CN108338749A - Sweeping robot and its control method, device - Google Patents
Sweeping robot and its control method, device Download PDFInfo
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- CN108338749A CN108338749A CN201810238637.2A CN201810238637A CN108338749A CN 108338749 A CN108338749 A CN 108338749A CN 201810238637 A CN201810238637 A CN 201810238637A CN 108338749 A CN108338749 A CN 108338749A
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- target area
- cleaning
- sweeping robot
- rubbish
- probability
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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Abstract
The invention discloses a kind of sweeping robot control method, which includes the following steps：Obtain the probability that rubbish occurs in the target area cleaned in map independently built；According to the corresponding cleaning frequency in target area that the determine the probability that rubbish occurs divides, the probability occurred according to rubbish is different, and the cleaning frequency in the different target region of division is different；The target area in map is cleaned according to the cleaning frequency.The invention also discloses a kind of sweeping robot control device and sweeping robots.The present invention realizes that sweeping robot intelligentized can be cleaned according to different pollution levels using corresponding cleaning frequency, optimize the intelligence degree of sweeping robot, the lower target area of probability without occurring in rubbish wastes the unnecessary cleaning time, to ensure that sweeping robot in a relatively short period of time can effectively clean the rubbish in target area, the sweeping efficiency of sweeping robot is improved.
Description
Technical field
The present invention relates to technical field of automation more particularly to sweeping robot control method, sweeping robot control dresses
It sets and sweeping robot.
Background technology
Existing sweeping robot is generally cleaned using identical frequency when being cleaned to each region.But
The rubbish of the phenomenon that being unevenly distributed there are rubbish in actual environment, subregion ground is more, the rubbish on subregion ground
Rubbish is less, and sweeping robot cleans each region using identical frequency, can there is a problem of that sweeping efficiency is low.
The above is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that the above is existing skill
Art.
Invention content
The main purpose of the present invention is to provide a kind of sweeping robot control methods, it is intended to ensure that sweeping robot can be
The rubbish in target area is effectively cleaned in the shorter time, improves the sweeping efficiency of sweeping robot.
To achieve the above object, the present invention provides a kind of sweeping robot control method, the sweeping robot controlling party
Method includes the following steps：
Obtain the probability that rubbish occurs in the target area divided in the cleaning map independently built；
The corresponding cleaning frequency in target area divided described in the determine the probability occurred according to the rubbish, goes out according to rubbish
Existing probability is different, and the cleaning frequency in the different target region of division is different；
The target area divided in the cleaning map is cleaned according to the cleaning frequency.
Optionally, described the step of cleaning the target area divided in the cleaning map according to the cleaning frequency, wraps
It includes：
When the target area of division is one, target area is cleaned according to the cleaning frequency；
When the target area of division is multiple, corresponding target area is cleaned respectively according to determining cleaning frequency.
Optionally, the corresponding cleaning frequency in target area divided described in the determine the probability occurred according to the rubbish
The step of include：
Judge the numberical range where the probability that the rubbish occurs；
The corresponding cleaning frequency in the target area of the division is determined according to the numberical range.
Optionally, the frequency that cleans is defined as the cleaning interval time of the target area, the target in division
When region is one, include according to the step of cleaning frequency cleaning target area：
It is primary every cleaning interval time cleaning target area to control the sweeping robot；
It is described the target area of division be it is multiple when, clean corresponding target area respectively according to determining cleaning frequency
The step of include：
It controls the sweeping robot and cleans corresponding target area respectively every identified different cleaning interval times
Once.
Optionally, the step for obtaining the probability that rubbish occurs in the target area divided in the cleaning map independently built
Before rapid, further include：
During cleaning, the cleaning map is independently built according to all areas cleaned；
According to preset rules by the cleaning map partitioning be several described target areas.
Optionally, the step of obtaining the probability of rubbish appearance in the target area divided in the cleanings map that independently builds it
Before, further include：
During sweeping robot cleans the target area of the division, counts and record the division
The probability that rubbish occurs in target area.
Optionally, the sweeping robot control method further includes：
Obtain the probability that rubbish occurs in the target area divided described in default cleaning process；
The step of corresponding cleaning frequency in the target area that divides described in the determine the probability occurred according to the rubbish
Including：
Rubbish in the probability calculation target area occurred according to rubbish in the target area divided in each secondary cleaning process
The average probability of appearance；
The corresponding cleaning frequency in the target area of the division is determined according to the average probability.
In addition, to achieve the goals above, the present invention also proposes a kind of sweeping robot control device, the machine of sweeping the floor
People's control device includes：It memory, processor and is stored on the memory and what can be run on the processor sweeps the floor
Robot control program, the sweeping robot control program realize that any one of them as above is swept when being executed by the processor
The step of floor-washing robot control method.
In addition, to achieve the goals above, the present invention also proposes that a kind of sweeping robot, the sweeping robot include such as
The upper sweeping robot control device.
A kind of sweeping robot control method that the embodiment of the present invention proposes, by obtaining in the cleaning map independently built
The frequency that rubbish occurs in the target area of division, the frequency occurred according to rubbish in the target area of division determine the division
The corresponding cleaning frequency in target area, wherein the probability occurred according to rubbish is different, the cleaning frequency in the different target region of division
Rate is different, the target area divided in map is cleaned according to identified cleaning frequency, to make sweeping robot that can fit
The probability that rubbish occurs in the target area that should be cleaned determines that the suitable frequency that cleans cleans target area, realizes
Sweeping robot intelligentized can be cleaned according to different pollution levels using corresponding cleaning frequency, and machine of sweeping the floor is optimized
The intelligence degree of people, the lower target area of probability without occurring in rubbish wastes the unnecessary cleaning time, to protect
Card sweeping robot in a relatively short period of time can effectively clean the rubbish in target area, and the clear of sweeping robot is improved
Sweep efficiency.
Description of the drawings
Fig. 1 is the device structure schematic diagram for the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the first pass schematic diagram of sweeping robot control method of the embodiment of the present invention；
Fig. 3 is the second procedure schematic diagram of sweeping robot control method of the embodiment of the present invention；
Fig. 4 is the third flow diagram of sweeping robot control method of the embodiment of the present invention；
Fig. 5 is the 4th flow diagram of sweeping robot control method of the embodiment of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The primary solutions of the embodiment of the present invention are：It obtains in the target area divided in the cleaning map independently built
The probability that rubbish occurs；The corresponding cleaning frequency in target area divided described in the determine the probability occurred according to the rubbish, root
The probability occurred according to rubbish is different, and the cleaning frequency in the different target region of division is different；Institute is cleaned according to the cleaning frequency
State the target area for cleaning and being divided in map.
Due in the prior art, generally being cleaned to different zones using identical frequency, and the pollution of different zones
Degree is different, and sweeping robot is made to there is a problem of that sweeping efficiency is low.
The present invention provides above-mentioned solution, realizes that sweeping robot intelligentized can be used according to different pollution levels
Corresponding cleaning frequency is cleaned, and the intelligence degree of sweeping robot is optimized, to ensure that sweeping robot can be shorter
Time in the rubbish in target area is effectively cleaned, improve the sweeping efficiency of sweeping robot.
As shown in Figure 1, equipment of the embodiment of the present invention can be specially the robot with automatic cleaning function, machine of such as sweeping the floor
People.Sweeping robot can execute cleaning works indoors or in outdoor environment to a certain specific region.
In the present embodiment, as shown in Figure 1, the sweeping robot may include：Processor 1001, such as CPU, memory
1002, rubbish sensing device 200 and clearing apparatus 300 and communication bus etc..Wherein, communication bus is for realizing these components
Between connection communication.Memory 1002 can be specially FLASH memory, specially NOR FLASH memories.Memory 1002
The optional storage device that can also be independently of aforementioned processor 1001.
Rubbish sensing device 200, with above-mentioned processor 1001 communicate connect, may particularly include rubbish detection module 210 with
And location sensitive module 220.Wherein, rubbish detection module 210 can be specially obstacle sensor, such as infrared sensor, if
In the outside of sweeping robot, for whether there is rubbish around scanning machine people；Location sensitive module 220 is mainly used for feeling
Answer the position where rubbish.
Clearing apparatus 300 communicates with above-mentioned processor 1001 and connects, may particularly include cleaning part and driving device etc.,
Cleaning part can be hairbrush etc..Driving device can receive the instruction of processor 1001 and according to order-driven cleaning part to ground
It is cleaned.
It will be understood by those skilled in the art that device structure shown in Fig. 1 does not constitute the restriction to equipment, can wrap
It includes than illustrating more or fewer components, either combines certain components or different components arrangement.
As shown in Figure 1, as may include that sweeping robot controls program in a kind of memory 1002 of storage medium.
In equipment shown in Fig. 1, processor 1001 can be used for calling the sweeping robot stored in memory 1002
Program is controlled, and executes the correlation step operation of sweeping robot control method in following embodiment.
The present embodiment also proposes a kind of sweeping robot control device 100, which includes upper
It the memory 1002 stated, processor 1001 and is stored on the memory 1002 and can be run on the processor 1001
Sweeping robot controls program, and the sweeping robot control program realizes following examples when being executed by the processor 1001
The step of middle sweeping robot control method.The sweeping robot control device 100 is installed in above-mentioned sweeping robot, also may be used
For the control device independently of above-mentioned sweeping robot.
The present embodiment also proposes a kind of computer readable storage medium, and such as above-mentioned memory 1002 is used as a kind of computer
Storage medium, sweeping robot control program, the sweeping robot control are stored on the computer readable storage medium
The step of sweeping robot control method in following examples is realized when processing procedure sequence is executed by processor.
With reference to Fig. 2, the embodiment of the present invention provides a kind of sweeping robot control method, the sweeping robot control method
Including：
Step S10 obtains the probability that rubbish occurs in the target area divided in the cleaning map independently built；
The cleaning map independently built refers to sweeping robot during cleaning, without user to the mesh that is cleaned
Mark region is set and it is not necessary that marker is being arranged by purging zone, in all areas cleaned, autonomous basis
Information is cleaned to the induction of rubbish, the route passed by etc. and is formed by cleaning map by marking, calculating etc..
It, can be according to parameters such as requirement for cleaning, provincial characteristics, size positions in the above-mentioned cleaning map independently built
It is the target area that several needs are cleaned that map partitioning, which will be cleaned,.
When needing to clean a certain target area, the probability that rubbish occurs in the target area can be obtained；It is needing
When being cleaned to multiple target areas, the probability that rubbish occurs in each target area can be obtained respectively.
Wherein, the probability that rubbish occurs in target area can characterize the pollution level in the region, can be by user according to reality
Demand is set, can by the past cleaning process of sweeping robot in the target area rubbish occur the frequency, ratio
Weight, quantity etc. are counted, are calculated.
Step S20, according to the corresponding cleaning frequency in target area divided described in the determine the probability of rubbish appearance, root
The probability occurred according to rubbish is different, and the cleaning frequency in the different target region of division is different；
Cleaning number of the sweeping robot in preset time can be referred specifically to by cleaning frequency, can also be referred to execution and be cleaned twice
Interval time etc. between work.
The probability and the correspondence for cleaning frequency, the probability that a rubbish occurs for pre-establishing rubbish appearance can correspond to one
A calculation formula for cleaning frequency or a cleaning frequency.The probability occurred by rubbish in the target area that gets can determine
Cleaning frequency corresponding with the probability.
Under above-mentioned correspondence, the probability of the rubbish appearance in different target region got is different, each target
Respectively corresponding cleaning frequency is also different in region, when cleaning the target area divided in map and having multiple, each target area
Domain can determine corresponding cleaning frequency according to above-mentioned correspondence, to meet the cleaning demand in different target region.
Step S30 cleans the target area divided in the cleaning map according to the cleaning frequency.
After determining the corresponding cleaning frequency in target area divided, control sweeping robot is according to cleaning frequency to cleaning
The target area divided in map executes cleaning works.
A kind of sweeping robot control method that the embodiment of the present invention proposes, by obtaining in the cleaning map independently built
The frequency that rubbish occurs in the target area of division determines the target area divided according to the frequency that rubbish in target area occurs
Corresponding cleaning frequency, the probability occurred according to rubbish is different, and the cleaning frequency in the different target region of division is different, according to institute
Determining cleaning frequency cleans the target area divided in map, to the target for making sweeping robot be suitable for being cleaned
The probability that rubbish occurs in region determines that the suitable frequency that cleans cleans target area, realizes that sweeping robot can intelligence
Being cleaned using corresponding cleaning frequency according to different pollution levels for energyization, optimizes the intelligent journey of sweeping robot
Degree, the lower target area of probability without occurring in rubbish wastes the unnecessary cleaning time, to ensure sweeping robot
The rubbish in target area can effectively be cleaned in a relatively short period of time, improve the sweeping efficiency of sweeping robot.
In above-mentioned correspondence, the probability for cleaning frequency and rubbish appearance is optionally directly proportional, the probability that rubbish occurs
Higher, corresponding cleaning frequency is bigger.Frequency is cleaned determined by the probability occurred according to rubbish and executes cleaning works, is conducive to
Ensure that sweeping robot adapts to the pollution level adaptability in different time sections in the same area and clean, with keep compared with
High sweeping efficiency is also beneficial to ensure that sweeping robot can keep higher cleaning to imitate in the region of different pollution levels
Rate.In addition, in addition to proportional relation, the probability for cleaning frequency and rubbish appearance can be combined with other cleaning demands and have difference
Correspondence, cleaned with to meet different user and required.
It should be noted that executing the process of cleaning works to target area according to cleaning frequency in control sweeping robot
In, can obtain current goal region rubbish probability of occurrence correct the probability that the rubbish of above-mentioned acquisition occurs after, then root again
The cleaning frequency that target area is determined according to revised rubbish probability of occurrence keeps the cleaning frequency of institute target area more and more accurate
Really, to improve the sweeping efficiency of sweeping robot.Wherein, for the stability of sweeping robot operation, controllable machine of sweeping the floor
People according to clean frequency execute default time clean after or after preset time, then the probability that rubbish occurs is modified or
Person repeats above-mentioned steps S10, step S20, step S30.
Specifically, described the step of cleaning the target area divided in the cleaning map according to the cleaning frequency, wraps
It includes：
Step S31 cleans target area when the target area of division is one according to the cleaning frequency；
Step S32 cleans corresponding target respectively when the target area of division is multiple according to determining cleaning frequency
Region.
Target area in the cleaning map independently built can be divided according to actual conditions.It is divided when cleaning in map
Target area be one when, directly according to clean frequency target area is cleaned；When cleaning the target divided in map
When region has multiple, identified cleaning frequency includes the corresponding cleaning frequency in multiple and different target areas, respectively according to each
It cleans frequency and cleans corresponding target area.
By the above-mentioned means, when all areas for being conducive in the cleaning map to independently building clean, rationally
Cleaning frequency of the sweeping robot to each target area is distributed, without when the low wasted real estate of pollution level is unnecessary
Between, it is ensured that the working efficiency of sweeping robot is improved while the cleannes in each region.
Specifically, with reference to Fig. 3, the corresponding cleaning in each target area of the determine the probability occurred according to the rubbish
The step of frequency includes：
Step S21, the numberical range where the probability that each rubbish of judgement occurs；
Step S22 determines the corresponding cleaning frequency in each target area according to each numberical range.
In above-mentioned correspondence, the numberical range that specifically may be configured as the probability of rubbish appearance corresponds to a cleaning
Frequency.It, can be right by determining numberical range institute by judging the numberical range in target area where the probability of rubbish appearance
Cleaning frequency of the cleaning frequency answered as target area.When the target area of division has multiple, by by each target area
The frequency that interior rubbish occurs carries out judgement numberical range, and determines corresponding cleaning frequency, ensures the equal energy in each target area
Find corresponding cleaning frequency.
As long as by the above-mentioned means, be conducive to the rubbish got appearance probability in preset numberical range, equal energy
Determine an effective cleaning frequency having corresponding to the probability occurred with above-mentioned rubbish, make each target area can determine that and its
The adaptable cleaning frequency of pollution level, to ensure the Effec-tive Function of sweeping robot.
Specifically, the cleaning interval time for cleaning frequency as the target area is defined, it is described according to the cleaning
Frequency clean it is described cleaning map in divide target area the step of include：
Step S33 controls the sweeping robot when cleaning is spaced when the target area of division is one
Between clean target area it is primary；
Step S34 controls the sweeping robot every identified different clear when the target area of division is multiple
Sweeping interval time, to clean corresponding target area respectively primary.
Clean map partitioning target area only there are one when, sweeping robot to target area has executed once or
After multiple cleaning works, according to the cleaning interval time for the corresponding target area of determine the probability that obtained rubbish occurs, sweeping
Floor-washing robot starts timing after having executed cleaning works to target area last time, and control sweeping robot is every above-mentioned clear
Interval time is swept to a target area cleaning works of execution.
When the target area for cleaning map partitioning has multiple, the identified different target for cleaning frequency and including divided
Multiple cleaning interval times corresponding to region, each target area can be respectively according to above-mentioned same as single target area
Mode carries out cleaning works.After each target area completes primary cleaning, it is spaced the cleaning interval corresponding to the target area
Time, then target area is cleaned next time.If a-quadrant corresponding cleaning interval time is 4 hours, B area is corresponding
It is 5 hours to clean interval time, and the regions C corresponding cleaning interval time is 3 hours, then cleans one to a-quadrant every 4 hours
It is secondary, B area is cleaned once every 5 hours, the regions C are cleaned every 3 hours primary.
For sweeping robot without carrying out entering standby mode when cleaning, only there are clocking capabilities, reach one of them
The cleaning interval time of target area just controls sweeping robot and enters normal operating conditions, and runs to corresponding target area
It is cleaned.Wherein, the starting point of timing can be configured according to actual demand.
By the above-mentioned means, can guarantee the rubbish that divided target area is formed within its corresponding cleaning interval time
While can be cleaned in time, sweeping robot in cleaning process is avoided to waste the unnecessary time and not to target area
It realizes and effectively cleans.
Further, described to obtain rubbish appearance in the target area divided in the cleaning map independently built with reference to Fig. 4
Probability the step of before, further include：
Step S01 independently builds the cleaning map during cleaning according to all areas cleaned；
Step S02, according to preset rules by the cleaning map partitioning be several described target areas.
During sweeping robot cleans, constantly incude and whether there is rubbish around it, and is determining that there are rubbish
The position is cleaned behind the position of rubbish.Sweeping robot, which constantly obtains, cleans data, in all areas that are cleaned
Cleaning data (position etc. occur in route, rubbish) clean map by the formation such as marking, calculating.After cleaning map and being formed,
It is several target areas that will clean map partitioning according to preset rules, such as will according to the probability that rubbish in each target area occurs
It is more garbage areas and few garbage areas etc. to clean map partitioning.Preset rules can be the default rule of sweeping robot, also may be used
It is formulated by obtaining user setting parameter.
Wherein, in cleaning map, can according to the probability that the rubbish of the position of each target area, each target area occurs with
And the sweep-out pattern of sweeping robot is formulated in position for being currently located of sweeping robot etc..
By the above-mentioned means, sweeping robot can be generated according to actual condition cleans map, and drawn according to cleaning in map
The target area divided is cleaned, and is improved the intelligence degree of sweeping robot, on this basis, is gone out according to target area rubbish
Cleaning frequency corresponding to existing probability is cleaned, and the intelligence degree of sweeping robot is further increased.
Further, described the step of obtaining the probability that rubbish occurs in the target area cleaned in map independently built
Before, further include：
During sweeping robot cleans the target area, counts and record rubbish in the target area
The probability that rubbish occurs；
Target area only there are one when, only in the target area rubbish occur a probability counted and recorded；
When target area has multiple, during being cleaned to each target area, counts and recorded in each target area respectively
The probability that rubbish occurs, the probability that the rubbish that may make occurs more meets the actual operating mode in each target area, to obtain more
Accurately clean frequency.
Further, the sweeping robot control method further includes：
Obtain the probability that rubbish occurs in the target area divided described in default cleaning process；
With reference to Fig. 5, the corresponding cleaning in target area divided described in the determine the probability occurred according to the rubbish is frequently
The step of rate includes：
Step S23, the probability calculation target area occurred according to rubbish in the target area divided in each secondary cleaning process
The average probability that rubbish occurs in domain；
Step S24 determines the corresponding cleaning frequency in the target area of the division according to the average probability.
When sweeping robot every time cleans target area, count and record rubbish in target area occur it is general
Rate.Wherein, the probability that the rubbish in the cleaning process of default time of different target region occurs is counted and is recorded respectively.Each mesh
Region is marked in default cleaning process, obtains the probability that each rubbish in the target area occurs to calculate rubbish in the target area
The average probability that rubbish occurs.In this manner, accurate assessment can be made to the pollution level of target area, to obtain meeting this
The cleaning frequency of target area cleans target area, also ensures the stability of sweeping robot operation.Wherein, preset
Number can be set according to actual demand, such as 3 times, 5 inferior.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or system.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions use so that a station terminal equipment (can be mobile phone,
Computer, server, sweeping robot or network equipment etc.) execute method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (9)
1. a kind of sweeping robot control method, which is characterized in that the sweeping robot control method includes the following steps：
Obtain the probability that rubbish occurs in the target area divided in the cleaning map independently built；
The corresponding cleaning frequency in target area divided described in the determine the probability occurred according to the rubbish occurs according to rubbish
Probability is different, and the cleaning frequency in the different target region of division is different；
The target area divided in the cleaning map is cleaned according to the cleaning frequency.
2. sweeping robot control method as described in claim 1, which is characterized in that described to be cleaned according to the cleaning frequency
The step of target area divided in the cleaning map includes：
When the target area of division is one, target area is cleaned according to the cleaning frequency；
When the target area of division is multiple, corresponding target area is cleaned respectively according to determining cleaning frequency.
3. sweeping robot control method as claimed in claim 2, which is characterized in that described according to the general of rubbish appearance
Rate determines that the step of corresponding cleaning frequency in the target area of the division includes：
Judge the numberical range where the probability that the rubbish occurs；
The corresponding cleaning frequency in the target area of the division is determined according to the numberical range.
4. sweeping robot control method as claimed in claim 3, which is characterized in that it is the mesh to define the cleaning frequency
The cleaning interval time in region is marked,
It is described the target area of division be one when, according to the cleanings frequency cleaning target area the step of include：
It is primary every cleaning interval time cleaning target area to control the sweeping robot；
It is described the target area of division be it is multiple when, clean the step of corresponding target area respectively according to determining cleaning frequency
Suddenly include：
The sweeping robot is controlled different to clean interval times every identified to clean corresponding target area respectively primary.
5. sweeping robot control method as described in claim 1, which is characterized in that the cleaning that the acquisition is independently built
Before the step of probability that rubbish occurs in the target area divided in figure, further include：
During cleaning, the cleaning map is independently built according to all areas cleaned；
According to preset rules by the cleaning map partitioning be several described target areas.
6. the sweeping robot control method as described in any one of claim 1 to 5, which is characterized in that obtain autonomous structure
Cleaning map in rubbish occurs in the target area that divides probability the step of before, further include：
During sweeping robot cleans the target area of the division, the target of the division is counted and recorded
The probability that rubbish occurs in region.
7. sweeping robot control method as claimed in claim 6, which is characterized in that the sweeping robot control method is also
Including：
Obtain the probability that rubbish occurs in the target area divided described in default cleaning process；
The step of corresponding cleaning frequency in the target area that divides described in the determine the probability occurred according to the rubbish includes：
Rubbish occurs in the probability calculation target area occurred according to rubbish in the target area divided in each secondary cleaning process
Average probability；
The corresponding cleaning frequency in the target area of the division is determined according to the average probability.
8. a kind of sweeping robot control device, which is characterized in that the sweeping robot control device includes：Memory, place
It manages device and is stored in the sweeping robot control program that can be run on the memory and on the processor, the sweeper
Device people controls and realizes that the sweeping robot as described in any one of claim 1 to 7 controls when program is executed by the processor
The step of method.
9. a kind of sweeping robot, which is characterized in that the sweeping robot includes sweeping robot as claimed in claim 8
Control device.
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| CN201810238637.2A CN108338749A (en) | 2018-03-20 | 2018-03-20 | Sweeping robot and its control method, device |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109653140A (en) * | 2018-12-21 | 2019-04-19 | 北京智行者科技有限公司 | Vehicle follower method in road cleaning operation |
| CN109814546A (en) * | 2018-12-18 | 2019-05-28 | 珠海格力电器股份有限公司 | Sweeping robot control method and device, storage medium and sweeping robot |
| CN110081885A (en) * | 2019-04-02 | 2019-08-02 | 北京云迹科技有限公司 | Operation area partitioning method and device |
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| CN109814546B (en) * | 2018-12-18 | 2020-11-06 | 珠海格力电器股份有限公司 | Sweeping robot control method and device, storage medium and sweeping robot |
| CN109814546A (en) * | 2018-12-18 | 2019-05-28 | 珠海格力电器股份有限公司 | Sweeping robot control method and device, storage medium and sweeping robot |
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| CN111374601B (en) * | 2018-12-28 | 2022-03-04 | 珠海一微半导体股份有限公司 | Operation planning method and device of sweeping robot and cleaning system |
| CN111374601A (en) * | 2018-12-28 | 2020-07-07 | 珠海市一微半导体有限公司 | Operation planning method and device of sweeping robot and cleaning system |
| CN112867423A (en) * | 2019-01-31 | 2021-05-28 | 松下知识产权经营株式会社 | Cleaning route determining device and cleaning route determining method |
| CN112867423B (en) * | 2019-01-31 | 2023-04-14 | 松下知识产权经营株式会社 | Cleaning route determining device and cleaning route determining method |
| CN111759226A (en) * | 2019-04-02 | 2020-10-13 | 青岛塔波尔机器人技术股份有限公司 | Sweeping robot control method and sweeping robot |
| CN110081885A (en) * | 2019-04-02 | 2019-08-02 | 北京云迹科技有限公司 | Operation area partitioning method and device |
| CN111759226B (en) * | 2019-04-02 | 2022-12-20 | 青岛塔波尔机器人技术股份有限公司 | Sweeping robot control method and sweeping robot |
| CN110477819A (en) * | 2019-09-20 | 2019-11-22 | 青岛海尔科技有限公司 | Ground face cleaning method and automatic floor cleaning apparatus based on Internet of Things operating system |
| CN110477819B (en) * | 2019-09-20 | 2021-07-16 | 青岛海尔科技有限公司 | Data acquisition and decision-making method for Internet of things operating system and intelligent household equipment |
| CN112254782A (en) * | 2020-10-20 | 2021-01-22 | 深圳市无限动力发展有限公司 | Method and device for identifying garbage capacity in dust box of sweeper and computer equipment |
| CN112254782B (en) * | 2020-10-20 | 2023-11-21 | 深圳市无限动力发展有限公司 | Method and device for identifying garbage capacity in dust box of sweeper and computer equipment |
| CN113243821A (en) * | 2021-04-26 | 2021-08-13 | 深圳市酷客智能科技有限公司 | Robot-based indoor environment interactive purification method and device and intelligent cleaning robot |
| CN114468855A (en) * | 2022-01-07 | 2022-05-13 | 珠海格力电器股份有限公司 | Equipment control method, device, equipment and storage medium |
| CN115429155A (en) * | 2022-07-29 | 2022-12-06 | 云鲸智能(深圳)有限公司 | Control method, device and system of cleaning robot and storage medium |
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