CN108567379A - Self-propelled cleaning device partition cleaning method and self-propelled cleaning device using same - Google Patents
Self-propelled cleaning device partition cleaning method and self-propelled cleaning device using same Download PDFInfo
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- CN108567379A CN108567379A CN201711345846.9A CN201711345846A CN108567379A CN 108567379 A CN108567379 A CN 108567379A CN 201711345846 A CN201711345846 A CN 201711345846A CN 108567379 A CN108567379 A CN 108567379A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 189
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000005192 partition Methods 0.000 title abstract 2
- 230000004888 barrier function Effects 0.000 claims abstract description 51
- 230000009184 walking Effects 0.000 claims description 34
- 230000008901 benefit Effects 0.000 claims description 4
- 238000012790 confirmation Methods 0.000 claims description 4
- 239000000428 dust Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 10
- 230000001681 protective effect Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 210000002186 septum of brain Anatomy 0.000 description 2
- 239000011800 void material Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to a partition cleaning method for a self-propelled cleaning device and the self-propelled cleaning device using the method, comprising the following steps: providing an indoor space provided with a barrier; providing a self-propelled cleaning device provided with a map establishing unit, wherein the map establishing unit is used for planning a virtual map provided with a plurality of virtual partitions according to the position of the self-propelled cleaning device in the indoor space; enabling the self-propelled cleaning device to respectively and sequentially execute a step of confirming the area range in a plurality of virtual partitions, and taking the space correspondingly surrounded by the known boundary as an area range; the self-propelled cleaning device executes a step of cleaning the area range within the area range, and the area range is cleaned by the default traveling path.
Description
Technical field
The present invention executes cleaning about a kind of cleaning device, espespecially a kind of automatically walk over a surface to be cleaned
Self-propelled cleaning device makes self-propelled cleaning device mark off regional extent according to the virtual boundary on entity boundary or acquiescence, and
With the self-propelled cleaning device subregion clean method of default path walking and the self-propelled clear of this method is used in the regional extent
Clean device.
Background technology
Traditional self-propelled cleaning device is to be performed simultaneously cleaning in surface automatically walk to be cleaned, because self-propelled
Cleaning device, which mostly uses rechargeable design, causes it to operate limited time, therefore there are many walking sides for self-propelled cleaning device acquiescence
Method, its object is to improve cleaning efficiency of the self-propelled cleaning device in finite time.
" the Method and system for multi-mode coverage for of U.S. Patent No. US6809490
An autonomous robot " have disclosed a kind of a variety of covering patterns of mobile robot, including：Barrier is followed
(obstacle following) pattern, randomized jitter (random bounce) pattern and point covering (spot coverage) mould
The covering patterns such as formula ..., three be used interchangeably with increase mobile robot a specific region covering efficiency.
No. CN1287722C " identification side of the cleanable area and barrier region of automatic cleaner of China Patent No.
Method " and a kind of traveling method of automatic cleaner of exposure, first make automatic cleaner along a closed area (indoor entity boundary)
One circle of inward flange detour, obtains the closed contour of closed area, and the region except closed contour is set as barrier area
Domain, within region be set as scanning region, then carried out X-direction in region by automatic cleaner and scanned or Y direction scanning
The X, Y coordinates of its track route are scanned and remember, if encountering barrier and in front of the walking to clear the jumps during scanning
When also scanning region, then dust catcher obstacle object is walked, if encountering barrier and in the row to clear the jumps during scanning
When not scanning region again in front of walking, automatic cleaner rotates 90 degree along script direction of travel and moves a displacement, then reversely
Or continue positive along the walking of script direction of travel.
Invention content
Known US6809490 Patent Cases although increase mobile robot specific region covering efficiency, but
When being used interchangeably different walking modes, the probability that the portable cord (movement line) of mobile robot walking overlaps is also opposite
Improve, be equal to the portable cord that mobile robot can repeat to walk and repeat to clean cleaned mistake, can not in finite time into
Row maximizes the cleaning of area；And although CN1287722C Patent Case automatic cleaner track routes will not repeat, can be
Reach the cleaning for maximizing area in finite time, but automatic cleaner needs a first primary complete indoor entity boundary of detouring to obtain
Go out after closed contour and just can determine that scanning region is cleaned, automatic dust absorption is still dependent in the calculating of these closed contours at present
Angle computer in device and mileage calculation device, the accumulation of angle computer and mileage calculation device during large-scale detour
Error can gradually increase, and so that the cleaning path of follow-up automatic cleaner is generated deviation causes cleaning efficiency not as expected.
Therefore, the purpose of the present invention is to provide a kind of self-propelled sanitizer cartridges promoting self-propelled cleaning device cleaning efficiency
Set subregion clean method.
Another object of the present invention is to provide a kind of walking certainly using the self-propelled cleaning device subregion clean method
Formula cleaning device.
The self-propelled cleaning device subregion clean method of purpose according to the present invention, including：It provides one and is equipped with a barrier
The interior space；It provides one and is equipped with the self-propelled cleaning device that a map establishes unit, it is self-propelled with this which establishes unit
Cook up a virtual map for being equipped with several virtual septal areas in position of the cleaning device in the interior space；Make the self-propelled cleaning
Device sequentially executes one respectively in several virtual septal areas and confirms regional extent step, to enclose the sky set out corresponding to known boundaries
Between be used as a regional extent；The self-propelled cleaning device is set to execute a cleaning regional extent step in the regional extent, with silent
Recognize walking path and cleans the regional extent.
The self-propelled cleaning device of another object according to the present invention, including：It is wanted using any right in claims 1 to 10 10
Seek the self-propelled cleaning device of the self-propelled cleaning device subregion clean method.
The self-propelled cleaning device subregion clean method of the embodiment of the present invention and the self-propelled cleaning device for using this method,
When the interior space is cleaned in self-propelled cleaning device preparation, map is established unit and is planned with the starting point of self-propelled cleaning device
Go out to be equipped with the virtual map of several virtual grids, several virtual boundaries and several virtual septal areas, and in each virtual septal area
It executes and confirms regional extent step, executes cleaning regional extent step and mend cleaning, a larger interior space is drawn
It is divided into several smaller regional extents and sequentially cleans, can not only carries out efficient cleaning to the interior space, also reduce certainly
The accumulated error for walking formula cleaning device dynamic sensing unit during large-scale detour, makes self-propelled cleaning device can be gradually
It is combined into more accurate interior space map outline.
Description of the drawings
Fig. 1 is the schematic diagram of self-propelled cleaning device in the embodiment of the present invention.
Fig. 2 is the schematic diagram of the interior space in the embodiment of the present invention.
Fig. 3 is the schematic diagram of virtual map in the embodiment of the present invention.
Fig. 4 is to represent virtual boundary in the embodiment of the present invention, cleaned, the schematic diagram of the virtual grid of barrier.
Fig. 5 is the flow diagram of self-propelled cleaning device subregion clean method in the embodiment of the present invention.
Fig. 6 is that self-propelled cleaning device executes showing for confirmation regional extent step by starting point in the embodiment of the present invention
It is intended to.
Fig. 7 is that self-propelled cleaning device executes the region model for confirming and being divided after regional extent step in the embodiment of the present invention
The schematic diagram enclosed.
Fig. 8 is that self-propelled cleaning device executes cleaning regional extent step in the regional extent of Fig. 7 in the embodiment of the present invention
Rapid schematic diagram.
Fig. 9 is that self-propelled cleaning device enters next virtual septal area execution confirmation regional extent step in the embodiment of the present invention
Schematic diagram.
Figure 10 is that self-propelled cleaning device executes cleaning regional extent step in the regional extent of Fig. 9 in the embodiment of the present invention
Rapid schematic diagram.
Figure 11 is the sequential schematic of the self-propelled cleaning device cleaning interior space in the embodiment of the present invention.
Figure 12 is the schematic diagram of the entity map outline of the interior space in the embodiment of the present invention.
【Symbol description】
A self-propelled cleaning device A1 bodies
A11 driving wheel A2 distance sensing units
A21 the first range sensor A22 second distance sensors
A3 is along 4 collision sense unit of side sensors A
A41 protective cover A42 crash sensors
A5 cleaning unit A51 dust inlets
The sides A52 brush A6 collecting unit of dust
A61 dust-collecting box A62 negative pressure mechanism
A7 dynamic sensing unit A71 angular transducers
A72 odometer sensor A8 maps establish unit
A9 control units B recharges station
G virtual map G1 virtual grids
The virtual septal areas G2 virtual boundaries G3
H interior space O articles
P starting point Q halts
R starting points S1 confirms regional extent step
S11 first step S12 second steps
S13 third step S14 four steps
S2 cleans the 5th steps of regional extent step S21
The 7th steps of the 6th step S23 of S22
S3 mends the 8th steps of cleaning S31
The tenth steps of the 9th step S33 of S32
The 11st step W walls of S34
Specific implementation mode
Referring to Fig. 1, self-propelled cleaning device subregion clean method of the embodiment of the present invention can be used and as shown in the figure walk certainly
Formula cleaning device A reaches, including：
One body A1 is driven by two driving wheel A11 of its two bottom sides, can be executed on surface to be cleaned advance, retrogressing,
Rotation ... waits action；
One distance sensing unit A2 is set to body A1 peripheries, be equipped with include one first range sensor A21 and one second away from
From sensors A 22；First range sensor A21 is set to the front side centre of body A1, which is set to
The right side of body A1；In embodiments of the present invention, the first range sensor A21 and second distance sensors A 22 are with signal
The ultrasound sensors of transmitting and receive capabilities, but also can be to have transmission-receiving function sensor such as infrared ray, laser ...；
One, along side sensors A 3, is set to the right side of body A1, is located at the first range sensor A21 and second distance sensor
Between A22 and adjacent close to second distance sensors A 22, this is along side sensors A 3 for sensing barrier and making self-propelled clear
Clean device A keeps default distance to walk along barrier with barrier；In embodiments of the present invention, along side sensors A 3 be with
Signal emits the infrared sensor with receive capabilities；
One collision sense unit A4, equipped with the protective cover A41 and several crash sensor A42 for including an arc, the protection
A41 is covered to be set on front side of body A1, be shielded from the first range sensor A21, second distance sensors A 22 with along side sensors A 3 it
Outside, and protective cover A41 offers the first range sensor of several correspondences A21, second distance sensors A 22 and along side sensors A 3
Opening (not shown), make the first range sensor A21, second distance sensors A 22 can be through with the signal along side sensors A 3
It is received and dispatched by opening, protective cover A41 with respect to body A1 displacements and can trigger crash sensor A42 when colliding barrier, make certainly
It walks formula cleaning device A and senses collision；In embodiments of the present invention, self-propelled cleaning device A passes through the first range sensor
A21 judge distance close to front obstacle and slowing down make collision sense unit A4 can tick object rear steering along barrier row
It walks；
One cleaning unit A5, it includes a dust inlet A51 and both sides brush A52 to be equipped with；Dust inlet A51 is set to the bottoms body A1
Portion, side brush A52 are set to the both sides dust inlet A51 and are swept into below body A1 and by dust inlet with dialling the dirty dirt of body A1 peripheries
A51 is sucked；Main brush (not shown) can be also set at dust inlet A51 to improve the sweeping efficiency of dirty dirt；
One collecting unit of dust A6, it includes a dust-collecting box A61 and a negative pressure mechanism A62 to be equipped with；Dust-collecting box A61 is connected to Negative pressure machine
Structure A62 and dust inlet A51, negative pressure mechanism A62 provide dust inlet A51 and dust-collecting box A61 negative pressure, make dirty dirt can be by dust inlet A51
It is inhaled into and is held in dust-collecting box A61；
One dynamic sensing unit A7, it includes an angular transducer A71 and two odometer sensor A72 to be equipped with；The angle sensor
For device A71 to sense the deviation angle of the opposite acquiescence origins of self-propelled cleaning device A, odometer sensor A72 links driving wheel
A11 can detect the distance of self-propelled cleaning device A walkings；
One map establishes unit A8, can carry out virtual map planning, and link dynamic detection unit A7 and walked certainly to record
The path that formula cleaning device A walks in virtual map, and the feedback of reference distance sensing unit A2 and collision sense unit A4
Information is to obtain position of the barrier in virtual map；
One control unit A9, can perform items data operation and reference distance sensing unit A2, along side sensors A 3, collision
The feedback information control self-propelled cleaning device A that sensing unit A4, dynamic detection unit A7 establish unit A8 with map is executed respectively
Kind function control.
Referring to Fig. 2, the self-propelled cleaning device subregion clean method of the embodiment of the present invention can be used in as shown in the figure
A house interior space H illustrate that interior space H encloses the space being set as by wall W, is set once in interior space H
A station B and article O is filled, this recharges station B and is placed in wall W, and self-propelled cleaning device A, which is rested in, before executing cleaning operation recharges
The B that stands charges；Wherein, self-propelled cleaning device A, which leaves, recharges station B when space H walks and executes cleaning operation indoors, wall
Wall W, to recharge station B, article O be barrier for self-propelled cleaning device A.
Please refer to Fig.1,2,3, map establish unit A8 with rest in recharge station B self-propelled cleaning device A centre bit
Set and cook up preset virtual map G as point P at the beginning, and formulate self-propelled cleaning device A in starting point P on front side of institute
The direction of court is first direction (0 degree opposite), and formulates second direction (90 degree opposite), third direction (relatively with first direction
180 degree) and fourth direction (270 degree opposite)；Virtual map G is made of the virtual grid G1 of several matrix arrangements, empty
Quasi- map G is interlaced and mark off several rectangular virtual septal area G3 with the virtual boundary G2 that several X, Y-axis are arranged, this starts
Point P is located in one of the centre of virtual septal area G3；In embodiments of the present invention, the entity corresponding to each virtual grid G1
Area is about 10 × 10 centimeters, and the diameter of self-propelled cleaning device A is about 30 to 40 centimeters.
Fig. 3,4 are please referred to, in virtual map G other than indicating the virtual grid G1 of virtual boundary G2, self-propelled cleaning
Device A, can be cleaned according to walking path record self-propelled cleaning device A when space H walks and executes cleaning operation indoors
The virtual grid G1 that the crosses and virtual grid G1 at barrier institute position, recording mode can not isolabeling indicate.
Fig. 3,4,5,6 are please referred to, the self-propelled cleaning device subregion clean method of the embodiment of the present invention is in self-propelled cleaning
Device A leave recharge station B prepare start indoors space H execute cleaning operation when, following steps can be executed, including：
One confirms regional extent step S1, including：
One first step S11, self-propelled cleaning device A keep straight on towards default direction, until self-propelled cleaning device A encounters void
Quasi- boundary G2 collides barrier；
One second step S12, it is self-propelled after self-propelled cleaning device A encounters virtual boundary G2 or collides barrier
Cleaning device A can record the starting point R to walk along side on walking path and turn to beginning and walk on virtual boundary G2 or with edge
Side sensors A 3 (Fig. 1) is walked along barrier, and when walking along barrier, self-propelled cleaning device A can be passed with second distance
Sensor A22 records the obstacles borders (virtual grid G1) passed through when walking simultaneously；
One third step S13, self-propelled cleaning device A can judge whether self-propelled cleaning device A returns in walking path
Along the starting point R of side walking, next step is executed if having returned to starting point R, if not returning to starting point R returns to second step S12,；
One four steps S14, when self-propelled cleaning device A has returned to starting point R, self-propelled cleaning device A can judge edge
Walking path in walking whether overlap with virtual boundary G2 or along while walk when the obstacles borders that are recorded enclose and set
Within the scope of, if being indicated except range, this boundary zone boundaries Fei Shu (may be non-category wall W or not rest against wall W
Barrier O), then it returns to first step S11 and finds zone boundary again, next step is executed if except range；
The embodiment of the present invention by taking Fig. 6,7 as an example as confirm regional extent step S1 explanation, self-propelled cleaning device A by
Starting point P set out after → going to second direction, → zone boundary is found in straight trip → encounters virtual boundary G21 → left-hand rotation to third party
It → walks on virtual boundary G21 → to → start of record R and encounters virtual boundary G22 → left-hand rotation to first direction → in fictitious line
It walks → collides on boundary G22 barrier (wall W) → left-hand rotation to second direction → along barrier (wall W) walking → collision
It → walks to barrier (recharging station B) → left-hand rotation to third direction along barrier (recharging station B) → and collides barrier (wall
W) → turn left collides barrier (wall W) → left-hand rotation to third party to second direction → walking along barrier (wall W) →
Virtual boundary G21 → left-hand rotation to third direction → in virtual boundary G21 uplinks is encountered to → walking along barrier (wall W) →
Walk → return to starting point R；Self-propelled cleaning device A indicated when returning to starting point R self-propelled cleaning device A wherein one virtually every
It detours one week along virtual boundary G2 or barrier in area G3, self-propelled cleaning device A is to record the virtual of barrier
It is known boundaries that grid G1 or simultaneously record, which have virtual boundary G2 and be clean virtual grid G1, both make or in which one of
The corresponding space set out of enclosing is actually subjected to clean regional extent as acquiescence；In addition, because being provided at along side sensors A 3 (Fig. 1)
The right side of self-propelled cleaning device A, therefore self-propelled cleaning device A is after acquiescence encounters virtual boundary G2 or collides barrier
It turns to turn left, makes being easy in face of barrier along side sensors A 3 for self-propelled cleaning device A, while making to be located at along side sensor
The second distance sensors A 22 of A3 homonymies is same when self-propelled cleaning device A walks along barrier to facilitate close to barrier
Position of the Shi Jilu barriers in virtual map G；
One cleaning regional extent step S2, including：
One the 5th step S21, please refer to Fig. 8, self-propelled cleaning device A meetings after returning to the starting point R to walk along side
Start ox and ploughs (Boustrophedon) walking；
One the 6th step S22, self-propelled cleaning device A are carrying out such as encountering virtual boundary G2 or barrier when ox ploughs walking
When, it can first judge whether this virtual boundary G2 or barrier are to have the known boundaries walked, under then being executed if known boundaries
One step, if not known boundaries then return to second step S12；
One the 7th step S23, self-propelled cleaning device A determine whether the stopping ploughed for ox after encountering known boundaries
Point Q then executes next step if halt Q, if not halt Q then returns to the 5th step S21；
The embodiment of the present invention exists by taking Fig. 7,8 as an example as the explanation of cleaning regional extent step S2, self-propelled cleaning device A
After along side, walking returns to starting point R, using the long side direction of travel that second direction is ploughed as ox, walked using the short side that first direction is ploughed as ox
Direction, and known boundaries are encountered as halt Q when short side is walked using self-propelled cleaning device A；
One mends cleaning S3, including：
One the 8th step S31, self-propelled cleaning device A are ploughed after walking stops to scan in regional extent and not yet be cleaned in ox
The block that the virtual grid G1 crossed is formed；
One the 9th step S32, self-propelled cleaning device A can calculate do not clean block size whether be enough to make it is self-propelled clear
Clean device A enters cleaning, if can enter if move self-propelled cleaning device A to do not clean in block execute the 5th step S21, if
It can not enter and then execute next step；Wherein, when returning to the 5th step S21 by benefit cleaning S3, the 6th of subsequent execution the
Step S22 is to be clean virtual grid G1 as known boundaries；
The a tenth step S33, self-propelled cleaning device A are judging to assert that this is virtual after block without enterable do not clean
Regional extent cleaning in septal area G3 terminates；
The a 11st step S34, self-propelled cleaning device A is moved to the new virtual septal area of acquiescence after cleaning terminates
G3。
The embodiment of the present invention by taking Fig. 8 as an example as mend cleaning S3 explanation, because self-propelled cleaning device A is in clear area
Clean this regional extent when the range step S2 of domain completely, therefore there is no block is not cleaned, assert the area in this virtual septal area G3
Domain range cleaning terminates.
Fig. 5,9,10 are please referred to, self-propelled cleaning device A continues sequentially to execute confirmation after entering in new virtual septal area G3
Regional extent step S1, cleaning regional extent step S2, cleaning S3 is mended, because having barrier (article O) in regional extent,
And the barrier was not walked when confirming regional extent step S1, thus it is self-propelled when executing cleaning regional extent step S2
Cleaning device A can judge the non-known boundaries of the barrier and turn to and walk along barrier, and record new obstacle level simultaneously
It sets；And when executing benefit cleaning S3, self-propelled cleaning device A, which scans in regional extent to have, does not clean block, but this is not
Clean block size be 3 × 5 virtual grid G1, corresponding real area is about 30 × 50 centimeters, with diameter be about 30 to
5 × 5 virtual grid G1 are at least needed for 40 centimeters of self-propelled cleaning device A, and just self-propelled cleaning device A enough enters work
It is dynamic, therefore judge not clean block without enterable and assert that the regional extent in this virtual septal area G3 cleans and terminate；Wherein, work as void
When the default size of quasi- septal area G3 is bigger, the enterable probability for not cleaning block of formation is also bigger, and opposite works as virtual septal area
The default size of G3 gets over hour and (still needs to be more than 5 × 5 virtual grid G1), forms the enterable probability for not cleaning block and also gets over
It is small.
It please refers to Fig.1 shown in 1, (Fig. 6 is extremely after the virtual septal area G3 to number one is cleaned by self-propelled cleaning device A
Fig. 8), the virtual septal area G3 for being moved to number two continues to execute cleaning (Fig. 9 to Figure 10), and self-propelled cleaning device A is being corresponded to extremely
The path moved between each virtual septal area G3 of interior space H as self-propelled cleaning device A at the regional level in action road
Diameter is all to carry out ox again after a week along side walking to plough walking, and but not limited to this, it is any can sequentially clean path of motion, such as
It is ploughed to inside spin, direct ox ... and waits the path that all can be used as and moved between each virtual septal area G3.
Please refer to Fig.1, shown in 12, self-propelled cleaning device A indoors space H execute confirm regional extent step S1 with it is clear
When clean regional extent step S2 (Fig. 5), self-propelled cleaning device A is with right side along side sensors A 3 along the barrier in regional extent
Object is hindered to be walked, and with positioned at the position for recording barrier along the second distance sensors A 22 of 3 the same side of side sensors A, wherein
When confirming regional extent step S1 can gradually posting field range outer barrie object (wall W, by wall W recharge station B)
The shared positions virtual grid G1 in virtual map G, and when executing cleaning regional extent step S2, understand gradually posting field
The internal reasons (article O) of the range positions virtual grid G1 shared in virtual map G, therefore clear to all areas range
After clean, self-propelled cleaning device A can complete the entity map outline of interior space H according to the position of inside and outside portion's barrier.
The self-propelled cleaning device subregion clean method of the embodiment of the present invention and the self-propelled cleaning device for using this method,
When interior space H is cleaned in self-propelled cleaning device A preparations, map establishes beginnings of the unit A8 with self-propelled cleaning device A
Point P cooks up the virtual map G equipped with several virtual grid G1, several virtual boundary G2 Yu several virtual septal area G3, and every
It is executed in one virtual septal area G3 and confirms regional extent step S1, executes cleaning regional extent step S2 and mend cleaning S3,
One larger interior space H is divided into several smaller regional extents and is sequentially cleaned, interior space H can not only be carried out
Efficient cleaning also reduces the accumulation of self-propelled cleaning device A dynamic sensing unit A7 during large-scale detour
Error makes self-propelled cleaning device A that can gradually be combined into more accurate interior space H map outlines.
But the foregoing is merely illustrative of the preferred embodiments of the present invention, when the model implemented of the present invention cannot be limited with this
It encloses, i.e., all still belongs to according to simple equivalent changes and modifications made by scope of the present invention patent and invention description content generally
In the range of patent of the present invention covers.
Claims (12)
1. a kind of self-propelled cleaning device subregion clean method, including：
One interior space for being equipped with a barrier is provided；
It provides one and is equipped with the self-propelled cleaning device that a map establishes unit, which establishes unit with the self-propelled sanitizer cartridge
It sets the position in the interior space and cooks up a virtual map for being equipped with several virtual septal areas；
So that the self-propelled cleaning device is sequentially executed one in several virtual septal areas respectively and confirm regional extent step, with known side
The space set out is enclosed corresponding to boundary as a regional extent；
The self-propelled cleaning device is set to execute a cleaning regional extent step in the regional extent, to give tacit consent to walking path cleaning
The regional extent.
2. self-propelled cleaning device subregion clean method as described in claim 1, wherein the confirmation regional extent step includes
Execute a first step and a second step；The first step makes self-propelled cleaning device keep straight on towards default direction, until walking certainly
Formula cleaning device encounters a virtual boundary or collides the barrier；The second step makes self-propelled cleaning device in the fictitious line
It walks in boundary or walks along the barrier.
3. self-propelled cleaning device subregion clean method as described in claim 1, wherein self-propelled cleaning device should in execution
Walking is ploughed as acquiescence walking path using ox when cleaning regional extent step.
4. self-propelled cleaning device subregion clean method as described in claim 1, wherein the self-propelled cleaning device is to give tacit consent to
Walking path can execute a benefit cleaning after cleaning the regional extent.
5. self-propelled cleaning device subregion clean method as claimed in claim 4, wherein the benefit cleaning can scan region
The block not yet cleaned in range, and calculate and do not clean the size of block whether be enough to make self-propelled cleaning device to enter clear
It is clean, self-propelled cleaning device is moved if it can enter to execution ox in block is not cleaned ploughs walking.
6. self-propelled cleaning device subregion clean method as described in claim 1, wherein the virtual map is equipped with several virtual
Grid and several virtual boundaries, self-propelled cleaning device can record self-propelled cleaning device the virtual grid of cleaned mistake with should
Virtual grid at barrier institute position.
7. self-propelled cleaning device subregion clean method as claimed in claim 6, wherein self-propelled cleaning device is to have recorded
The virtual grid of barrier or simultaneously record, which have, virtual boundary and has been clean virtual grid as known boundaries.
8. self-propelled cleaning device subregion clean method as claimed in claim 7, wherein self-propelled cleaning device is to have recorded
It is the regional extent that the space set out is enclosed corresponding to the virtual grid of barrier.
9. self-propelled cleaning device subregion clean method as claimed in claim 7, wherein self-propelled cleaning device to remember simultaneously
It is the regional extent that record, which has virtual boundary and has been clean the space enclosed and set out corresponding to virtual grid,.
10. self-propelled cleaning device subregion clean method as claimed in claim 7, wherein self-propelled cleaning device is to record
There is the virtual grid of barrier while record has virtual boundary and has been clean the sky for enclosing and setting out corresponding to both virtual grids
Between be the regional extent.
11. a kind of self-propelled cleaning device, including：Using self-propelled clear described in any claim in claims 1 to 10 10
The self-propelled cleaning device of clean device subregion clean method.
12. as claimed in claim 11 kind of self-propelled cleaning device, wherein the self-propelled cleaning device is equipped with a body, should
Body is equipped with a range sensor and one along side sensor, which is set to the same side of body with this along side sensor
And it is adjacent.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW106108330A TW201832710A (en) | 2017-03-14 | 2017-03-14 | Partition-cleaning method of self-propelled cleaning device and self-propelled cleaning device using the method capable of increasing the cleaning efficiency of the self-propelled cleaning device |
| TW106108330 | 2017-03-14 |
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| Publication Number | Publication Date |
|---|---|
| CN108567379A true CN108567379A (en) | 2018-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711345846.9A Withdrawn CN108567379A (en) | 2017-03-14 | 2017-12-15 | Self-propelled cleaning device partition cleaning method and self-propelled cleaning device using same |
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| TW (1) | TW201832710A (en) |
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