CN107997693A - Sweeper control method and sweeper - Google Patents
Sweeper control method and sweeper Download PDFInfo
- Publication number
- CN107997693A CN107997693A CN201711387800.3A CN201711387800A CN107997693A CN 107997693 A CN107997693 A CN 107997693A CN 201711387800 A CN201711387800 A CN 201711387800A CN 107997693 A CN107997693 A CN 107997693A
- Authority
- CN
- China
- Prior art keywords
- sweeper
- fuselage
- barrier
- height
- terrain clearance
- 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.)
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Classifications
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- Electric Vacuum Cleaner (AREA)
Abstract
A kind of sweeper control method and sweeper are disclosed, wherein method includes：Start sweeper and cleaned according to predefined paths；When sweeper can not be by barrier from the projection of floor, the height of projection of the barrier is identified；When the height of projection can cross height not less than sweeper maximum set in advance, the fuselage elevating mechanism of the sweeper is controlled to raise the terrain clearance of sweeper fuselage, so that the terrain clearance of sweeper fuselage is more than the height of projection；The sweeper is controlled by the barrier and the terrain clearance of sweeper fuselage is reverted into elemental height is cleaned.
Description
Technical field
The present invention relates to sweeper technical field, more particularly to a kind of sweeper adjust automatically to clean the method for intensity and sweep
Ground machine.
Background technology
As one kind of controlling intelligent household appliances, sweeping robot can be based on artificial intelligence, complete floor in house automatically
Cleaning work.In the related art, some barriers often occur (such as in cleaning process：From the threshold of ground protrusion) stop
Firmly sweeper continues to clean, or even causes the wheel of sweeper to be stuck and can not retreat.
The content of the invention
It is an object of the invention to provide the method and sweeper that a kind of sweeper adjust automatically cleans intensity.
To achieve the above object, the present invention provides following technical solution：
In one aspect, there is provided a kind of sweeper control method, including：
Start sweeper and cleaned according to predefined paths；
When sweeper can not be by barrier from the projection of floor, the height of projection of the barrier is identified；
When the height of projection can cross height not less than sweeper maximum set in advance, sweep the floor described in control
The fuselage elevating mechanism of machine raises the terrain clearance of sweeper fuselage so that the terrain clearance of sweeper fuselage be more than it is described
Height of projection；
Control the sweeper by the barrier and by the terrain clearance of sweeper fuselage revert to elemental height into
Row cleans.
In one aspect, there is provided a kind of sweeper, including：
Start unit, for starting sweeper and being cleaned according to predefined paths；
Recognition unit, for when sweeper can not be by barrier from the projection of floor, identifying the protrusion of the barrier
Highly；
First control unit, for can be more excessive not less than sweeper maximum set in advance when the height of projection
When spending, the fuselage elevating mechanism of the sweeper is controlled to raise the terrain clearance of sweeper fuselage, so that sweeper fuselage
Terrain clearance be more than the height of projection；
Second control unit, for controlling the sweeper by the barrier and by the terrain clearance of sweeper fuselage
Elemental height is reverted to be cleaned.
Beneficial effects of the present invention include at least：
Sweeper can cross most of barriers, improve sweeping efficiency, and intelligence degree is high.
Brief description of the drawings
Fig. 1 is the flow chart for the method that a kind of sweeper adjust automatically that one embodiment of the invention provides cleans intensity.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, detailed retouch is carried out to the technical solution in the embodiment of the present invention
State, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained on the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Fig. 1 is the flow chart for the method that a kind of sweeper adjust automatically that one embodiment of the invention provides cleans intensity.
As shown in Figure 1, a kind of sweeper control method, includes the following steps：
Step 101, start sweeper and cleaned according to predefined paths；
Step 102, when sweeper can not be by barrier from the projection of floor, the height of projection of the barrier is identified；
Step 103, when the height of projection not less than sweeper maximum set in advance can cross height (this most
It is related with the power of sweeper and the diameter of wheel that height can be crossed greatly) when, control the fuselage of the sweeper to lift
Mechanism raises the terrain clearance of sweeper fuselage, so that the terrain clearance of sweeper fuselage is more than the height of projection；
Step 104, the sweeper is controlled to be reverted to just by the barrier and by the terrain clearance of sweeper fuselage
The height that begins is cleaned.
Optionally, the control sweeper is included by the barrier：
The wheel exploitation speed of the sweeper is improved, so that the sweeper passes through the barrier.
Optionally, the fuselage elevating mechanism of the control sweeper raises the terrain clearance bag of sweeper fuselage
Include：
The fuselage elevating mechanism of the sweeper is controlled to be acted to raise the terrain clearance of sweeper fuselage and stop cleaning.
For usual sweeper during cleaning in order to ensure to clean effect, its terrain clearance can be very small, such as： 3cm.This hair
It is bright that raised barrier (such as threshold) is crossed in order to realize, fuselage elevating mechanism can be configured adjust sweeper fuselage from
Ground height, because many times can not be by being because fuselage is stopped.
Optionally, the method further includes：
When raise sweeper fuselage terrain clearance after still can not be by the barrier when, by the normal of the sweeper
Spare wheel is changed to wheel, the diameter of the spare wheel is more than the diameter of the common wheel.Because wheel diameter is got over
Greatly, it is more easy to implement that barrier is crossed.
In an embodiment of the present invention, it is corresponding with the above method, there is provided a kind of sweeper include：
Start unit, for starting sweeper and being cleaned according to predefined paths；
Recognition unit, for when sweeper can not be by barrier from the projection of floor, identifying the protrusion of the barrier
Highly；
First control unit, for can be more excessive not less than sweeper maximum set in advance when the height of projection
When spending, the fuselage elevating mechanism of the sweeper is controlled to raise the terrain clearance of sweeper fuselage, so that sweeper fuselage
Terrain clearance be more than the height of projection；
Second control unit, for controlling the sweeper by the barrier and by the terrain clearance of sweeper fuselage
Elemental height is reverted to be cleaned.
Optionally, second control unit is used for：
The wheel exploitation speed of the sweeper is improved, so that the sweeper passes through the barrier.
Optionally, first control unit is used for：
The fuselage elevating mechanism of the sweeper is controlled to be acted to raise the terrain clearance of sweeper fuselage and stop cleaning.
Optionally, described device can also include：
Wheel replaces unit, for that still can not pass through the barrier after terrain clearance of sweeper fuselage is raised
When, the common wheel of the sweeper is changed to spare wheel, the diameter of the spare wheel is more than the common wheel
Diameter.
Beneficial effects of the present invention include at least：
Sweeper can cross most of barriers, improve sweeping efficiency, and intelligence degree is high.
As seen through the above description of the embodiments, those skilled in the art can be understood that this specification
Embodiment can add the mode of required general hardware platform to realize by software.Based on such understanding, this specification is implemented
The part that the technical solution of example substantially in other words contributes the prior art can be embodied in the form of software product,
The computer software product can be stored in storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are making
It is each to obtain computer equipment (can be personal computer, server, or network equipment etc.) execution this specification embodiment
Method described in some parts of a embodiment or embodiment.
System, device, module or the unit that above-described embodiment illustrates, can specifically be realized by computer chip or entity,
Or realized by having the function of certain product.One kind typically realizes that equipment is computer, and the concrete form of computer can
To be personal computer, laptop computer, cell phone, camera phone, smart phone, personal digital assistant, media play
In device, navigation equipment, E-mail receiver/send equipment, game console, tablet PC, wearable device or these equipment
The combination of any several equipment.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.It is real especially for device
For applying example, since it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to embodiment of the method
Part explanation.Device embodiment described above is only schematical, wherein described be used as separating component explanation
Module may or may not be it is physically separate, can be each module when implementing this specification embodiment scheme
Function realized in same or multiple softwares and/or hardware.Can also select according to the actual needs part therein or
Person's whole module realizes the purpose of this embodiment scheme.Those of ordinary skill in the art are in situation about not making the creative labor
Under, you can to understand and implement.
The above is only the embodiment of this specification embodiment, it is noted that for the general of the art
For logical technical staff, on the premise of this specification embodiment principle is not departed from, some improvements and modifications can also be made, this
A little improvements and modifications also should be regarded as the protection domain of this specification embodiment.
Claims (8)
- A kind of 1. sweeper control method, it is characterised in that including：Start sweeper and cleaned according to predefined paths；When sweeper can not be by barrier from the projection of floor, the height of projection of the barrier is identified；When the height of projection can cross height not less than sweeper maximum set in advance, the sweeper is controlled Fuselage elevating mechanism raises the terrain clearance of sweeper fuselage, so that the terrain clearance of sweeper fuselage is more than the protrusion Highly；The sweeper is controlled to revert to elemental height progress clearly by the barrier and by the terrain clearance of sweeper fuselage Sweep.
- 2. according to the method described in claim 1, it is characterized in that, the control sweeper passes through the barrier bag Include：The wheel exploitation speed of the sweeper is improved, so that the sweeper passes through the barrier.
- 3. according to the method described in claim 1, it is characterized in that, the fuselage elevating mechanism of the control sweeper rises The terrain clearance of high sweeper fuselage includes：The fuselage elevating mechanism of the sweeper is controlled to be acted to raise the terrain clearance of sweeper fuselage and stop cleaning.
- 4. according to the method described in claim 1, it is characterized in that, the method further includes：When raise sweeper fuselage terrain clearance after still can not be by the barrier when, by the common wheel of the sweeper Son is changed to spare wheel, and the diameter of the spare wheel is more than the diameter of the common wheel.
- A kind of 5. sweeper, it is characterised in that including：Start unit, for starting sweeper and being cleaned according to predefined paths；Recognition unit, for when sweeper can not be by barrier from the projection of floor, identifying the height of projection of the barrier；First control unit, for height can be crossed not less than sweeper maximum set in advance when the height of projection When, the fuselage elevating mechanism of the sweeper is controlled to raise the terrain clearance of sweeper fuselage, so that sweeper fuselage Terrain clearance is more than the height of projection；Second control unit, for controlling the sweeper to recover by the barrier and by the terrain clearance of sweeper fuselage Cleaned for elemental height.
- 6. sweeper according to claim 5, it is characterised in that second control unit is used for：The wheel exploitation speed of the sweeper is improved, so that the sweeper passes through the barrier.
- 7. sweeper according to claim 5, it is characterised in that first control unit is used for：The fuselage elevating mechanism of the sweeper is controlled to be acted to raise the terrain clearance of sweeper fuselage and stop cleaning.
- 8. sweeper according to claim 5, it is characterised in that described device further includes：Wheel replace unit, for when raise sweeper fuselage terrain clearance after still can not be by the barrier when, will The common wheel of the sweeper is changed to spare wheel, and the diameter of the spare wheel is more than the diameter of the common wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711387800.3A CN107997693A (en) | 2017-12-20 | 2017-12-20 | Sweeper control method and sweeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711387800.3A CN107997693A (en) | 2017-12-20 | 2017-12-20 | Sweeper control method and sweeper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107997693A true CN107997693A (en) | 2018-05-08 |
Family
ID=62060128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711387800.3A Withdrawn CN107997693A (en) | 2017-12-20 | 2017-12-20 | Sweeper control method and sweeper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107997693A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109144069A (en) * | 2018-09-28 | 2019-01-04 | 徐常柏 | A kind of sweeper charge control method and control system |
| CN109674403A (en) * | 2019-01-17 | 2019-04-26 | 广州市丹爵通讯科技有限公司 | A kind of portable type sweeping robot with obstacle crossing function |
| CN110477810A (en) * | 2018-05-14 | 2019-11-22 | 杭州萤石软件有限公司 | Control method, device and the sweeping robot of sweeping robot |
| CN112641392A (en) * | 2019-10-12 | 2021-04-13 | 苏州宝时得电动工具有限公司 | Cleaning robot |
| CN113040643A (en) * | 2021-04-21 | 2021-06-29 | 王玉合 | Domestic dust absorption mechanical equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5815880A (en) * | 1995-08-08 | 1998-10-06 | Minolta Co., Ltd. | Cleaning robot |
| CN103027633A (en) * | 2011-09-30 | 2013-04-10 | 三星电子株式会社 | Robot cleaner |
| CN104027041A (en) * | 2013-03-05 | 2014-09-10 | Lg电子株式会社 | Robot cleaner |
| JP2015080560A (en) * | 2013-10-22 | 2015-04-27 | 日立アプライアンス株式会社 | Autonomous travel type cleaner and control method therefor |
| CN105792720A (en) * | 2013-12-04 | 2016-07-20 | 三星电子株式会社 | Cleaning robot and control method thereof |
| CN205697556U (en) * | 2015-10-17 | 2016-11-23 | 胡永纲 | A kind of driving suspension on sweeping robot |
| CN107471188A (en) * | 2017-08-17 | 2017-12-15 | 董欣月 | A kind of walking mechanism of Intelligent robot for sweeping floor |
-
2017
- 2017-12-20 CN CN201711387800.3A patent/CN107997693A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5815880A (en) * | 1995-08-08 | 1998-10-06 | Minolta Co., Ltd. | Cleaning robot |
| CN103027633A (en) * | 2011-09-30 | 2013-04-10 | 三星电子株式会社 | Robot cleaner |
| CN104027041A (en) * | 2013-03-05 | 2014-09-10 | Lg电子株式会社 | Robot cleaner |
| JP2015080560A (en) * | 2013-10-22 | 2015-04-27 | 日立アプライアンス株式会社 | Autonomous travel type cleaner and control method therefor |
| CN105792720A (en) * | 2013-12-04 | 2016-07-20 | 三星电子株式会社 | Cleaning robot and control method thereof |
| CN205697556U (en) * | 2015-10-17 | 2016-11-23 | 胡永纲 | A kind of driving suspension on sweeping robot |
| CN107471188A (en) * | 2017-08-17 | 2017-12-15 | 董欣月 | A kind of walking mechanism of Intelligent robot for sweeping floor |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110477810A (en) * | 2018-05-14 | 2019-11-22 | 杭州萤石软件有限公司 | Control method, device and the sweeping robot of sweeping robot |
| CN109144069A (en) * | 2018-09-28 | 2019-01-04 | 徐常柏 | A kind of sweeper charge control method and control system |
| CN109674403A (en) * | 2019-01-17 | 2019-04-26 | 广州市丹爵通讯科技有限公司 | A kind of portable type sweeping robot with obstacle crossing function |
| CN109674403B (en) * | 2019-01-17 | 2021-01-15 | 上海团宝智能科技有限公司 | Convenient type robot of sweeping floor with hinder function more |
| CN112641392A (en) * | 2019-10-12 | 2021-04-13 | 苏州宝时得电动工具有限公司 | Cleaning robot |
| CN113040643A (en) * | 2021-04-21 | 2021-06-29 | 王玉合 | Domestic dust absorption mechanical equipment |
| CN113040643B (en) * | 2021-04-21 | 2022-09-13 | 上海驿康企业管理有限公司 | Domestic dust absorption mechanical equipment |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180508 |