CN108089580B - Method and device for edge working of intelligent sweeping device - Google Patents
Method and device for edge working of intelligent sweeping device Download PDFInfo
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- CN108089580B CN108089580B CN201711338290.0A CN201711338290A CN108089580B CN 108089580 B CN108089580 B CN 108089580B CN 201711338290 A CN201711338290 A CN 201711338290A CN 108089580 B CN108089580 B CN 108089580B
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- 238000010408 sweeping Methods 0.000 title claims abstract description 247
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000004891 communication Methods 0.000 claims description 18
- 230000015654 memory Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Abstract
The embodiment of the invention provides a method for the edgewise work of an intelligent sweeping device, which is applied to the technical field of computers and comprises the following steps: the intelligent sweeping device comprises a sweeping device body, a control panel and a control panel, wherein the sweeping device body is arranged on the sweeping device body, the sweeping. The embodiment of the invention provides a method and a device for controlling an intelligent sweeping device to work along the edge of a floor.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for the edgewise work of an intelligent sweeping device.
Background
Along with the development of the society and the progress of science and technology, the intelligent technology develops thereupon, and the device of sweeping the floor of intelligence comes soon, and the user begins to use the device sanitation and hygiene of sweeping the floor of intelligence to replace artifical sanitation and hygiene, and wherein the device of sweeping the floor of intelligence is through moving on ground to sanitation and hygiene.
However, the current intelligent sweeping device can only work along a straight line in the sweeping process along the edge, under a general condition, the edge of the ground is not straight, a part of the ground area sweeping device can not reach, so that the part of the ground area cannot be swept by the sweeping device, if the part of the ground area needs to be cleared, the intelligent sweeping device needs to be manually placed in the area, the area is cleared, the work efficiency of the intelligent sweeping device is low, and the user experience is poor.
Disclosure of Invention
In order to overcome the above technical problems or at least partially solve the above technical problems, the following technical solutions are proposed:
according to a first aspect, the embodiment of the present invention provides a method for an intelligent sweeping device to work along a side, including:
detecting the working state of the intelligent sweeping device in the working process of the intelligent sweeping device;
when the working state of the intelligent sweeping device is detected to be a preset working state, determining a rotation mode corresponding to the intelligent sweeping device;
based on the rotation mode that the device corresponds is swept to intelligence, the device of sweeping the floor of control intelligence rotates to make this intelligence sweep the floor the device and work along the ground edge.
Specifically, the mode that detects the operating condition of intelligent device of sweeping the floor is preset operating condition includes:
the intelligent sweeping device is detected to be adjusted from a falling state to be along the edge of the ground and work in parallel with the edge of the ground.
Specifically, based on the rotation mode that the device corresponds is swept to intelligence, the device of sweeping the floor of control intelligence rotates to make this intelligence sweep the floor the step of device along the work of ground edge, include:
controlling the intelligent sweeping device to rotate according to a preset working cycle so that the intelligent sweeping device works along the edge of the ground;
the preset working period comprises a preset working time interval or a preset working distance interval.
Specifically, two wheels are symmetrically arranged at two ends of the bottom of the intelligent sweeping device, a preset number of sensors are arranged at the bottom of the sweeping device,
control intelligence device pivoted mode of sweeping floor includes:
controlling the intelligent sweeping device to rotate by taking a first preset point as a circle center until a first sensor detects a falling signal, wherein the first preset point is the central point of a wheel close to the edge of the ground, and the first sensor is a sensor close to the edge of the ground;
and controlling the intelligent floor sweeping device to rotate by a preset angle by taking the second preset point as a circle center.
Specifically, control intelligence device of sweeping the floor and use first preset point to rotate as the centre of a circle, until first sensor detects the step of falling the signal, include:
controlling the intelligent sweeping device to rotate along a first preset direction by taking a first preset point as a circle center until the first sensor detects a falling signal;
wherein, the step of the preset angle is rotated to control intelligent device of sweeping the floor to use the second to preset the point as the centre of a circle, includes:
and controlling the intelligent sweeping device to rotate by a preset angle by taking the second preset point as a circle center along a second preset direction, wherein the second preset direction is opposite to the first preset direction.
Further, if the second preset point is the same as the first preset point, the preset angle is smaller than or equal to the angle rotated between the first preset point and the falling signal detected by the first sensor.
Specifically, determining the manner in which the first sensor detects the fall signal includes:
and when the first sensor detects that the height between the first sensor and the ground is larger than a preset threshold value, determining that a falling signal is detected.
According to a second aspect, the embodiment of the present invention further provides a device for an intelligent floor sweeping device to work along a side, including:
the detection module is used for detecting the working state of the intelligent sweeping device in the working process of the intelligent sweeping device;
the determining module is used for determining a rotating mode corresponding to the intelligent sweeping device when the detecting module detects that the working state of the intelligent sweeping device is a preset working state;
and the control module is used for controlling the intelligent sweeping device to rotate based on the rotating mode corresponding to the intelligent sweeping device determined by the determining module so that the intelligent sweeping device works along the edge of the ground.
Specifically, the detection module is specifically used for detecting that the intelligent floor sweeping device is adjusted from a falling state to be along the edge of the ground and works in parallel with the edge of the ground.
The intelligent sweeping device comprises a control module, a control module and a control module, wherein the control module is specifically used for controlling the intelligent sweeping device to rotate according to a preset working cycle so as to enable the intelligent sweeping device to work along the edge of the ground;
the preset working period comprises a preset working time interval or a preset working distance interval.
Specifically, two wheels are symmetrically arranged at two ends of the bottom of the intelligent sweeping device, a preset number of sensors are arranged at the bottom of the sweeping device,
the control module is specifically used for controlling the intelligent sweeping device to rotate by taking a first preset point as a circle center until the first sensor detects a falling signal, wherein the first preset point is a central point of a wheel close to the edge of the ground, and the first sensor is a sensor close to the edge of the ground;
the control module is specifically used for controlling the intelligent sweeping device to rotate by a preset angle by taking the second preset point as a circle center.
The intelligent sweeping device comprises a control module, a first sensor, a second sensor and a control module, wherein the control module is specifically used for controlling the intelligent sweeping device to rotate along a first preset direction by taking a first preset point as a circle center until the first sensor detects a falling signal;
the control module is specifically further used for controlling the intelligent sweeping device to rotate by a preset angle in a second preset direction which is opposite to the first preset direction by taking the second preset point as a circle center.
Further, if the second preset point is the same as the first preset point, the preset angle is smaller than or equal to the angle rotated between the first preset point and the falling signal detected by the first sensor.
Further, the determining module is further configured to determine that the falling signal is detected when the first sensor detects that the height between the first sensor and the ground is greater than a preset threshold.
According to the third aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for the intelligent floor sweeping device to work along the edge according to the first aspect is implemented.
Embodiments of the present invention also provide, according to a fourth aspect, a computing device, comprising: the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the method for sweeping the edge of the sweeping device according to the first aspect.
The invention provides a method and a device for the edgewise work of an intelligent sweeping device, compared with the prior art, the method and the device detect the working state of the intelligent sweeping device in the working process of the intelligent sweeping device, then determine the corresponding rotation mode of the intelligent sweeping device when the working state of the intelligent sweeping device is detected to be the preset working state, and then control the intelligent sweeping device to rotate based on the corresponding rotation mode of the intelligent sweeping device so as to enable the intelligent sweeping device to work along the edge of the ground, namely when the intelligent sweeping device detects that the current working state is the preset working state, control the intelligent sweeping device to rotate so as to enable the intelligent sweeping device to work along the edge of the ground all the time, thereby being capable of working along the edge of the ground all the time under the condition that the edge line of the ground is not a straight line, avoiding the condition that the edge line of the ground is not a straight line, the condition that the device clearance was swept to this intelligence in partial ground region can't be swept the floor by this intelligence, and further because this intelligence device of sweeping the floor also need not manual operation, and then can promote the efficiency that this intelligence device work of sweeping the floor, promotes user experience.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a top view structural diagram of an intelligent floor sweeping device according to an embodiment of the invention;
fig. 2 is a flowchart of a method for the intelligent sweeping device to work along the edge according to the embodiment of the invention;
fig. 3 is a schematic plan view of an operating state in which two wheels of the intelligent floor sweeping device of the embodiment of the invention are parallel to the edge of the floor and work along the edge of the floor;
fig. 4 is a schematic plan view of a working state before the intelligent sweeping device rotates in the embodiment of the present invention;
fig. 5 is a schematic plan view of a working state of the intelligent sweeping device after rotation in the embodiment of the invention;
fig. 6 is a schematic top view illustrating that the first intelligent sweeping device rotates until the sensor 1 detects a fall signal in the embodiment of the present invention;
fig. 7 is a schematic top view illustrating that the second intelligent sweeping device in the embodiment of the present invention rotates until the sensor 1 detects a fall signal;
fig. 8 is a schematic structural diagram of a device for the intelligent sweeping device to work along the edge in the embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As will be appreciated by those skilled in the art, a "terminal" as used herein includes both devices having a wireless signal receiver, which are devices having only a wireless signal receiver without transmit capability, and devices having receive and transmit hardware, which have devices having receive and transmit hardware capable of two-way communication over a two-way communication link. Such a device may include: a cellular or other communication device having a single line display or a multi-line display or a cellular or other communication device without a multi-line display; PCS (Personal Communications Service), which may combine voice, data processing, facsimile and/or data communication capabilities; a PDA (Personal Digital Assistant), which may include a radio frequency receiver, a pager, internet/intranet access, a web browser, a notepad, a calendar and/or a GPS (Global Positioning System) receiver; a conventional laptop and/or palmtop computer or other device having and/or including a radio frequency receiver. As used herein, a "terminal" or "terminal device" may be portable, transportable, installed in a vehicle (aeronautical, maritime, and/or land-based), or situated and/or configured to operate locally and/or in a distributed fashion at any other location(s) on earth and/or in space. As used herein, a "terminal Device" may also be a communication terminal, a web terminal, a music/video playing terminal, such as a PDA, an MID (Mobile Internet Device) and/or a Mobile phone with music/video playing function, or a smart tv, a set-top box, etc.
Fig. 1 is a top view structural diagram of an intelligent sweeping device, the sweeping device in the embodiment of the present invention is a circular device, the bottom of the sweeping device is provided with a preset number of sensors, for example, three sensors, in the embodiment of the present invention, three sensors are provided at the bottom of the intelligent sweeping device, the three sensors are a sensor 1 (a sensor close to a left wheel), a sensor 2 (a sensor located in the middle), and a sensor 3 (a sensor close to a right wheel), and two symmetrical wheels at two ends of the bottom of the sweeping device are a left wheel and a right wheel respectively.
Example one
The embodiment of the invention provides a method for the edgewise work of an intelligent sweeping device, which comprises the following steps of:
Specifically, the mode that detects the operating condition of intelligent device of sweeping the floor is preset operating condition includes: the intelligent sweeping device is detected to be adjusted from a falling state to be along the edge of the ground and work in parallel with the edge of the ground.
For the embodiment of the invention, when any sensor at the bottom of the intelligent sweeping device detects a falling signal, the intelligent sweeping device is controlled to rotate until two wheels of the intelligent sweeping device are parallel to the edge of the ground and work along the edge of the ground, and a subsequent rotation mode of the intelligent sweeping device is determined so as to control the intelligent sweeping device to work along the edge of the ground all the time. The working state that two wheels of the intelligent sweeping device are parallel to the edge of the ground and work along the edge of the ground is shown in fig. 3.
Compared with the prior art, the embodiment of the invention detects the working state of the intelligent sweeping device in the working process of the intelligent sweeping device, then determines the corresponding rotation mode of the intelligent sweeping device when the working state of the intelligent sweeping device is detected to be the preset working state, and controls the intelligent sweeping device to rotate based on the corresponding rotation mode of the intelligent sweeping device so as to enable the intelligent sweeping device to work along the edge of the ground, namely when the intelligent sweeping device detects that the current working state is the preset working state, the intelligent sweeping device is controlled to rotate so as to enable the intelligent sweeping device to work along the edge of the ground all the time, so that the intelligent sweeping device can work along the edge of the ground all the time under the condition that the edge line of the ground is not straight, and the condition that the edge line of the ground is not straight is avoided, the condition that the device clearance was swept to this intelligence in partial ground region can't be swept the floor by this intelligence, and further because this intelligence device of sweeping the floor also need not manual operation, and then can promote the efficiency that this intelligence device work of sweeping the floor, promotes user experience.
Example two
Another possible implementation manner of the embodiment of the present invention further includes, on the basis of the operation shown in the first embodiment, the operation shown in the second embodiment, wherein,
step 103 specifically comprises: according to the preset working period, the intelligent sweeping device is controlled to rotate, so that the intelligent sweeping device works along the edge of the ground.
The preset working period comprises a preset working time interval or a preset working distance interval.
For the embodiment of the invention, the preset working time interval and the preset working distance interval can be set by a user or an intelligent sweeping device. The present invention is not limited to the embodiments.
For example, the preset operation time interval may be 5 seconds(s), 7s, or 10 s; the preset working distance interval may be 50 centimeters (cm), 70cm, or 1 meter (m).
For the embodiment of the invention, when the preset working time interval of each working or the preset working distance interval of each working of the intelligent sweeping device is detected, the intelligent sweeping device is controlled to rotate, so that the intelligent sweeping device always works along the edge of the ground.
Specifically, the mode that control intelligence device pivoted of sweeping the floor includes: controlling the intelligent sweeping device to rotate by taking the first preset point as a circle center until the first sensor detects a falling signal; and controlling the intelligent floor sweeping device to rotate by a preset angle by taking the second preset point as a circle center.
The first preset point is the center point of the wheel close to the ground edge, and the first sensor is the sensor close to the ground edge.
Wherein, the first sensor can be sensor 1 or sensor 2.
For example, if the wheel close to the edge of the ground is a left wheel, the intelligent sweeping device is controlled to rotate around the center point of the left wheel until the sensor 1 detects a falling signal, and then the intelligent sweeping device is controlled to rotate around a second preset point as a circle center by a preset angle; if the wheel close to the edge of the ground is the right wheel, the intelligent sweeping device is controlled to rotate by taking the central point of the right wheel as the center of a circle until the sensor 3 detects a falling signal, and then the intelligent sweeping device is controlled to rotate by a preset angle by taking the second preset point as the center of a circle.
The second preset point can be a central point of the left wheel, a central point of the right wheel and a circle center of the intelligent sweeping device. The present invention is not limited to the embodiments.
For the embodiment of the invention, the preset angle can be set by a user or the intelligent sweeping device. The present invention is not limited to the embodiments.
For the embodiment of the invention, when the intelligent sweeping device is operated to the position shown in fig. 4, the intelligent sweeping device is controlled to rotate around the central point of the left wheel until the sensor 1 detects a falling signal, and then the intelligent sweeping device is controlled to rotate around the second preset point by a preset angle, and the state of the intelligent sweeping device after rotation is shown in fig. 5.
Specifically, determining the manner in which the first sensor detects the fall signal includes: and when the first sensor detects that the height between the first sensor and the ground is larger than a preset threshold value, determining that a falling signal is detected.
The sensor in the embodiment of the invention may include: ultrasonic ranging sensors, laser ranging sensors, infrared ranging sensors, and 24GHZ radar sensors. The present invention is not limited to the embodiments.
For the embodiment of the invention, the preset threshold value can be set by a user or an intelligent sweeping device. The present invention is not limited to the embodiments.
For example, the preset threshold may be 30 centimeters (cm), and when the first sensor detects that the sensor is more than 30cm from the ground, it is determined that the first sensor detects a fall signal.
EXAMPLE III
Another possible implementation manner of the embodiment of the present invention further includes, on the basis of the operation shown in the second embodiment, the operation shown in the third embodiment, wherein,
control intelligence device of sweeping floor uses first preset point to rotate as the centre of a circle, detects the step of falling the signal until first sensor, includes: the intelligent floor sweeping device is controlled to rotate along a first preset direction by taking a first preset point as a circle center until the first sensor detects a falling signal.
Wherein, the step of the preset angle is rotated to control intelligent device of sweeping the floor to use the second to preset the point as the centre of a circle, includes: and controlling the intelligent floor sweeping device to rotate by a preset angle by taking the second preset point as a circle center along the second preset direction.
The second preset direction is opposite to the first preset direction.
For the embodiment of the invention, when the first preset point is the central point of the left wheel, the intelligent sweeping device is controlled to rotate clockwise until the sensor 1 detects a falling signal, as shown in fig. 6, and then the intelligent sweeping device is controlled to rotate counterclockwise by a preset angle by taking the second preset point as the center of a circle; when the first preset point is the central point of the left wheel, the intelligent sweeping device is controlled to rotate anticlockwise until the sensor 1 detects a falling signal, as shown in fig. 7, and then the intelligent sweeping device is controlled to rotate clockwise by a preset angle by taking the second preset point as a circle center.
For the embodiment of the invention, when the first preset point is the central point of the right wheel, the intelligent sweeping device is controlled to rotate clockwise until the sensor 3 detects a falling signal, and then the intelligent sweeping device is controlled to rotate counterclockwise by a preset angle by taking the second preset point as the center of a circle; when the first preset point is the central point of the right wheel, the intelligent sweeping device is controlled to rotate anticlockwise until the sensor 3 detects a falling signal, and then the intelligent sweeping device is controlled to rotate by a preset angle along the clockwise direction by taking the second preset point as the circle center.
If the second preset point is the same as the first preset point, the preset angle is smaller than or equal to the angle rotated between the first preset point and the falling signal until the first sensor detects the falling signal.
For example, the first preset point is a central point of the left wheel, the intelligent floor sweeping device rotates around the central point of the left wheel, and the preset angle is smaller than or equal to 30 ° from the beginning of rotation until the sensor 1 detects that the rotation angle between the falling signals is 30 °.
The embodiment of the invention provides a device for an intelligent sweeping device to work along the edge, as shown in fig. 8, the device comprises: a detection module 81, a determination module 82, a control module 83, wherein,
the detection module 81 is used for detecting the working state of the intelligent sweeping device in the working process of the intelligent sweeping device.
Wherein, two wheels are symmetrically arranged at two ends of the bottom of the intelligent sweeping device, and a preset number of sensors are arranged at the bottom of the sweeping device.
The determining module 82 is configured to determine a rotation mode corresponding to the intelligent sweeping device when the detecting module 81 detects that the working state of the intelligent sweeping device is the preset working state.
The control module 83 is configured to control the intelligent sweeping device to rotate based on the rotation mode corresponding to the intelligent sweeping device determined by the determination module 82, so that the intelligent sweeping device works along the edge of the ground.
Specifically, the detection module 81 is specifically configured to detect that the intelligent floor sweeping device is adjusted from a falling state to along a ground edge and works parallel to the ground edge.
Specifically, the control module 83 is specifically configured to control the intelligent sweeping device to rotate according to a preset working cycle, so that the intelligent sweeping device works along the edge of the ground.
The preset working period comprises a preset working time interval or a preset working distance interval.
Specifically, the control module 83 is further configured to control the intelligent floor sweeping device to rotate around the first preset point until the first sensor detects the falling signal.
The first preset point is the center point of the wheel close to the ground edge, and the first sensor is the sensor close to the ground edge.
The control module 83 is further configured to control the intelligent floor sweeping device to rotate by a preset angle with the second preset point as a circle center.
If the second preset point is the same as the first preset point, the preset angle is smaller than or equal to the angle rotated between the first preset point and the falling signal until the first sensor detects the falling signal.
Specifically, the control module 83 is further configured to control the intelligent floor sweeping device to rotate in a first preset direction around a first preset point until the first sensor detects a falling signal.
The control module 83 is further configured to control the intelligent floor sweeping device to rotate in a preset angle around a second preset point.
The second preset direction is opposite to the first preset direction.
Specifically, the determining module 82 is further configured to determine that a fall signal is detected when the first sensor detects that the height of the first sensor from the ground is greater than a preset threshold.
Compared with the prior art, the embodiment of the invention detects the working state of the intelligent sweeping device in the working process of the intelligent sweeping device, then determines the corresponding rotation mode of the intelligent sweeping device when the working state of the intelligent sweeping device is detected to be the preset working state, and controls the intelligent sweeping device to rotate based on the corresponding rotation mode of the intelligent sweeping device so as to enable the intelligent sweeping device to work along the edge of the ground, namely when the intelligent sweeping device detects that the current working state is the preset working state, the intelligent sweeping device is controlled to rotate so as to enable the intelligent sweeping device to work along the edge of the ground all the time, so that the intelligent sweeping device can work along the edge of the ground all the time under the condition that the edge line of the ground is not straight, and the condition that the edge line of the ground is not straight is avoided, the condition that the device clearance was swept to this intelligence in partial ground region can't be swept the floor by this intelligence, and further because this intelligence device of sweeping the floor also need not manual operation, and then can promote the efficiency that this intelligence device work of sweeping the floor, promotes user experience.
The embodiment of the invention provides a device for the edge working of an intelligent sweeping device, which is detailed in the embodiment of the method and is not repeated herein.
The embodiment of the invention provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program realizes the method shown in any one of the first embodiment to the third embodiment.
Compared with the prior art, the embodiment of the invention provides a computer readable storage medium, which detects the working state of an intelligent sweeping device in the working process of the intelligent sweeping device, determines the corresponding rotation mode of the intelligent sweeping device when the working state of the intelligent sweeping device is detected to be the preset working state, and controls the intelligent sweeping device to rotate based on the corresponding rotation mode of the intelligent sweeping device, so that the intelligent sweeping device works along the edge of the ground, namely when the intelligent sweeping device detects that the current working state is the preset working state, the intelligent sweeping device is controlled to rotate, so that the intelligent sweeping device works along the edge of the ground all the time, therefore, when the edge line of the ground is not straight, the intelligent sweeping device can work along the edge of the ground all the time, and when the edge line of the ground is not straight, the condition that the device clearance was swept to this intelligence in partial ground region can't be swept the floor by this intelligence, and further because this intelligence device of sweeping the floor also need not manual operation, and then can promote the efficiency that this intelligence device work of sweeping the floor, promotes user experience.
Embodiments of the present invention provide a computer-readable storage medium, which are described in detail in the foregoing method embodiments and are not described herein again.
An embodiment of the present invention provides a computing device, including: the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the method for sweeping the edge of the sweeping device in any one of the first embodiment to the third embodiment.
Compared with the prior art, the embodiment of the invention provides the computing equipment, which detects the working state of the intelligent sweeping device in the working process of the intelligent sweeping device, determines the corresponding rotation mode of the intelligent sweeping device when the working state of the intelligent sweeping device is detected to be the preset working state, and controls the intelligent sweeping device to rotate based on the corresponding rotation mode of the intelligent sweeping device so as to enable the intelligent sweeping device to work along the edge of the ground, namely when the intelligent sweeping device detects that the current working state is the preset working state, the intelligent sweeping device is controlled to rotate so as to enable the intelligent sweeping device to work along the edge of the ground all the time, so that the intelligent sweeping device can work along the edge of the ground all the time under the condition that the edge line of the ground is not a straight line, the invention avoids the condition that the edge line of the ground is not a straight line, the condition that the device clearance was swept to this intelligence in partial ground region can't be swept the floor by this intelligence, and further because this intelligence device of sweeping the floor also need not manual operation, and then can promote the efficiency that this intelligence device work of sweeping the floor, promotes user experience.
The embodiment of the present invention provides a computing device, which is described in detail in the above method embodiment and is not described herein again.
Those skilled in the art will appreciate that the present invention includes apparatus directed to performing one or more of the operations described in the present application. These devices may be specially designed and manufactured for the required purposes, or they may comprise known devices in general-purpose computers. These devices have stored therein computer programs that are selectively activated or reconfigured. Such a computer program may be stored in a device (e.g., computer) readable medium, including, but not limited to, any type of disk including floppy disks, hard disks, optical disks, CD-ROMs, and magnetic-optical disks, ROMs (Read-Only memories), RAMs (Random Access memories), EPROMs (Erasable Programmable Read-Only memories), EEPROMs (Electrically Erasable Programmable Read-Only memories), flash memories, magnetic cards, or optical cards, or any type of media suitable for storing electronic instructions, and each coupled to a bus. That is, a readable medium includes any medium that stores or transmits information in a form readable by a device (e.g., a computer).
It will be understood by those within the art that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. Those skilled in the art will appreciate that the computer program instructions may be implemented by a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, implement the features specified in the block or blocks of the block diagrams and/or flowchart illustrations of the present disclosure.
Those of skill in the art will appreciate that various operations, methods, steps in the processes, acts, or solutions discussed in the present application may be alternated, modified, combined, or deleted. Further, various operations, methods, steps in the flows, which have been discussed in the present application, may be interchanged, modified, rearranged, decomposed, combined, or eliminated. Further, steps, measures, schemes in the various operations, methods, procedures disclosed in the prior art and the present invention can also be alternated, changed, rearranged, decomposed, combined, or deleted.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (14)
1. The utility model provides a method of intelligence device edgewise work of sweeping floor which characterized in that includes:
detecting the working state of the intelligent sweeping device in the working process of the intelligent sweeping device;
when the intelligent sweeping device is detected to be adjusted from a falling state to a state along the edge of the ground and work in parallel with the edge of the ground, determining a rotation mode corresponding to the intelligent sweeping device;
based on the rotation mode that intelligence device corresponds of sweeping the floor, control intelligence device of sweeping the floor rotates to make this intelligence device of sweeping the floor along the work of ground edge.
2. The method according to claim 1, wherein the step of controlling the intelligent sweeping device to rotate based on the rotation mode corresponding to the intelligent sweeping device so that the intelligent sweeping device works along the edge of the ground comprises:
controlling the intelligent sweeping device to rotate according to a preset working period so that the intelligent sweeping device works along the edge of the ground;
the preset working period comprises a preset working time interval or a preset working distance interval.
3. The method according to claim 2, wherein two wheels are symmetrically arranged at two ends of the bottom of the intelligent sweeping device, a preset number of sensors are arranged at the bottom of the sweeping device,
control intelligence device pivoted mode of sweeping floor includes:
controlling the intelligent floor sweeping device to rotate by taking a first preset point as a circle center until a first sensor detects a falling signal, wherein the first preset point is the central point of a wheel close to the edge of the ground, and the first sensor is a sensor close to the edge of the ground;
and controlling the intelligent floor sweeping device to rotate by a preset angle by taking the second preset point as a circle center.
4. The method according to claim 3, wherein the step of controlling the intelligent sweeping device to rotate around the first preset point until the first sensor detects the falling signal comprises:
controlling the intelligent floor sweeping device to rotate along a first preset direction by taking a first preset point as a circle center until a first sensor detects a falling signal;
wherein, control the step that the intelligence device of sweeping the floor rotated preset angle with the second preset point as the centre of a circle includes:
and controlling the intelligent floor sweeping device to rotate by a preset angle by taking a second preset point as a circle center along a second preset direction, wherein the second preset direction is opposite to the first preset direction.
5. The method according to claim 4, wherein if the second predetermined point is the same as the first predetermined point, the predetermined angle is smaller than or equal to the angle rotated between the first predetermined point and the first sensor until the first sensor detects the fall signal.
6. The method of any one of claims 3-5, wherein determining the manner in which the first sensor detects the fall signal comprises:
and when the first sensor detects that the height between the first sensor and the ground is larger than a preset threshold value, determining that a falling signal is detected.
7. The utility model provides a device of device edgewise work is swept to intelligence, its characterized in that includes:
the detection module is used for detecting the working state of the intelligent sweeping device in the working process of the intelligent sweeping device;
the determining module is used for determining a corresponding rotation mode of the intelligent sweeping device when the intelligent sweeping device is detected to be adjusted from a falling state to a state along the edge of the ground and works in parallel with the edge of the ground;
and the control module is used for controlling the intelligent sweeping device to rotate based on the rotating mode corresponding to the intelligent sweeping device determined by the determining module so that the intelligent sweeping device works along the edge of the ground.
8. The apparatus of claim 7,
the control module is specifically used for controlling the intelligent sweeping device to rotate according to a preset working cycle, so that the intelligent sweeping device works along the edge of the ground;
wherein the preset work cycle comprises a work time interval or a work distance interval.
9. The device of claim 8, wherein two wheels are symmetrically arranged at two ends of the bottom of the intelligent sweeping device, a preset number of sensors are arranged at the bottom of the sweeping device,
the control module is specifically further configured to control the intelligent floor sweeping device to rotate around a first preset point as a circle center until a first sensor detects a falling signal, wherein the first preset point is a central point of a wheel close to the edge of the ground, and the first sensor is a sensor close to the edge of the ground;
the control module is specifically used for controlling the intelligent floor sweeping device to rotate by a preset angle by taking the second preset point as a circle center.
10. The apparatus of claim 9,
the control module is specifically used for controlling the intelligent sweeping device to rotate along a first preset direction by taking a first preset point as a circle center until the first sensor detects a falling signal;
the control module is specifically further used for controlling the intelligent floor sweeping device to rotate for a preset angle along a second preset direction by taking a second preset point as a circle center, wherein the second preset direction is opposite to the first preset direction.
11. The device according to claim 10, wherein if the second predetermined point is the same as the first predetermined point, the predetermined angle is smaller than or equal to the angle rotated between the first predetermined point and the first sensor until the first sensor detects the fall signal.
12. The apparatus according to any one of claims 9 to 11,
the determining module is further used for determining that the falling signal is detected when the first sensor detects that the height between the first sensor and the ground is larger than a preset threshold value.
13. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the method of any one of claims 1-6.
14. A computing device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the method for sweeping the edge of the sweeping device according to any one of claims 1-6.
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