Can be using such as Fig. 2, Fig. 3
Or the mode of Fig. 4 is identified.Electronic equipment is got after the layout in region to be cleaned, and this is laid out
Figure is sent to sweeping robot by modes such as near-field communications (infrared, bluetooth or WIFI).
S103b：According to the energy purging zone mark being pre-configured with, treatment is identified to layout, obtained
Energy purging zone corresponding with the energy purging zone mark being pre-configured with.
Receive after the layout in region to be cleaned, identified according to energy purging zone, in identification layout
Energy purging zone.
The present embodiment, the layout in region to be cleaned is generated and sent by electronic equipment, and to layout
In energy purging zone be identified, sweeping robot is received after layout, according to what is be pre-configured with
Energy purging zone mark identification energy purging zone, so that, sweeping robot gets the energy in region to be cleaned
The mode of purging zone is convenient, flexible.
Fig. 7 is the schematic flow sheet of the cleaning processing method embodiment three of sweeping robot of the present invention, and Fig. 7 is
On the basis of embodiment illustrated in fig. 1, to the alternatively possible realization side of S103 in embodiment illustrated in fig. 1
The detailed description of formula, it is as follows：
S103a’：Treat purging zone and be scanned treatment, obtain the barrier region in region to be cleaned,
And the length information and width information in region to be cleaned.
As shown in figure 8, scan mode schematic diagrames of the Fig. 8 for the embodiment of the present invention, for example：Can be by thunder
Up to all around being scanned, the barrier region in region to be cleaned is recognized, further, it is possible to obtain
To the length information and width information in region to be cleaned.
S103b’：The length information of barrier region and region to be cleaned in region to be cleaned and
Width information, obtains the energy purging zone in region to be cleaned.
Clear region can purging zone.
The present embodiment, by way of scanning, obtains the barrier in region to be cleaned and region to be cleaned
Length information and width information, and then, it is determined that can purging zone, RM is flexible.
Fig. 9 is the schematic flow sheet of the cleaning processing method example IV of sweeping robot of the present invention, and Fig. 4 is
On the basis of Fig. 1 or Fig. 6 or embodiment illustrated in fig. 7, further, can also include：
S111：If in cleaning process, monitoring that sweeping robot runs into barrier, then barrier is obtained
The coordinate information of covering.
For example：Furniture has been newly increased in parlor, in layout before, the position corresponding to the furniture
Be can purging zone, the region can be in the cleaning range of sweeping robot, when monitoring sweeping robot
Barrier is run into, then obtains the coordinate information of barrier covering.
S113：Stop carrying out cleaning treatment to the corresponding region of coordinate information of barrier covering, and adjust
The cleaning direction of sweeping robot.
Specifically, can be to have cleaned by the corresponding zone marker of coordinate information for covering the barrier
Region, or, the region is directly skipped, re-start the path planning of residual energy purging zone.
The present embodiment, by cleaning process, monitoring that sweeping robot runs into barrier, then obtains
The coordinate information of barrier covering.And stop carrying out clearly the corresponding region of coordinate information of barrier covering
Sweep treatment, and adjust the cleaning direction of sweeping robot, being capable of avoiding barrier, sweeping robot in time
Clean more flexibly, it is more intelligent.
Figure 10 is the schematic flow sheet of the cleaning processing method embodiment five of sweeping robot of the present invention, Figure 10
It is on the basis of embodiment illustrated in fig. 9, further, also to include：
S115：The coordinate information of record barrier covering, and the coordinate information covered according to barrier, more
The coordinate information of new energy purging zone each position.
The coordinate information record of the barrier covering that will be obtained in step S111 is clear from energy by the coordinate information
Removed in the coordinate information of each position for sweeping region.
The present embodiment, by recording the coordinate information that barrier is covered, and the coordinate covered according to barrier
Information, updates the coordinate information of energy purging zone each position.So that in cleaning process next time, can
The more rational sweep-out pattern of planning.
Figure 11 is the structural representation of the cleaning processing unit embodiment of sweeping robot of the present invention, this implementation
The device of example includes：Receiver module 1101, acquisition module 1103, processing module 1105, planning module 1107
With clean module 1109, wherein, receiver module 1101 be used for receive clean instruction, clean instruction include treat
The mark in the region of cleaning；Acquisition module 1103 is used to obtain treat clearly corresponding with the mark in region to be cleaned
Sweep the energy purging zone in the layout in region, and actual ratio information corresponding with layout；Treatment
Module 1105 is used for according to layout and the corresponding actual ratio information of layout, obtains energy purging zone each
The coordinate information of position；Planning module 1107 is used for the coordinate information according to energy purging zone each position, rule
Draw the sweep-out pattern of energy purging zone；Cleaning module 1109 is used for according to sweep-out pattern, treats purging zone
Carry out cleaning treatment.
The device of the present embodiment accordingly can be used to perform the technical scheme of embodiment of the method shown in Fig. 1, in fact
Existing principle is similar with technique effect, and here is omitted.
In fig. 11, the cloth in the region to be cleaned that acquisition module 1103 sends specifically for reception electronic equipment
Office's figure, identified energy purging zone in layout；According to the energy purging zone mark being pre-configured with, to cloth
Office's figure is identified treatment, obtains energy purging zone corresponding with the energy purging zone mark being pre-configured with.
The device of the present embodiment accordingly can be used to perform the technical scheme of embodiment of the method shown in Fig. 6, in fact
Existing principle is similar with technique effect, and here is omitted.
In fig. 11, acquisition module 1103 is scanned treatment specifically for treating purging zone, and acquisition is treated
Barrier region in purging zone, and region to be cleaned length information and width information；According to treating
The length information and width information of barrier region and region to be cleaned in purging zone, acquisition are treated clear
Sweep the energy purging zone in region.
The device of the present embodiment accordingly can be used to perform the technical scheme of embodiment of the method shown in Fig. 7, in fact
Existing principle is similar with technique effect, and here is omitted.
In fig. 11, it is additionally operable in cleaning process if cleaning module 1109, monitors that sweeping robot is met
To barrier, then the coordinate information of barrier covering is obtained；Stop the coordinate information pair to barrier covering
The region answered carries out cleaning treatment, and adjusts the cleaning direction of sweeping robot.
The device of the present embodiment accordingly can be used to perform the technical scheme of embodiment of the method shown in Fig. 9, in fact
Existing principle is similar with technique effect, and here is omitted.
In fig. 11, processing module 1105 be additionally operable to record barrier covering coordinate information, and according to
The coordinate information of barrier covering, updates the coordinate information of purging zone each position.
The device of the present embodiment accordingly can be used to perform the technical scheme of embodiment of the method shown in Figure 10, its
Realization principle is similar with technique effect, and here is omitted.
One of ordinary skill in the art will appreciate that：Realize all or part of step of above-mentioned each method embodiment
Suddenly can be completed by the related hardware of programmed instruction.Foregoing program can be stored in a computer can
In reading storage medium.The program upon execution, performs the step of including above-mentioned each method embodiment；And
Foregoing storage medium includes：ROM, RAM, magnetic disc or CD etc. are various can be with store program codes
Medium.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than right
Its limitation；Although being described in detail to the present invention with reference to foregoing embodiments, this area it is common
Technical staff should be understood：It can still modify to the technical scheme described in foregoing embodiments,
Or equivalent is carried out to which part or all technical characteristic；And these modifications or replacement, and
The scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution is not made.
Claims (10)
1. the cleaning processing method of a kind of sweeping robot, it is characterised in that including：
Receive and clean instruction, the cleaning instruction includes the mark in region to be cleaned；
Obtain the energy sweeping area in the layout in region to be cleaned corresponding with the mark in the region to be cleaned
Domain, and actual ratio information corresponding with the layout；
According to the layout and the corresponding actual ratio information of the layout, the energy sweeping area is obtained
The coordinate information of domain each position；
According to the coordinate information of the energy purging zone each position, the cleaning road of the energy purging zone is planned
Line；
According to the sweep-out pattern, cleaning treatment is carried out to the region to be cleaned.
2. method according to claim 1, it is characterised in that the acquisition and the area to be cleaned
Energy purging zone in the layout in the corresponding region to be cleaned of mark in domain, including：
The layout in the region to be cleaned that electronic equipment sends is received, it is identified in the layout to clean
Region；
According to be pre-configured with energy purging zone mark, to the layout be identified treatment, obtain with
The energy purging zone mark being pre-configured with is corresponding can purging zone.
3. method according to claim 1, it is characterised in that the acquisition and the area to be cleaned
Energy purging zone in the layout in the corresponding region to be cleaned of mark in domain, and with the area to be cleaned
The corresponding actual ratio information of layout in domain, including：
Treatment is scanned to the region to be cleaned, the barrier region in the region to be cleaned is obtained,
And the length information and width information in the region to be cleaned；
The length information of barrier region and the region to be cleaned in the region to be cleaned and
Width information, obtains the energy purging zone in region to be cleaned.
4. the method according to any one of claims 1 to 3, it is characterised in that also include：
If in cleaning process, monitoring that the sweeping robot runs into barrier, then the obstacle is obtained
The coordinate information of thing covering；
Stop carrying out cleaning treatment to the corresponding region of coordinate information of barrier covering, and adjustment is swept
The cleaning direction of floor-washing robot.
5. method according to claim 4, it is characterised in that also include：
The coordinate information of the barrier covering, and the coordinate information covered according to the barrier are recorded,
Update the coordinate information of the energy purging zone each position.
6. the cleaning processing unit of a kind of sweeping robot, it is characterised in that including：
Receiver module, instruction is cleaned for receiving, and the cleaning instruction includes the mark in region to be cleaned；
Acquisition module, the layout for obtaining region to be cleaned corresponding with the mark in the region to be cleaned
Energy purging zone in figure, and actual ratio information corresponding with the layout；
Processing module, for according to the layout and the corresponding actual ratio information of the layout, obtaining
Take the coordinate information of the energy purging zone each position；
Planning module, for the coordinate information according to the energy purging zone each position, plans that the energy is clear
Sweep the sweep-out pattern in region；
Module is cleaned, for according to the sweep-out pattern, cleaning treatment being carried out to the region to be cleaned.
7. device according to claim 6, it is characterised in that the acquisition module is specifically for connecing
The layout in the region to be cleaned that electronic equipment sends is received, identified energy purging zone in the layout；
According to be pre-configured with energy purging zone mark, to the layout be identified treatment, obtain with it is described
The corresponding energy purging zone of energy purging zone mark being pre-configured with.
8. device according to claim 6, it is characterised in that the acquisition module is specifically for right
The region to be cleaned is scanned treatment, obtains the barrier region in the region to be cleaned, and
The length information and width information in the region to be cleaned；According to the barrier area in the region to be cleaned
Domain and the length information and width information in the region to be cleaned, can clean in acquisition region to be cleaned
Region.
9. the device according to any one of claim 6~8, it is characterised in that the cleaning module is also
If in cleaning process, monitoring that the sweeping robot runs into barrier, then obtaining the obstacle
The coordinate information of thing covering；Stop cleaning the corresponding region of coordinate information of barrier covering
Treatment, and adjust the cleaning direction of sweeping robot.
10. device according to claim 9, it is characterised in that the processing module, is additionally operable to note
The coordinate information of the barrier covering, and the coordinate information covered according to the barrier are recorded, institute is updated
State the coordinate information of purging zone each position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510993683.XA CN106913289B (en) | 2015-12-25 | 2015-12-25 | Sweeping processing method and device of sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510993683.XA CN106913289B (en) | 2015-12-25 | 2015-12-25 | Sweeping processing method and device of sweeping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106913289A true CN106913289A (en) | 2017-07-04 |
| CN106913289B CN106913289B (en) | 2021-01-01 |
Family
ID=59454799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510993683.XA Expired - Fee Related CN106913289B (en) | 2015-12-25 | 2015-12-25 | Sweeping processing method and device of sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106913289B (en) |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107544495A (en) * | 2017-08-17 | 2018-01-05 | 北京小米移动软件有限公司 | cleaning method and device |
| CN107898377A (en) * | 2017-09-26 | 2018-04-13 | 中国科学院深圳先进技术研究院 | A kind of curtain method for cleaning and system |
| CN108143353A (en) * | 2017-12-13 | 2018-06-12 | 北京小米移动软件有限公司 | Information prompting method, device, equipment and storage medium |
| CN108196456A (en) * | 2018-01-22 | 2018-06-22 | 青岛海尔空调器有限总公司 | A kind of smart home sensing control method, apparatus and air-conditioning |
| CN108261146A (en) * | 2018-01-18 | 2018-07-10 | 安徽三弟电子科技有限责任公司 | Row method and its control system are swept from record intelligent sweeping |
| CN108614558A (en) * | 2018-05-31 | 2018-10-02 | 北京智行者科技有限公司 | A kind of cleaning method for planning track |
| CN108606728A (en) * | 2018-05-08 | 2018-10-02 | 平安科技（深圳）有限公司 | A kind of sweeping robot control method, equipment, sweeping robot and storage medium |
| CN108742336A (en) * | 2018-05-30 | 2018-11-06 | 上海与德通讯技术有限公司 | The cleaning method of intelligent floor mat and intelligent cleaning equipment |
| CN108742335A (en) * | 2018-05-30 | 2018-11-06 | 上海与德通讯技术有限公司 | A kind of cleaning method and robot |
| CN108876118A (en) * | 2018-05-31 | 2018-11-23 | 北京智行者科技有限公司 | A kind of cleaning task executing method |
| CN109077672A (en) * | 2018-09-28 | 2018-12-25 | 北京奇虎科技有限公司 | A kind of method and device of sweeping robot selection block |
| CN109240301A (en) * | 2018-09-28 | 2019-01-18 | 北京奇虎科技有限公司 | Sweeping robot route planning method, device and sweeping robot |
| CN109953700A (en) * | 2017-12-26 | 2019-07-02 | 杭州萤石软件有限公司 | A kind of cleaning method and clean robot |
| WO2019136716A1 (en) * | 2018-01-12 | 2019-07-18 | 浙江国自机器人技术有限公司 | Cleaning method for self-planning route |
| 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 |
| CN111665826A (en) * | 2019-03-06 | 2020-09-15 | 北京奇虎科技有限公司 | Depth map acquisition method based on laser radar and monocular camera and sweeping robot |
| CN111685655A (en) * | 2019-03-15 | 2020-09-22 | 北京奇虎科技有限公司 | Task scheduling method and device for sweeping robot |
| CN112596508A (en) * | 2019-08-29 | 2021-04-02 | 美智纵横科技有限责任公司 | Control method and device of sensor and storage medium |
| WO2021174858A1 (en) * | 2020-03-03 | 2021-09-10 | 美智纵横科技有限责任公司 | Map construction method and apparatus, and cleaning method and apparatus of cleaning robot |
| CN113534820A (en) * | 2021-09-14 | 2021-10-22 | 深圳市元鼎智能创新有限公司 | Method and device for motion obstacle avoidance and route control of sweeping robot and sweeping robot |
| CN113693509A (en) * | 2021-09-10 | 2021-11-26 | 深圳乐生机器人智能科技有限公司 | Sweeping position control method of sweeping robot and sweeping robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1354072A (en) * | 2000-11-22 | 2002-06-19 | 三星光州电子株式会社 | Movable robot system using RF module |
| JP2005507537A (en) * | 2001-11-03 | 2005-03-17 | ダイソン・リミテッド | Autonomous machine |
| CN102018481A (en) * | 2009-09-11 | 2011-04-20 | 德国福维克控股公司 | Method for operating a cleaning robot |
| CN102866706A (en) * | 2012-09-13 | 2013-01-09 | 深圳市银星智能科技股份有限公司 | Cleaning robot adopting smart phone navigation and navigation cleaning method thereof |
| US8679260B2 (en) * | 2009-11-11 | 2014-03-25 | Intellibot Robotics Llc | Methods and systems for movement of an automatic cleaning device using video signal |
| CN103784079A (en) * | 2012-10-26 | 2014-05-14 | Lg电子株式会社 | Robot cleaner system and control method of the same |
| KR20150047893A (en) * | 2013-10-25 | 2015-05-06 | 삼성전자주식회사 | Cleaning robot |
-
2015
- 2015-12-25 CN CN201510993683.XA patent/CN106913289B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1354072A (en) * | 2000-11-22 | 2002-06-19 | 三星光州电子株式会社 | Movable robot system using RF module |
| JP2005507537A (en) * | 2001-11-03 | 2005-03-17 | ダイソン・リミテッド | Autonomous machine |
| CN102018481A (en) * | 2009-09-11 | 2011-04-20 | 德国福维克控股公司 | Method for operating a cleaning robot |
| US8679260B2 (en) * | 2009-11-11 | 2014-03-25 | Intellibot Robotics Llc | Methods and systems for movement of an automatic cleaning device using video signal |
| CN102866706A (en) * | 2012-09-13 | 2013-01-09 | 深圳市银星智能科技股份有限公司 | Cleaning robot adopting smart phone navigation and navigation cleaning method thereof |
| CN103784079A (en) * | 2012-10-26 | 2014-05-14 | Lg电子株式会社 | Robot cleaner system and control method of the same |
| KR20150047893A (en) * | 2013-10-25 | 2015-05-06 | 삼성전자주식회사 | Cleaning robot |
Cited By (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019033604A1 (en) * | 2017-08-17 | 2019-02-21 | 北京小米移动软件有限公司 | Cleaning method and device |
| US10571918B2 (en) | 2017-08-17 | 2020-02-25 | Beijing Xiaomi Mobile Software Co., Ltd. | Cleaning method and device |
| CN107544495A (en) * | 2017-08-17 | 2018-01-05 | 北京小米移动软件有限公司 | cleaning method and device |
| WO2019062628A1 (en) * | 2017-09-26 | 2019-04-04 | 中国科学院深圳先进技术研究院 | Curtain cleaning method and system |
| CN107898377A (en) * | 2017-09-26 | 2018-04-13 | 中国科学院深圳先进技术研究院 | A kind of curtain method for cleaning and system |
| CN108143353A (en) * | 2017-12-13 | 2018-06-12 | 北京小米移动软件有限公司 | Information prompting method, device, equipment and storage medium |
| US11589722B2 (en) | 2017-12-26 | 2023-02-28 | Hangzhou Ezviz Software Co., Ltd. | Cleaning method and cleaning robot |
| WO2019128636A1 (en) * | 2017-12-26 | 2019-07-04 | 杭州萤石软件有限公司 | Cleaning method and cleaning robot |
| CN109953700A (en) * | 2017-12-26 | 2019-07-02 | 杭州萤石软件有限公司 | A kind of cleaning method and clean robot |
| CN109953700B (en) * | 2017-12-26 | 2020-09-25 | 杭州萤石软件有限公司 | Cleaning method and cleaning robot |
| WO2019136716A1 (en) * | 2018-01-12 | 2019-07-18 | 浙江国自机器人技术有限公司 | Cleaning method for self-planning route |
| CN108261146A (en) * | 2018-01-18 | 2018-07-10 | 安徽三弟电子科技有限责任公司 | Row method and its control system are swept from record intelligent sweeping |
| CN108196456A (en) * | 2018-01-22 | 2018-06-22 | 青岛海尔空调器有限总公司 | A kind of smart home sensing control method, apparatus and air-conditioning |
| CN108606728B (en) * | 2018-05-08 | 2020-12-25 | 平安科技（深圳）有限公司 | Sweeping robot control method and equipment, sweeping robot and storage medium |
| WO2019214039A1 (en) * | 2018-05-08 | 2019-11-14 | 平安科技（深圳）有限公司 | Control method and device for cleaning robot, cleaning robot and storage medium |
| CN108606728A (en) * | 2018-05-08 | 2018-10-02 | 平安科技（深圳）有限公司 | A kind of sweeping robot control method, equipment, sweeping robot and storage medium |
| CN108742335A (en) * | 2018-05-30 | 2018-11-06 | 上海与德通讯技术有限公司 | A kind of cleaning method and robot |
| CN108742336A (en) * | 2018-05-30 | 2018-11-06 | 上海与德通讯技术有限公司 | The cleaning method of intelligent floor mat and intelligent cleaning equipment |
| CN108614558A (en) * | 2018-05-31 | 2018-10-02 | 北京智行者科技有限公司 | A kind of cleaning method for planning track |
| CN108876118A (en) * | 2018-05-31 | 2018-11-23 | 北京智行者科技有限公司 | A kind of cleaning task executing method |
| CN108876118B (en) * | 2018-05-31 | 2020-12-25 | 北京智行者科技有限公司 | Cleaning task execution method |
| CN108614558B (en) * | 2018-05-31 | 2020-12-25 | 北京智行者科技有限公司 | Cleaning track planning method |
| CN109077672A (en) * | 2018-09-28 | 2018-12-25 | 北京奇虎科技有限公司 | A kind of method and device of sweeping robot selection block |
| CN109077672B (en) * | 2018-09-28 | 2023-03-14 | 北京奇虎科技有限公司 | Method and device for selecting block by floor sweeping robot |
| CN109240301A (en) * | 2018-09-28 | 2019-01-18 | 北京奇虎科技有限公司 | Sweeping robot route planning method, device and sweeping robot |
| CN111665826A (en) * | 2019-03-06 | 2020-09-15 | 北京奇虎科技有限公司 | Depth map acquisition method based on laser radar and monocular camera and sweeping robot |
| CN111685655A (en) * | 2019-03-15 | 2020-09-22 | 北京奇虎科技有限公司 | Task scheduling method and device for sweeping robot |
| CN111685655B (en) * | 2019-03-15 | 2023-07-04 | 北京奇虎科技有限公司 | Task scheduling method and device for sweeping robot |
| CN112596508A (en) * | 2019-08-29 | 2021-04-02 | 美智纵横科技有限责任公司 | Control method and device of sensor and 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 |
| WO2021174858A1 (en) * | 2020-03-03 | 2021-09-10 | 美智纵横科技有限责任公司 | Map construction method and apparatus, and cleaning method and apparatus of cleaning robot |
| CN113693509A (en) * | 2021-09-10 | 2021-11-26 | 深圳乐生机器人智能科技有限公司 | Sweeping position control method of sweeping robot and sweeping robot |
| CN113534820A (en) * | 2021-09-14 | 2021-10-22 | 深圳市元鼎智能创新有限公司 | Method and device for motion obstacle avoidance and route control of sweeping robot and sweeping robot |
| CN113534820B (en) * | 2021-09-14 | 2021-12-14 | 深圳市元鼎智能创新有限公司 | Method and device for motion obstacle avoidance and route control of sweeping robot and sweeping robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106913289B (en) | 2021-01-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106913289A (en) | The cleaning treating method and apparatus of sweeping robot | |
| CN111528732B (en) | Cleaning robot operation control method, device and system and storage medium | |
| CN107092254B (en) | A kind of design method of the Household floor-sweeping machine device people based on depth enhancing study | |
| CN109195751A (en) | System and method for the configurable operations based on the robot for distinguishing class | |
| CN108803590A (en) | Robot cleaner schema control system | |
| US20190176321A1 (en) | Robotic floor-cleaning system manager | |
| DE102011006062B4 (en) | Procedure for autonomous inspection of an environment or processing of ground surfaces | |
| DE102006007780B4 (en) | Surface trim arrangement and method for locating moving objects and / or persons on a surface by means of a surface covering arrangement | |
| CN107643755A (en) | A kind of efficient control method of sweeping robot | |
| WO2014043732A1 (en) | Robot and method for autonomous inspection or processing of floor areas | |
| CN111596661B (en) | Disinfection control method, device, electronic equipment and system | |
| CN108829115A (en) | A kind of motion control method and its calculating equipment of robot | |
| CN108245080A (en) | Clean clean method, device, computer equipment and the storage medium in region | |
| DE102013113426A1 (en) | Mobile cleaning device and method for operating such a device | |
| CN106983454A (en) | Sweeping robot cleaning method and sweeping robot | |
| CN108209743A (en) | A kind of fixed point clean method, device, computer equipment and storage medium | |
| CN109813285A (en) | Clean robot Identify Environment, storage medium, a kind of clean robot of view-based access control model | |
| CN107621932A (en) | The local amplification method and device of display image | |
| DE102015100419A1 (en) | Method and arrangement for processing floor surfaces | |
| CN108121331A (en) | A kind of autonomous cleaning paths planning method and device | |
| CN106704238A (en) | Fan control method and device, and fan | |
| CN110336691A (en) | The management method of equipment, device, equipment and communication system in data center | |
| CN111856951A (en) | Control method, device and system of intelligent household equipment | |
| CN108616846A (en) | Air-conditioner set wireless networking method, device and system | |
| CN107370823A (en) | Data acquisition and long-range control method, device and computer-readable recording medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210101 Termination date: 20211225 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |