CN108436921B - Intelligent control method for sweeping robot - Google Patents
Intelligent control method for sweeping robot Download PDFInfo
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- CN108436921B CN108436921B CN201810610613.5A CN201810610613A CN108436921B CN 108436921 B CN108436921 B CN 108436921B CN 201810610613 A CN201810610613 A CN 201810610613A CN 108436921 B CN108436921 B CN 108436921B
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- sweeping robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Abstract
The invention provides an intelligent control method of a sweeping robot, which is characterized in that on the basis of realizing charging without a charging pile based on solar energy, a charging position charged by solar energy and a stopping position after sweeping are intelligently planned, so that the interference to the activities of personnel is avoided, and the occupation of household space is saved.
Description
Technical Field
The application relates to the technical field of robot control, in particular to an intelligent control method for a sweeping robot.
Background
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.
The machine body of the sweeping machine is a wireless machine, and mainly takes a disc type as a main machine. The rechargeable battery is used for operation, and the operation mode is a remote controller or an operation panel on the machine. Generally, the time can be set for cleaning in a reserved mode, and the automatic charging is realized. The sensor is arranged in front of the device, can detect obstacles, can automatically turn when touching a wall or other obstacles, and can walk different routes according to different manufacturers so as to plan cleaning areas. The fuselage is the mobile device of automation technology, and the vacuum cleaner who has the dust collection box cooperates the fuselage to set for control path, walks repeatedly indoor, if: the cleaning machine can clean along paths of edge cleaning, centralized cleaning, random cleaning, linear cleaning and the like, and is assisted by modes of edge brushes, central main brushes, cleaning cloth and the like, so that the cleaning effect is enhanced, and the humanized household cleaning effect is achieved.
Document CN107707014A provides a charging method for an intelligent sweeping robot, in which a sweeping machine body of the sweeping robot is placed in an area that can be irradiated by the sun, a solar locator is used to track a solar ray, and when the tracked solar ray deviates, the sweeping machine body is controlled to move, so that a solar photovoltaic panel on the sweeping machine body is irradiated by the sunlight comprehensively, and then the solar photovoltaic panel automatically collects solar energy, and the solar energy is converted into electric energy through a charging conversion circuit and stored in a storage battery, so as to supply power to the sweeping machine body. The solar energy power supply device can utilize solar energy to supply power and has the functions of improving the solar energy collection rate and the charging efficiency.
However, the method also has many defects, and although the method solves the problem of charging without charging pile of the sweeping robot, the sweeping robot occupies places with intensive activities of family members such as balconies for a long time, which brings inconvenience to the activities of the family members; in addition, the method cannot intelligently learn the activity rules of family members, and can only passively receive the control of family members, so that the method is difficult to avoid conflict with the activities of the family members and influences the use experience of users. Therefore, a sweeping robot control method for intelligently charging, intelligently parking and intelligently planning a sweeping scheme of the sweeping robot without charging in a fixed place is yet to be provided.
Disclosure of Invention
The invention provides an intelligent control method of a sweeping robot, which comprises the following steps:
s1, the sweeping robot acquires the plane layout information of the sweeping area, and plans the sweeping path of the sweeping robot according to the plane layout information; the upper surface of the sweeping robot is provided with a distance detection device and a solar cell panel, and the solar cell panel charges the sweeping robot with collected solar energy;
s2, the sweeping robot cleans the cleaning area according to the cleaning path; in the cleaning process, if the sweeping robot obtains the electric energy of the solar cell panel, carrying out first marking on the position of the cleaning path; in the cleaning process, if the distance value acquired by the distance detection device is between a first preset height threshold value and a second preset height threshold value, performing second marking on the position of the cleaning path;
s3, the sweeping robot draws a first parking area according to the first mark and draws a second parking area according to the second mark;
s4, the sweeping robot automatically stops at the first stopping area when the electric quantity is lower than a low electric quantity threshold value so as to be charged by the solar cell panel; the sweeping robot automatically stops to the second stopping area when finishing the sweeping of the sweeping path.
As a preferred embodiment, the acquiring, by the sweeping robot, the plane layout information of the cleaning area includes:
the camera device of the sweeping robot automatically patrols a sweeping area to obtain the distance of the obstacle within a preset height, draws a zone map capable of being swept according to the distance, and takes the zone map as the plane layout information; alternatively, the first and second electrodes may be,
and drawing a cleanable area map at a control terminal by a user of the sweeping robot, and taking the area map as the plane layout information.
As a preferred embodiment, the planning of the cleaning path of the cleaning robot according to the plane layout information specifically includes:
and planning an optimal cleaning path of the sweeping robot according to the plane layout information, wherein the optimal cleaning path can completely cover the area and has the shortest driving distance.
As a preferred embodiment, in the cleaning process, if the cleaning robot obtains the electric energy of the solar cell panel, the first marking of the position of the cleaning path specifically includes:
in the cleaning process, if the cleaning robot obtains the electric energy of the solar cell panel, the cleaning robot reduces the traveling speed, the charging power of the built-in battery of the cleaning robot is detected by the solar cell panel, and if the charging power is larger than or equal to a preset charging power threshold value, the position of the cleaning path is marked.
As a preferred embodiment, the drawing, by the sweeping robot, a first parking area according to the first mark specifically includes:
the sweeping robot obtains the first marks on all the sweeping paths, draws a first parking curve based on the first marks, and takes the minimum area covered by the first parking curve as a first parking area.
As a preferred embodiment, the method further comprises:
if the first stopping curve has a breakpoint, calculating the distance of the breakpoint;
if the distance between the breakpoints is larger than or equal to a preset first breakpoint threshold value, splitting the first stopping curve at the breakpoints to obtain a plurality of first stopping sub-curves; taking the minimum area covered by each first dock curve as a first dock area;
and if the distance between the breakpoints is smaller than a preset first breakpoint threshold value, not splitting the first docking curve.
As a preferred embodiment, the step of defining a minimum area covered by each of the first dock curves as a first dock area further includes:
acquiring average power consumed during sweeping on a sweeping path in each first parking area, and taking the first parking area with the minimum consumed average power as an optimal first parking area;
the sweeping robot automatically stops to the optimal first stopping area when the electric quantity is lower than a low electric quantity threshold value so as to be charged by the solar cell panel.
As a preferred embodiment, the drawing the second docking area according to the second mark further includes:
the sweeping robot acquires the second marks on all the sweeping paths, draws a second parking curve based on the second marks, and takes the minimum area covered by the second parking curve as a second parking area.
As a preferred embodiment, the method further comprises:
if the second stopping curve has a breakpoint, calculating the distance of the breakpoint;
if the distance between the breakpoints is larger than or equal to a preset second breakpoint threshold value, splitting the second stopping curve at the breakpoints to obtain a plurality of second stopping sub-curves; taking the minimum area covered by each second dock curve as a second dock area;
and if the distance between the breakpoints is smaller than a preset second breakpoint threshold value, not splitting the second stopping curve.
As a preferred embodiment, the step of defining a minimum area covered by each of the second dock curves as a second dock area further includes:
acquiring average power consumed during sweeping on a sweeping path in each second parking area, and taking the second parking area with the maximum consumed average power as an optimal second parking area;
and the sweeping robot automatically stops to the optimal second stopping area when finishing the sweeping of the sweeping path.
The invention provides an intelligent control method of a sweeping robot, which is characterized in that on the basis of realizing charging without a charging pile based on solar energy, a charging position charged by solar energy and a stopping position after sweeping are intelligently planned, so that the interference to the activities of personnel is avoided, and the occupation of household space is saved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the embodiments and the drawings used in the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is an exemplary schematic diagram of an intelligent control method of a sweeping robot according to the present invention.
Detailed Description
The embodiments of the present invention are further described below with reference to the drawings.
The first embodiment is as follows:
the invention provides an intelligent control method of a sweeping robot, which comprises the following steps:
s1, the sweeping robot obtains the plane layout information of the cleaning area, and plans the cleaning path of the sweeping robot according to the plane layout information, as shown in fig. 1; the upper surface of the sweeping robot is provided with a distance detection device and a solar cell panel, and the solar cell panel charges the sweeping robot with collected solar energy; it should be noted that, for example, the cleaning area may be an indoor area of a home; the plane layout information may be a house type structure, i.e., a spatial layout, such as how many rooms, the length and width of each room, and the size and position information of the non-stridable obstacle in each room, and a cleaning path of the cleaning robot, for example, a start point, an end point, and a walking path of cleaning, is planned according to the spatial layout, and the walking path is obtained by calculation, where the calculation is based on the shortest walking path. The upper surface of the sweeping robot is provided with a distance detection device, for example, the distance detection device is an infrared distance meter, and the distance detection device is used for detecting two types of distances, namely the height which can be spanned by the sweeping robot, so as to ensure that the sweeping robot can sweep the position; the distance detection device of the sweeping robot can also measure the height larger than a first preset height threshold value, for example, the height of 0.5 meter, and the sweeping robot marks an area where the preset height is located, and the area can be used as a reference of a following second parking area.
S2, the sweeping robot cleans the cleaning area according to the cleaning path; in the cleaning process, if the sweeping robot obtains the electric energy of the solar cell panel, carrying out first marking on the position of the cleaning path; in the cleaning process, if the distance value acquired by the distance detection device is between a first preset height threshold value and a second preset height threshold value, performing second marking on the position of the cleaning path; it should be noted that, in the cleaning process, if the cleaning robot obtains the electric energy of the solar cell panel, it indicates that the cleaning area is covered by sunlight, and at this time, a first mark is made on the position of the cleaning path, so that the cleaning robot can be stopped in the area for solar charging when the cleaning robot needs to be charged; therefore, the solar charging process does not need manual intervention, and the sweeping robot can automatically identify the area capable of being charged by solar energy for intelligent and automatic charging. In addition, in the cleaning process, if the distance value acquired by the distance detection device is lower than a second preset height threshold value, for example, the height of the bed is 0.6 m, second marking is carried out on the position of the cleaning path; at this time, the path with the distance value within the range of 0.5-0.6 m acquired by the distance detection device is marked for the second time.
S3, the sweeping robot draws a first parking area according to the first mark and draws a second parking area according to the second mark; it should be noted that the first parking area is a temporary parking area of the cleaning robot during the solar charging process, and the second parking area is a parking area of the cleaning robot after the cleaning is completed. Therefore, the sweeping robot can automatically stop to the first stopping area for solar charging when the sweeping robot needs to be charged, and automatically stop to the stopping area which is intelligently identified by the sweeping robot, such as under-bed personnel activities and the like, and cannot be involved, so that the intelligent stopping of the sweeping robot is realized, the interference to the personnel activities is greatly reduced, the manual intervention is avoided, and the automatic management level of the sweeping robot is improved.
S4, the sweeping robot automatically stops at the first stopping area when the electric quantity is lower than a low electric quantity threshold value so as to be charged by the solar cell panel; the sweeping robot automatically stops to the second stopping area when finishing the sweeping of the sweeping path. It should be noted that the first parking area is temporary, and preferably, the first parking area is limited by parking time, i.e. limited to a sunlight covered time period, for example, 8:00-18:00, and if the first parking area is not in the time period, the first parking area is not stopped, so as to avoid that solar charging is impossible and personnel activities are disturbed; at the moment, if the sweeping robot does not finish sweeping, the sweeping robot can be charged by other modes and then continues to perform a sweeping task; and if the sweeping robot finishes sweeping, directly stopping to the second stopping area. The second docking area is a normal docking area, namely, the second docking area is docked in the area when idle.
As a preferred embodiment, the acquiring, by the sweeping robot, the plane layout information of the cleaning area includes:
the camera device of the sweeping robot automatically patrols a sweeping area to obtain the distance of the obstacle within a preset height, draws a zone map capable of being swept according to the distance, and takes the zone map as the plane layout information; it should be noted that the patrol can be implemented in the process of primary cleaning, and then the cleaning path is optimized according to the patrol result in the process of secondary cleaning; the cleaning area is a cleanable area, namely an area which can be safely reached by the sweeping robot, and comprises an area which can be spanned, such as a carpet. The obstacle distance is implemented using a distance sensor, such as an infrared rangefinder; the distance is the height between the top of the sweeping robot and an upper obstacle, and the height distance is also used as one of judgment bases of cleanable areas. Therefore, the accuracy of recognizing the cleanable area map can be effectively improved by combining the two judgment modes.
Alternatively, the first and second electrodes may be,
and drawing a cleanable area map at a control terminal by a user of the sweeping robot, and taking the area map as the plane layout information. It should be noted that, a user may manually draw the cleanable area map, and may also upload the house type map and the furniture layout map thereof to the control APP of the sweeping robot in the control terminal; at this time, the latter has higher accuracy. In this embodiment, the obtained cleanable area map is used as a path planning basis in the primary cleaning process; in the first cleaning process of the cleaning robot, an updated cleanable area map can be accurately tested based on the camera device and the distance sensor, and the path plan in the subsequent cleaning process can be updated according to the updated cleanable area map.
As a preferred embodiment, the planning of the cleaning path of the cleaning robot according to the plane layout information specifically includes:
and planning an optimal cleaning path of the sweeping robot according to the plane layout information, wherein the optimal cleaning path can completely cover the area and has the shortest driving distance. It should be noted that the optimal cleaning path may be automatically planned or may be automatically planned by the user, and the priority of the automatic planning by the user is higher than the priority of the automatic planning; when there are a plurality of the automatically planned optimal cleaning paths, one of the cleaning paths may be automatically selected at random, or one of the cleaning paths may be selected by the user, which is not limited herein.
As a preferred embodiment, in the cleaning process, if the cleaning robot obtains the electric energy of the solar cell panel, the first marking of the position of the cleaning path specifically includes:
in the cleaning process, if the cleaning robot obtains the electric energy of the solar cell panel, the cleaning robot reduces the traveling speed, the charging power of the built-in battery of the cleaning robot is detected by the solar cell panel, and if the charging power is larger than or equal to a preset charging power threshold value, the position of the cleaning path is marked. It should be noted that the reason why the sweeping robot reduces the traveling speed is to facilitate detecting the intensity of the solar energy, so as to improve the accuracy of the charging power detection.
As a preferred embodiment, the drawing, by the sweeping robot, a first parking area according to the first mark specifically includes:
the sweeping robot obtains the first marks on all the sweeping paths, draws a first parking curve based on the first marks, and takes the minimum area covered by the first parking curve as a first parking area. It should be noted that, a first docking curve is formed after connecting adjacent first marks; illustratively, the end points or the outer edges of the first docking curves are connected in sequence to form the first docking area.
As a preferred embodiment, the method further comprises:
if the first stopping curve has a breakpoint, calculating the distance of the breakpoint;
if the distance between the breakpoints is larger than or equal to a preset first breakpoint threshold value, splitting the first stopping curve at the breakpoints to obtain a plurality of first stopping sub-curves; taking the minimum area covered by each first dock curve as a first dock area;
and if the distance between the breakpoints is smaller than a preset first breakpoint threshold value, not splitting the first docking curve.
It should be noted that, since the first mark exists on the cleaning path, the first stopping curve is a curve segment on the cleaning path; at this time, the breakpoint of the first stopping curve is divided into two cases, one of which is that the breakpoint exists in different cleaning sub-regions, for example, a balcony of a bedroom and a balcony of a living room, in which case, the first stopping curve needs to be split, and then different stopping sub-regions need to be split; illustratively, the preset first breakpoint threshold is 2 meters or 3 meters. And secondly, the break points exist in the same cleaning sub-area, and only because the sheltering object shelters the sunlight, the break points are usually shorter in length, and at the moment, the first parking curve is not split and is still used as a parking area to be processed. Therefore, the invention classifies the breakpoints of the docking curve, improves the accuracy of the determination of the docking area and effectively avoids misdetermination.
As a preferred embodiment, the step of defining a minimum area covered by each of the first dock curves as a first dock area further includes:
acquiring average power consumed during sweeping on a sweeping path in each first parking area, and taking the first parking area with the minimum consumed average power as an optimal first parking area;
the sweeping robot automatically stops to the optimal first stopping area when the electric quantity is lower than a low electric quantity threshold value so as to be charged by the solar cell panel. It should be noted that if the average power consumed during sweeping on the sweeping path in a certain first parking sub-area is smaller, which indicates that there is less garbage in the first parking sub-area, for example, there is less garbage in an area where people are not active, which indicates that there is less human activity in the first parking sub-area, and at this time, taking the first parking sub-area as the optimal first parking sub-area can effectively reduce the influence on human activity. In addition, the embodiment may also set the opposite selection method of the optimal first parking sub-region, that is, the first parking sub-region with the largest average power consumed is used as the optimal first parking sub-region, which indicates that the first parking sub-region has more garbage, and indicates that the first parking sub-region has less human activity to some extent, for example, a region with human activity may have less garbage due to more emphasis on sanitary garbage, and a region with no human activity may have relatively more garbage. The two implementation modes can be flexibly selected according to actual needs, and are not described herein.
As a preferred embodiment, the drawing the second docking area according to the second mark further includes:
the sweeping robot acquires the second marks on all the sweeping paths, draws a second parking curve based on the second marks, and takes the minimum area covered by the second parking curve as a second parking area. It should be noted that, a second docking curve is formed after connecting adjacent second marks; illustratively, the endpoints or the outside edges of the second docking curves are connected in sequence, thereby forming the second docking area.
As a preferred embodiment, the method further comprises:
if the second stopping curve has a breakpoint, calculating the distance of the breakpoint;
if the distance between the breakpoints is larger than or equal to a preset second breakpoint threshold value, splitting the second stopping curve at the breakpoints to obtain a plurality of second stopping sub-curves; taking the minimum area covered by each second dock curve as a second dock area;
and if the distance between the breakpoints is smaller than a preset second breakpoint threshold value, not splitting the second stopping curve.
It should be noted that, since the second mark exists on the cleaning path, the second stopping curve is a curve segment on the cleaning path; at this time, the breakpoint of the second docking curve is divided into two cases, one of which is that the breakpoint exists in different cleaning sub-regions, for example, different bedrooms, in which case, the second docking curve needs to be split, and then different docking sub-regions are split; illustratively, the preset second breakpoint threshold is 5 meters or 10 meters. And secondly, the breakpoints exist in the same cleaning sub-area, but are only caused by the shielding of the shielding object, the length of the breakpoints is usually smaller, and at the moment, the second parking curve is not split and is still used as a parking area to be processed. Therefore, the invention classifies the breakpoints of the docking curve, improves the accuracy of the determination of the docking area and effectively avoids misdetermination.
As a preferred embodiment, the step of defining a minimum area covered by each of the second dock curves as a second dock area further includes:
acquiring average power consumed during sweeping on a sweeping path in each second parking area, and taking the second parking area with the maximum consumed average power as an optimal second parking area;
and the sweeping robot automatically stops to the optimal second stopping area when finishing the sweeping of the sweeping path. It should be noted that if the average power consumed during sweeping on the sweeping path in a certain second parking sub-area is smaller, it indicates that there is less garbage in the second parking sub-area, for example, there is less garbage in an area where people are not active, it indicates that there is less human activity in the second parking sub-area, and at this time, taking the second parking sub-area as the optimal second parking sub-area can effectively reduce the influence on human activity. In addition, the embodiment may also set the opposite selection method of the optimal second parking area, that is, the second parking area with the largest average power consumed is used as the optimal second parking area, which indicates that the second parking area has more garbage, and indicates that the second parking area has less human activity to some extent, for example, an area with human activity may have less garbage due to more emphasis on sanitary garbage, and an area with no human activity may have relatively more garbage. The two implementation modes can be flexibly selected according to actual needs, and are not described herein.
The invention provides an intelligent control method of a sweeping robot, which is characterized in that on the basis of realizing charging without a charging pile based on solar energy, a charging position charged by solar energy and a stopping position after sweeping are intelligently planned, so that the interference to the activities of personnel is avoided, and the occupation of household space is saved.
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. These computer program instructions may be provided to 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, create means for implementing the methods specified in the block or blocks of the block diagrams and/or flowchart block or blocks.
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 above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. An intelligent control method for a sweeping robot is characterized by comprising the following steps:
s1, the sweeping robot acquires the plane layout information of the sweeping area, and plans the sweeping path of the sweeping robot according to the plane layout information; the upper surface of the sweeping robot is provided with a distance detection device and a solar cell panel, and the solar cell panel charges the sweeping robot with collected solar energy;
s2, the sweeping robot cleans the cleaning area according to the cleaning path; in the cleaning process, if the sweeping robot obtains the electric energy of the solar cell panel, carrying out first marking on the position of the cleaning path; in the cleaning process, if the distance value acquired by the distance detection device is between a first preset height threshold value and a second preset height threshold value, performing second marking on the position of the cleaning path;
s3, the sweeping robot draws a first parking area according to the first mark and draws a second parking area according to the second mark;
s4, the sweeping robot automatically stops at the first stopping area when the electric quantity is lower than a low electric quantity threshold value so as to be charged by the solar cell panel; the sweeping robot automatically stops to the second stopping area when finishing the sweeping of the sweeping path;
the drawing a second docking area according to the second mark further comprises:
the sweeping robot acquires the second marks on all the sweeping paths, draws a second parking curve based on the second marks, and takes the minimum area covered by the second parking curve as a second parking area;
further comprising: if the second stopping curve has a breakpoint, calculating the distance of the breakpoint;
if the distance between the breakpoints is larger than or equal to a preset second breakpoint threshold value, splitting the second stopping curve at the breakpoints to obtain a plurality of second stopping sub-curves; taking the minimum area covered by each second dock curve as a second dock area;
and if the distance between the breakpoints is smaller than a preset second breakpoint threshold value, not splitting the second stopping curve.
2. The method according to claim 1, wherein the sweeping robot acquires the layout information of the floor in the sweeping area, and specifically comprises:
the camera device of the sweeping robot automatically patrols a sweeping area to obtain the distance of the obstacle within a preset height, draws a zone map capable of being swept according to the distance, and takes the zone map as the plane layout information; alternatively, the first and second electrodes may be,
and drawing a cleanable area map at a control terminal by a user of the sweeping robot, and taking the area map as the plane layout information.
3. The method according to claim 2, wherein planning the cleaning path of the sweeping robot according to the floor layout information specifically comprises:
and planning an optimal cleaning path of the sweeping robot according to the plane layout information, wherein the optimal cleaning path can completely cover the area and has the shortest driving distance.
4. The method according to claim 1, wherein in the cleaning process, if the sweeping robot obtains the electric energy of the solar cell panel, the first marking is performed on the position of the cleaning path, specifically comprising:
in the cleaning process, if the cleaning robot obtains the electric energy of the solar cell panel, the cleaning robot reduces the traveling speed, the charging power of the built-in battery of the cleaning robot is detected by the solar cell panel, and if the charging power is larger than or equal to a preset charging power threshold value, the position of the cleaning path is marked.
5. The method according to claim 4, wherein the sweeping robot draws a first docking area according to the first marker, specifically comprising:
the sweeping robot obtains the first marks on all the sweeping paths, draws a first parking curve based on the first marks, and takes the minimum area covered by the first parking curve as a first parking area.
6. The method of claim 5, further comprising:
if the first stopping curve has a breakpoint, calculating the distance of the breakpoint;
if the distance between the breakpoints is larger than or equal to a preset first breakpoint threshold value, splitting the first stopping curve at the breakpoints to obtain a plurality of first stopping sub-curves; taking the minimum area covered by each first dock curve as a first dock area;
and if the distance between the breakpoints is smaller than a preset first breakpoint threshold value, not splitting the first docking curve.
7. The method of claim 6, wherein said defining a minimum area covered by each of said first dock curves as a first dock area, further comprises:
acquiring average power consumed during sweeping on a sweeping path in each first parking area, and taking the first parking area with the minimum consumed average power as an optimal first parking area;
the sweeping robot automatically stops to the optimal first stopping area when the electric quantity is lower than a low electric quantity threshold value so as to be charged by the solar cell panel.
8. The method of claim 1, wherein the step of defining a minimum area covered by each of the second dock curves as a second dock area further comprises:
acquiring average power consumed during sweeping on a sweeping path in each second parking area, and taking the second parking area with the maximum consumed average power as an optimal second parking area;
and the sweeping robot automatically stops to the optimal second stopping area when finishing the sweeping of the sweeping path.
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| CN111345734B (en) * | 2018-12-24 | 2021-11-09 | 珠海市一微半导体有限公司 | Sweeping robot operation method and device, storage medium and sweeping robot |
| CN109571482B (en) * | 2019-01-02 | 2021-08-27 | 京东方科技集团股份有限公司 | Cleaning robot path planning method, related system and readable storage medium |
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