CN108784543B - Method, system, device and storable medium for locating a cleaning appliance - Google Patents
Method, system, device and storable medium for locating a cleaning appliance Download PDFInfo
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- CN108784543B CN108784543B CN201810778349.6A CN201810778349A CN108784543B CN 108784543 B CN108784543 B CN 108784543B CN 201810778349 A CN201810778349 A CN 201810778349A CN 108784543 B CN108784543 B CN 108784543B
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- electric appliance
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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
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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 relates to a positioning method, a system, equipment and a storage medium of a cleaning electric appliance, belonging to the technical field of cleaning electric appliances.
Description
Technical Field
The invention relates to the technical field of cleaning electric appliances, in particular to a positioning method, a positioning system, positioning equipment and a storable medium of a cleaning electric appliance.
Background
With the continuous improvement of living standard and technology level, people increasingly like pursuing convenient and intelligent life, so that a plurality of automatic products which can bring convenience to the life of people are promoted, and cleaning electric appliances are also produced, such as a sweeper, an intelligent cleaning robot and the like;
taking a floor sweeping machine as an example, at present, a floor sweeping machine on the market only completes the floor sweeping function through a running track generated by back-and-forth collision, targets are lost in the whole process, the floor sweeping machine randomly operates, serious repeated labor is generated, and obvious waste of time and electric energy is caused;
cleaning appliances generally suffer from the same problems as sweepers.
Disclosure of Invention
In view of the above, it is necessary to provide a positioning method, system, device and storage medium for a cleaning appliance, aiming at the problem that the conventional cleaning appliance randomly operates and wastes time and power.
A method of positioning a cleaning appliance, comprising the steps of:
sending a first activation signal to a positioning sensor, wherein the positioning sensor is arranged in a working place of the cleaning electric appliance, the number of the positioning sensors is more than two, and the first activation signal is generated by the cleaning electric appliance;
receiving a first response signal, wherein the first response signal is a signal returned after the positioning sensor receives the first activation signal and reacts to the first activation signal;
and acquiring the initial position of the cleaning electric appliance according to the first activation signal, the first response signal and the preset position of the positioning sensor.
According to the positioning method of the cleaning electric appliance, the first activation signal is sent to the positioning sensor arranged in the working place of the cleaning electric appliance, the first response signal returned by the positioning sensor according to the first activation signal is received, the initial position of the cleaning electric appliance is obtained by utilizing the first activation signal, the first response signal and the preset position of the positioning sensor, the position of the cleaning electric appliance can be rapidly determined through the method, the cleaned area of the cleaning electric appliance can be determined by utilizing the positioning position in the moving and cleaning process of the cleaning electric appliance, and compared with a random operation mode, the scheme of the invention is beneficial to avoiding the cleaning electric appliance from passing through repeated areas, so that the cleaning time and the electric energy are saved.
In one embodiment, the step of acquiring the initial position of the cleaning appliance according to the first activation signal, the first response signal and the preset position of the positioning sensor comprises the steps of:
acquiring the sending time of the first activation signal, acquiring the receiving time of the first response signal, and acquiring the distance value between the cleaning electric appliance and the positioning sensor according to the sending time, the receiving time and the signal propagation speed;
and determining the initial position of the cleaning appliance according to the distance value and the preset position.
In one embodiment, the positioning method of the cleaning appliance further comprises the following steps:
acquiring a plan view of a workplace, and acquiring a traveling route of a cleaning electric appliance according to the plan view and the initial position of the cleaning electric appliance;
the cleaning appliance is driven to move along the travel route.
In one embodiment, the workplace includes a room and the positioning sensor is disposed on a wall of the room.
In one embodiment, the positioning sensors are located in each corner of the room.
In one embodiment, the positioning method of the cleaning appliance further comprises the following steps:
after the cleaning electric appliance finishes cleaning along the traveling route, sending a second activation signal to the positioning sensor, and receiving a second response signal, wherein the second response signal is a signal returned by the positioning sensor according to the second activation signal;
acquiring the current position of the cleaning electric appliance according to the second activation signal, the second response signal and the preset position of the positioning sensor;
acquiring preset positions of positioning sensors arranged on two sides of a door opening of a room, and determining an outlet position according to the preset positions of the positioning sensors on the two sides of the door opening;
and acquiring an exit route according to the current position and the exit position, and driving the cleaning electric appliance to leave the room along the exit route.
In one embodiment, the positioning method of the cleaning appliance further comprises the following steps:
when the cleaning electric appliance is driven to move along the traveling route, recording a cleaning area of the cleaning electric appliance, if the cleaning electric appliance cannot move along the traveling route, sending a third activation signal to the positioning sensor, and receiving a third response signal, wherein the third response signal is a signal returned by the positioning sensor according to the third activation signal;
acquiring the current position of the cleaning electric appliance according to the third activation signal, the third response signal and the preset position of the positioning sensor;
acquiring an uncleaned area according to the plan and the clean area, and acquiring a secondary travel route of the clean electric appliance according to the uncleaned area and the current position of the clean electric appliance;
and driving the cleaning electric appliance to move along the secondary travel route.
A positioning system for a cleaning appliance, comprising:
the signal sending unit is used for sending a first activation signal to the positioning sensors, wherein the positioning sensors are arranged in the workplace of the cleaning electric appliance, the number of the positioning sensors is more than two, and the first activation signal is generated by the cleaning electric appliance;
the signal receiving unit is used for receiving a first response signal, wherein the first response signal is a signal returned after the positioning sensor receives the first activation signal and reacts to the first activation signal;
and the position acquisition unit is used for acquiring the initial position of the cleaning electric appliance according to the first activation signal, the first response signal and the preset position of the positioning sensor.
According to the positioning system of the cleaning electric appliance, the signal sending unit is used for sending the first activation signal to the positioning sensor arranged in the working place of the cleaning electric appliance, the signal receiving unit is used for receiving the first response signal returned by the positioning sensor according to the first activation signal, and the position acquiring unit is used for obtaining the initial position of the cleaning electric appliance by using the first activation signal, the first response signal and the preset position of the positioning sensor.
In one embodiment, the position acquisition unit acquires the sending time of the first activation signal, acquires the receiving time of the first response signal, and acquires the distance value between the cleaning electric appliance and the positioning sensor according to the sending time, the receiving time and the signal propagation speed; and determining the initial position of the cleaning appliance according to the distance value and the preset position.
In one embodiment, the positioning system of the cleaning appliance further comprises a route planning unit and a machine drive unit;
the route planning unit is used for acquiring a plan view of a workplace and acquiring a traveling route of the cleaning electric appliance according to the plan view and the initial position of the cleaning electric appliance;
the machine driving unit is used for driving the cleaning appliance to move along the traveling route.
In one embodiment, the workplace includes a room and the positioning sensor is disposed on a wall of the room.
In one embodiment, the positioning sensors are located in each corner of the room.
In one embodiment, the signal sending unit is further configured to send a second activation signal to the positioning sensor after the cleaning appliance completes cleaning along the travel route;
the signal receiving unit is also used for receiving a second response signal, and the second response signal is a signal returned by the positioning sensor according to the second activation signal;
the position acquisition unit is also used for acquiring the current position of the cleaning electric appliance according to the second activation signal, the second response signal and the preset position of the positioning sensor; acquiring preset positions of positioning sensors arranged on two sides of a door opening of a room, and determining an outlet position according to the preset positions of the positioning sensors on the two sides of the door opening;
the route planning unit is also used for acquiring an exit route according to the current position and the exit position;
the machine drive unit is also used to drive the cleaning appliance out of the room along an exit route.
In one embodiment, the route planning unit is further configured to record a cleaning area of the cleaning appliance while driving the cleaning appliance to move along the travel route;
the signal sending unit is also used for sending a third activation signal to the positioning sensor when the cleaning electric appliance cannot move along the traveling route;
the signal receiving unit is also used for receiving a third response signal, and the third response signal is a signal returned by the positioning sensor according to the third activation signal;
the position acquisition unit is also used for acquiring the current position of the cleaning electric appliance according to the third activation signal, the third response signal and the preset position of the positioning sensor;
the route planning unit is also used for acquiring an uncleaned area according to the plan and the clean area and acquiring a secondary travel route of the clean electric appliance according to the uncleaned area and the current position of the clean electric appliance;
the machine driving unit is also used for driving the cleaning electric appliance to move along the secondary travel route.
A positioning apparatus includes a cleaning appliance and a positioning sensor;
the cleaning electric appliance is used for sending a first activation signal to the positioning sensors, wherein the positioning sensors are arranged in a working place of the cleaning electric appliance, and the number of the positioning sensors is more than two;
the positioning sensor is used for receiving the first activation signal, and returning a first response signal to the cleaning electric appliance after reacting to the first activation signal;
the cleaning electric appliance is also used for receiving the first response signal and acquiring the initial position of the cleaning electric appliance according to the first activation signal, the first response signal and the preset position of the positioning sensor.
According to the positioning device, the cleaning electric appliance sends the first activation signal to the positioning sensor arranged in the working place of the cleaning electric appliance, receives the first response signal returned by the positioning sensor according to the first activation signal, and obtains the initial position of the cleaning electric appliance by using the first activation signal, the first response signal and the preset position of the positioning sensor.
In one embodiment, the cleaning electric appliance acquires the sending time of the first activation signal, acquires the receiving time of the first response signal, and acquires the distance value between the cleaning electric appliance and the positioning sensor according to the sending time, the receiving time and the signal propagation speed; and determining the initial position of the cleaning appliance according to the distance value and the preset position.
In one embodiment, the cleaning appliance acquires a plan view of a workplace, acquires a travel route of the cleaning appliance according to the plan view and an initial position of the cleaning appliance, and moves along the travel route.
In one embodiment, the workplace includes a room and the positioning sensor is disposed on a wall of the room.
In one embodiment, the positioning sensors are located in each corner of the room.
In one embodiment, after the cleaning electric appliance finishes cleaning along the traveling route, the cleaning electric appliance sends a second activation signal to the positioning sensor and receives a second response signal, wherein the second response signal is a signal returned by the positioning sensor according to the second activation signal;
the cleaning electric appliance acquires the current position of the cleaning electric appliance according to the second activation signal, the second response signal and the preset position of the positioning sensor;
the cleaning electric appliance obtains preset positions of positioning sensors arranged on two sides of a door opening of a room, and the outlet position is determined according to the preset positions of the positioning sensors on the two sides of the door opening; and acquiring an exit route according to the current position and the exit position, and leaving the room along the exit route.
In one embodiment, when the cleaning electric appliance is driven to move along the traveling route, the cleaning electric appliance records a cleaning area of the cleaning electric appliance, if the cleaning electric appliance cannot move along the traveling route, the cleaning electric appliance sends a third activation signal to the positioning sensor and receives a third response signal, wherein the third response signal is a signal returned by the positioning sensor according to the third activation signal;
the cleaning electric appliance acquires the current position of the cleaning electric appliance according to the third activation signal, the third response signal and the preset position of the positioning sensor; acquiring an uncleaned area according to the plan view and the clean area, acquiring a secondary traveling route of the clean electric appliance according to the uncleaned area and the current position of the clean electric appliance, and moving along the secondary traveling route.
A readable storage medium, on which an executable program is stored, which when executed by a processor, performs the steps of the above-described positioning method of a cleaning appliance.
The readable storage medium realizes that the initial position of the cleaning electric appliance is obtained by using the sent first activation signal, the first response signal returned by the positioning sensor and the preset position of the positioning sensor through the stored executable program, the position of the cleaning electric appliance can be quickly determined through the method, and the cleaned area of the cleaning electric appliance can be determined by using the positioning position in the moving and cleaning process of the cleaning electric appliance.
Drawings
FIG. 1 is a diagram of an application scenario of a positioning method of a cleaning appliance in one embodiment;
FIG. 2 is a flow diagram of a method for locating a cleaning appliance in one embodiment;
FIG. 3 is a schematic flow chart of a positioning method of the cleaning appliance in another embodiment;
FIG. 4 is a schematic flow chart diagram of a positioning method of a cleaning appliance in yet another embodiment;
FIG. 5 is a schematic diagram of a travel route for a cleaning appliance in one embodiment;
FIG. 6 is a schematic diagram of a travel route of the cleaning appliance in another embodiment;
FIG. 7 is a schematic diagram of a travel route of a cleaning appliance in yet another embodiment;
FIG. 8 is a schematic diagram of the positional relationship of a position sensor in one embodiment;
FIG. 9 is a schematic view showing the positional relationship of the position sensor in another embodiment;
FIG. 10 is a schematic diagram of an exit route for the cleaning appliance in one embodiment;
FIG. 11 is a schematic diagram of a secondary travel path of the cleaning appliance in one embodiment;
FIG. 12 is a schematic diagram of the positioning system of the cleaning appliance in one embodiment;
FIG. 13 is a schematic view of a positioning system of a cleaning appliance in another embodiment;
FIG. 14 is a schematic diagram of the structure of a pointing device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that the terms "first \ second \ third" related to the embodiments of the present invention are merely used for distinguishing similar objects, and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may exchange a specific order or sequence order if allowed. It should be understood that the terms first, second, and third, as used herein, are interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or otherwise described herein.
The positioning method of the cleaning appliance can be applied to the application environment shown in fig. 1. The cleaning electric appliance is communicated with the positioning sensor through a wireless signal, the cleaning electric appliance sends an activation signal to the positioning sensor, the positioning sensor returns a response signal, and the cleaning electric appliance processes the response signal to obtain the initial position of the cleaning electric appliance. The cleaning electric appliances can be cleaning electric appliances with different types and functions, such as a sweeper, an intelligent cleaning robot and the like, and the signal is processed through the processor on the cleaning electric appliances and is sent and received through the signal receiving and sending device. The positioning sensor can be, but is not limited to, various sensors triggered by wireless signals and feeding back response signals, the positioning sensor can be an active or passive sensor, and the like, and the passive sensor can be preferably considered in order to reduce energy consumption and cost.
Referring to fig. 2, a flow chart of the positioning method of the cleaning appliance of the present invention is shown. The positioning method of the cleaning appliance in the embodiment comprises the following steps:
step S110: sending a first activation signal to a positioning sensor, wherein the positioning sensor is arranged in a working place of the cleaning electric appliance, the number of the positioning sensors is more than two, and the first activation signal is generated by the cleaning electric appliance;
in the step, the first activation signal is an excitation signal and is used for triggering the positioning sensors to enter a working state, and the number of the positioning sensors is more than two, so that the cleaning electric appliance can be conveniently positioned;
step S120: receiving a first response signal, wherein the first response signal is a signal returned after the positioning sensor receives the first activation signal and reacts to the first activation signal;
in the step, the positioning sensor can immediately react after being triggered by the first activation signal, and a first response signal is generated and returned;
step S130: and acquiring the initial position of the cleaning electric appliance according to the first activation signal, the first response signal and the preset position of the positioning sensor.
In this step, the relative position relationship between the cleaning appliance and the positioning sensor can be determined by using the first activation signal and the first response signal, and the initial position of the cleaning appliance can be obtained by combining the position of the positioning sensor, where the initial position may refer to a position determined after the cleaning appliance sends the first activation signal when the cleaning appliance is started, or may refer to a position determined after the cleaning appliance sends the first activation signal when the cleaning appliance travels, and is not limited thereto;
in the embodiment, the first activation signal is sent to the positioning sensor arranged in the working place of the cleaning appliance, the first response signal returned by the positioning sensor according to the first activation signal is received, the initial position of the cleaning appliance is obtained by utilizing the first activation signal, the first response signal and the preset position of the positioning sensor, the position of the cleaning appliance can be rapidly determined by the method, the cleaned area of the cleaning appliance can be determined by utilizing the positioning position in the moving and cleaning process of the cleaning appliance, and compared with a random operation mode, the scheme of the invention is beneficial to avoiding the cleaning appliance from passing through repeated areas, so that the cleaning time and the electric energy are saved.
Optionally, when the initial position of the cleaning appliance is obtained according to the first activation signal, the first response signal and the preset position of the positioning sensor, the relative position relationship between the cleaning appliance and the positioning sensor, such as the distance value between the cleaning appliance and the positioning sensor, may be determined according to the first activation signal and the first response signal, at this time, the distance value may be calculated by using the signal transmission time of the first activation signal and the first response signal, or the distance value may be calculated by using the signal intensity difference between the first activation signal and the first response signal, the relationship between the signal intensity difference and the distance value may be detected and recorded in a relationship table in advance, and in the actual application, a table look-up is performed according to the signal intensity difference to obtain the distance value; the distance value between the cleaning appliance and the positioning sensor, etc. can also be determined in other different ways.
In one embodiment, as shown in fig. 3, the step of acquiring an initial position of the cleaning appliance according to the first activation signal, the first response signal and the preset position of the position sensor comprises the steps of:
acquiring the sending time of the first activation signal, acquiring the receiving time of the first response signal, and acquiring the distance value between the cleaning electric appliance and the positioning sensor according to the sending time, the receiving time and the signal propagation speed;
and determining the initial position of the cleaning appliance according to the distance value and the preset position.
In this embodiment, the sending time of the first activation signal and the receiving time of the first response signal are obtained, the distance value between the cleaning appliance and the positioning sensor is obtained according to the two times and the signal propagation speed, and the initial position of the cleaning appliance can be determined by combining the preset position of the positioning sensor. The receiving time and the sending time can be recorded during signal receiving and sending, the initial position of the cleaning electric appliance can be obtained through simple operation, the process is simple, and the result is accurate.
In practical application, when a plurality of positioning sensors are provided, each positioning sensor and the corresponding distance value can determine a circle with the positioning sensor as the center, and the overlapping point of the circles corresponding to the positioning sensors is the initial position of the cleaning electric appliance; when the number of the positioning sensors is only two, the two positioning sensors can be arranged at two ends of one side of the edge of the working place, two overlapping points exist on the corresponding circles of the two positioning sensors, and the overlapping points in the working place are the initial positions of the cleaning electric appliance.
In order to distinguish the plurality of positioning sensors, when the positioning sensors feed back the response signals, the response signals may be attached with numbers corresponding to the positioning sensors, so as to facilitate recognition in calculating positions.
In one embodiment, as shown in fig. 4, the positioning method of the cleaning appliance further comprises the steps of:
acquiring a plan view of a workplace, and acquiring a traveling route of a cleaning electric appliance according to the plan view and the initial position of the cleaning electric appliance;
the cleaning appliance is driven to move along the travel route.
In this embodiment, after the initial position of the cleaning appliance is determined, a travel route of the cleaning appliance in the workplace can be specifically planned in combination with a plan view of the workplace, and the travel route can meet the requirement that the cleaning appliance cleans the workplace area and can avoid the cleaning appliance from passing through repeated areas, so that the cleaning time and the electric energy are saved. It should be noted that the specific travel route may vary with different plan views or different initial positions of the cleaning appliance, and in the case of no retardation, the cleaning appliance moves along the travel route, so as to complete the cleaning work in the workplace.
When the initial position of the cleaning electric appliance is in different areas of a workplace, the cleaning electric appliance can move along different traveling routes for cleaning; as shown in fig. 5, when cleaning the corners of the workplace, the cleaning device can move along the edges of the workplace and gradually move to the center of the workplace; alternatively, as shown in fig. 6, when the electric appliance is used to clean the corners of the workplace, the electric appliance can move back and forth along the direction parallel to the edges of the workplace, and gradually clean the whole workplace; or, as shown in fig. 7, when cleaning the electric appliance at any position in the workplace, the electric appliance may be moved to the edge of the workplace first, and then moved back and forth along the direction parallel to the edge of the workplace, and gradually the whole workplace is cleaned; the travel route may be set according to a specific location of the cleaning appliance.
In one embodiment, as shown in FIG. 8, the workplace includes a room and the positioning sensors are disposed on walls of the room.
In this embodiment, the cleaning appliance can clean the floor in the room, the positioning sensor is arranged on the wall of the room, so that the problem that the positioning sensor obstructs the cleaning operation of the cleaning appliance is avoided, and the positioning sensor is located right at the edge of the room, so that the specific position of the cleaning appliance in the room can be determined.
In one embodiment, as shown in FIG. 9, the positioning sensors are located in various corners of the room.
In the embodiment, the positioning sensor is arranged at a corner, and the specific position of the cleaning appliance in a room is easier to determine by using the relative position relationship between the positioning sensor and the cleaning appliance.
Specifically, the positioning sensor can be buried in the wall of the room, and damage caused by collision or extrusion is avoided.
In one embodiment, as shown in fig. 10, the positioning method of the cleaning appliance further comprises the steps of:
after the cleaning electric appliance finishes cleaning along the traveling route, sending a second activation signal to the positioning sensor, and receiving a second response signal, wherein the second response signal is a signal returned by the positioning sensor according to the second activation signal;
acquiring the current position of the cleaning electric appliance according to the second activation signal, the second response signal and the preset position of the positioning sensor;
acquiring preset positions of positioning sensors arranged on two sides of a door opening of a room, and determining an outlet position according to the preset positions of the positioning sensors on the two sides of the door opening;
and acquiring an exit route according to the current position and the exit position, and driving the cleaning electric appliance to leave the room along the exit route.
In this embodiment, after the cleaning electrical appliance finishes cleaning along the travel route, the cleaning electrical appliance is positioned again, specifically, a second activation signal is sent to the positioning sensor, a second response signal is received, and the current position of the cleaning electrical appliance is obtained according to the second activation signal, the second response signal and the preset position of the positioning sensor; the exit position of the room is determined by utilizing the preset positions of the positioning sensors arranged on the two sides of the door opening of the room, and the exit route is obtained by combining the current position of the cleaning electric appliance, so that the cleaning electric appliance can directly leave the room after the cleaning is finished without being continuously left in the room, and the false phenomenon that the cleaning electric appliance does not perform cleaning work is avoided.
The door opening refers to a position area where a door of a room is located, the positioning sensors arranged on two sides of the door opening of the room are only one part of the positioning sensors arranged in the room, and the part of the positioning sensors are arranged on two sides of the door opening of the room, so that the door opening can be used for positioning the cleaning electric appliance and determining the outlet position of the room; when the exit position is actually determined, the midpoint position of the position connecting line of the positioning sensors arranged on the two sides of the door opening of the room can be used as the exit position, the position at 1/3 of the connecting line can also be used as the exit position, and the adjustment can be carried out according to actual requirements.
In one embodiment, as shown in fig. 11, the positioning method of the cleaning appliance further comprises the following steps:
when the cleaning electric appliance is driven to move along the traveling route, recording a cleaning area of the cleaning electric appliance, if the cleaning electric appliance cannot move along the traveling route, sending a third activation signal to the positioning sensor, and receiving a third response signal, wherein the third response signal is a signal returned by the positioning sensor according to the third activation signal;
acquiring the current position of the cleaning electric appliance according to the third activation signal, the third response signal and the preset position of the positioning sensor;
acquiring an uncleaned area according to the plan and the clean area, and acquiring a secondary travel route of the clean electric appliance according to the uncleaned area and the current position of the clean electric appliance;
and driving the cleaning electric appliance to move along the secondary travel route.
In this embodiment, when the cleaning appliance performs cleaning work, sometimes an obstacle is blocked, and at this time, the cleaning appliance cannot move along the traveling route any more, and the cleaning appliance can be repositioned, specifically, a third activation signal is sent to the positioning sensor, a third response signal is received, and the current position of the cleaning appliance is obtained according to the third activation signal, the third response signal and the preset position of the positioning sensor; the blockage occurs in the cleaning process of the cleaning electric appliance, and at the moment, part of areas in a working place are already cleaned, so that only the secondary traveling route needs to be re-planned for the uncleaned area to ensure that the cleaning work of the working place is completed, the uncleaned area can be determined through a plan view of the working place and the recorded cleaning area of the cleaning electric appliance, and the scheme of the embodiment can deal with the situation that the cleaning electric appliance is blocked in the cleaning process, so that the cleaning electric appliance can smoothly complete the cleaning work of the whole working place.
It should be noted that, driving the cleaning electrical appliance to move along the secondary traveling route may be performed when the cleaning electrical appliance encounters a foreign object to block the cleaning electrical appliance from traveling along the original traveling route, and may be performed multiple times in the process of cleaning the working area of the electrical appliance, and the secondary traveling route is different from the original traveling route, and may bypass the foreign object blocking.
According to the above positioning method of the cleaning appliance, an embodiment of the present invention further provides a positioning system of the cleaning appliance, and the following describes in detail an embodiment of the positioning system of the cleaning appliance.
Referring to fig. 12, a schematic structural diagram of a positioning system of a cleaning appliance according to an embodiment is shown. The positioning system of the cleaning appliance in this embodiment includes:
the signal transmitting unit 210 is configured to transmit a first activation signal to the positioning sensors, where the positioning sensors are disposed in a working place of the cleaning appliance, the number of the positioning sensors is two or more, and the first activation signal is generated by the cleaning appliance;
the signal receiving unit 220 is configured to receive a first response signal, where the first response signal is a signal returned by the positioning sensor after receiving the first activation signal and reacting to the first activation signal;
a position acquiring unit 230 for acquiring an initial position of the cleaning appliance according to the first activation signal, the first response signal and a preset position of the positioning sensor.
In this embodiment, the signal sending unit 210 is configured to send a first activation signal to a positioning sensor disposed in a workplace of the cleaning appliance, the signal receiving unit 220 is configured to receive a first response signal returned by the positioning sensor according to the first activation signal, and the position obtaining unit 230 is configured to obtain an initial position of the cleaning appliance by using the first activation signal, the first response signal, and a preset position of the positioning sensor.
In one embodiment, the position obtaining unit 230 obtains a sending time of the first activation signal, obtains a receiving time of the first response signal, and obtains a distance value between the cleaning appliance and the positioning sensor according to the sending time, the receiving time and the signal propagation speed; and determining the initial position of the cleaning appliance according to the distance value and the preset position.
In one embodiment, as shown in fig. 13, the positioning system of the cleaning appliance further comprises a routing unit 240 and a machine driving unit 250;
the route planning unit 240 is configured to obtain a plan view of the workplace, and obtain a travel route of the cleaning appliance according to the plan view and an initial position of the cleaning appliance;
the machine driving unit 250 serves to drive the cleaning appliance to move along the travel path.
In one embodiment, the workplace includes a room and the positioning sensor is disposed on a wall of the room.
In one embodiment, the positioning sensors are located in each corner of the room.
In one embodiment, the signal sending unit 210 is further configured to send a second activation signal to the positioning sensor after the cleaning appliance completes cleaning along the travel route;
the signal receiving unit 220 is further configured to receive a second response signal, where the second response signal is a signal returned by the positioning sensor according to the second activation signal;
the position obtaining unit 230 is further configured to obtain a current position of the cleaning appliance according to the second activation signal, the second response signal and a preset position of the positioning sensor; acquiring preset positions of positioning sensors arranged on two sides of a door opening of a room, and determining an outlet position according to the preset positions of the positioning sensors on the two sides of the door opening;
the route planning unit 240 is further configured to obtain an exit route according to the current location and the exit location;
the machine drive unit 250 is also used to drive the cleaning appliance out of the room along an exit route.
In one embodiment, the route planning unit 240 is further configured to record the cleaning area of the cleaning appliance while driving the cleaning appliance to move along the travel route;
the signal sending unit 210 is further configured to send a third activation signal to the positioning sensor when the cleaning appliance cannot move along the travel route;
the signal receiving unit 220 is further configured to receive a third response signal, where the third response signal is a signal returned by the positioning sensor according to the third activation signal;
the position obtaining unit 230 is further configured to obtain a current position of the cleaning appliance according to the third activation signal, the third response signal and a preset position of the positioning sensor;
the route planning unit 240 is further configured to obtain an uncleaned area according to the plan and the clean area, and obtain a secondary travel route of the clean electrical appliance according to the uncleaned area and the current position of the clean electrical appliance;
the machine driving unit 250 is also used to drive the cleaning appliance to move along the secondary travel route.
The positioning system of the cleaning electric appliance in the embodiment of the invention corresponds to the positioning method of the cleaning electric appliance one by one, and the technical characteristics and the beneficial effects described in the embodiment of the positioning method of the cleaning electric appliance are all suitable for the embodiment of the positioning system of the cleaning electric appliance.
According to the positioning method of the cleaning appliance, the embodiment of the invention also provides a readable storage medium.
A readable storage medium, on which an executable program is stored, which when executed by a processor, performs the steps of the above-described positioning method of a cleaning appliance.
The readable storage medium realizes that the initial position of the cleaning electric appliance is obtained by using the sent first activation signal, the first response signal returned by the positioning sensor and the preset position of the positioning sensor through the stored executable program, the position of the cleaning electric appliance can be quickly determined through the method, and the cleaned area of the cleaning electric appliance can be determined by using the positioning position in the moving and cleaning process of the cleaning electric appliance.
It will be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiments may be implemented by using a computer program to instruct related hardware, and the program may be stored in a non-volatile computer readable storage medium, for example, in the embodiments, the program may be stored in a storage medium of a computer system and executed by at least one processor in the computer system, so as to implement the processes including the embodiments of the pie chart label display method as described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
According to the positioning method of the cleaning appliance, the embodiment of the invention also provides a positioning device, and the following describes the embodiment of the positioning device in detail.
Fig. 14 is a schematic structural diagram of a positioning apparatus according to an embodiment. The positioning device in this embodiment includes a cleaning appliance 310 and a positioning sensor 320;
the cleaning appliance 310 is configured to send a first activation signal to the positioning sensors 320, where the positioning sensors 320 are disposed in a working location of the cleaning appliance 310, and the number of the positioning sensors 320 is two or more;
the positioning sensor 320 is used for receiving the first activation signal, and returning a first response signal to the cleaning appliance 310 after reacting to the first activation signal;
the cleaning appliance 310 is further configured to receive the first response signal, and obtain an initial position of the cleaning appliance 310 according to the first activation signal, the first response signal and the preset position of the positioning sensor 320.
According to the positioning device, the cleaning appliance 310 sends the first activation signal to the positioning sensor 320 arranged in the working place of the cleaning appliance 310, the first response signal returned by the positioning sensor 320 according to the first activation signal is received, the initial position of the cleaning appliance 310 is obtained by using the first activation signal, the first response signal and the preset position of the positioning sensor 320, the position of the cleaning appliance 310 can be rapidly determined by the above mode, and in the moving and cleaning process of the cleaning appliance 310, the cleaned area of the cleaning appliance 310 can be determined by using the positioning position.
In one embodiment, the cleaning appliance 310 obtains the sending time of the first activation signal, obtains the receiving time of the first response signal, and obtains the distance value between the cleaning appliance 310 and the positioning sensor 320 according to the sending time, the receiving time and the signal propagation speed; the initial position of the cleaning appliance 310 is determined according to the distance value and the preset position.
In one embodiment, the cleaning appliance 310 acquires a plan view of the workplace, acquires a travel route of the cleaning appliance 310 according to the plan view and an initial position of the cleaning appliance 310, and moves along the travel route.
In one embodiment, the workplace includes a room and the positioning sensor 320 is disposed on a wall of the room.
In one embodiment, the positioning sensors 320 are located in various corners of a room.
In one embodiment, after the cleaning appliance 310 completes cleaning along the travel path, the cleaning appliance 310 sends a second activation signal to the positioning sensor 320 and receives a second response signal, which is a signal returned by the positioning sensor 320 according to the second activation signal;
the cleaning appliance 310 acquires the current position of the cleaning appliance 310 according to the second activation signal, the second response signal and the preset position of the positioning sensor 320;
the cleaning appliance 310 acquires preset positions of the positioning sensors 320 arranged at two sides of a door opening of a room, and determines an exit position according to the preset positions of the positioning sensors 320 at two sides of the door opening; and acquiring an exit route according to the current position and the exit position, and leaving the room along the exit route.
In one embodiment, when the cleaning appliance 310 is driven to move along the travel route, the cleaning appliance 310 records the cleaning area of the cleaning appliance 310, if the cleaning appliance 310 cannot move along the travel route, the cleaning appliance 310 sends a third activation signal to the positioning sensor 320 and receives a third response signal, wherein the third response signal is a signal returned by the positioning sensor 320 according to the third activation signal;
the cleaning appliance 310 acquires the current position of the cleaning appliance 310 according to the third activation signal, the third response signal and the preset position of the positioning sensor 320; an uncleaned area is acquired according to the plan view and the clean area, and a secondary travel route of the cleaning appliance 310 is acquired according to the uncleaned area and the current position of the cleaning appliance 310, and the cleaning appliance moves along the secondary travel route.
The positioning device of the embodiment of the invention corresponds to the positioning method of the cleaning electric appliance one by one, and the technical characteristics and the beneficial effects described in the embodiment of the positioning method of the cleaning electric appliance are all suitable for the embodiment of the positioning device.
In one embodiment, the scheme of the invention can be applied to various scenes such as sweepers of different types. The following description will be given taking a general cake-shaped sweeper as an example:
the floor sweeping machine comprises a positioning sensor, a floor sweeping machine, a processor and a signal transmitting device, wherein the positioning sensor is arranged in a wall at the corner of a room to be cleaned in advance and in walls on two sides of a door opening of the room, building plan data of the room to be cleaned are stored in the floor sweeping machine in advance, the processor of the floor sweeping machine can acquire planar arrangement information of walls, door openings, furniture, the positioning sensor and the like of all rooms from the floor sweeping machine, and the floor sweeping machine is further provided with the signal transmitting device and the signal receiving device.
The sweeper is arranged in a room to be cleaned, after the sweeper is started, a processor of the sweeper controls a signal transmitting device to transmit an activation signal, a positioning sensor immediately feeds back a response signal after receiving the activation signal, after the processor of the sweeper receives the response signal through a signal receiving device, the distance between the initial position of the sweeper and the corresponding positioning sensor is calculated according to the time difference between the activation signal and the response signal, and the position of the positioning sensor is obtained by reading pre-stored building plan data, so that the initial position of the sweeper is obtained;
the processor can plan a travelling route suitable for the sweeper to move and clean by utilizing the information in the plan and the initial position of the sweeper, and control the sweeper to move along the travelling route and clean the floor of the room;
in the moving and cleaning process, recording the cleaned area of the sweeper, if detecting that the sweeper cannot move according to the original traveling route due to accidental object obstruction, restarting a positioning process by a processor of the sweeper, positioning the current position of the sweeper, calculating the area which is not cleaned of the sweeper, planning a secondary traveling route according to the current position and the uncleaned area, and controlling the sweeper to move along the secondary traveling route so as to avoid the obstruction of the object;
after cleaning is finished, the processor of the sweeper restarts a positioning process to position the current position of the sweeper, and an optimal exit route of the sweeper from a room is obtained according to the positions of the positioning sensors on the two sides of the door opening and the current position of the sweeper, wherein the optimal exit route can avoid clamps in the room and is shortest, and the sweeper can exit the room along the optimal exit route.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program instructing the relevant hardware. The program may be stored in a readable storage medium. Which when executed comprises the steps of the method described above. The storage medium includes: ROM/RAM, magnetic disk, optical disk, etc.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A positioning method of a cleaning appliance is characterized by comprising the following steps:
sending a first activation signal to a positioning sensor, wherein the positioning sensor is arranged in a working place of a cleaning electric appliance, the number of the positioning sensors is more than two, and the first activation signal is generated by the cleaning electric appliance;
receiving a first response signal, wherein the first response signal is a signal returned by the positioning sensor after receiving the first activation signal and reacting to the first activation signal;
acquiring an initial position of the cleaning appliance according to the first activation signal, the first response signal and a preset position of the positioning sensor;
acquiring a plan view of the workplace, and acquiring a traveling route of the cleaning electric appliance according to the plan view and the initial position of the cleaning electric appliance;
driving the cleaning appliance to move along the travel route;
the workplace comprises a room, and the positioning sensors are arranged in walls of all corners of the room;
after the cleaning electric appliance finishes cleaning along the traveling route, sending a second activation signal to a positioning sensor, and receiving a second response signal, wherein the second response signal is a signal returned by the positioning sensor according to the second activation signal;
acquiring the current position of the cleaning electric appliance according to the second activation signal, the second response signal and the preset position of the positioning sensor;
acquiring preset positions of positioning sensors arranged on two sides of a door opening of the room, and determining an outlet position according to the preset positions of the positioning sensors on the two sides of the door opening;
and acquiring an exit route according to the current position and the exit position, and driving the cleaning electric appliance to leave the room along the exit route.
2. The positioning method of a cleaning appliance according to claim 1, wherein the step of acquiring an initial position of the cleaning appliance according to the first activation signal, the first response signal and a preset position of the positioning sensor comprises the steps of:
acquiring the sending time of the first activation signal, acquiring the receiving time of the first response signal, and acquiring the distance value between the cleaning electric appliance and the positioning sensor according to the sending time, the receiving time and the signal propagation speed;
and determining the initial position of the cleaning electric appliance according to the distance value and the preset position.
3. The method for positioning a cleaning appliance according to claim 1, further comprising the steps of:
when the cleaning electric appliance is driven to move along the travelling route, recording a cleaning area of the cleaning electric appliance, if the cleaning electric appliance cannot move along the travelling route, sending a third activation signal to a positioning sensor, and receiving a third response signal, wherein the third response signal is a signal returned by the positioning sensor according to the third activation signal;
acquiring the current position of the cleaning electric appliance according to the third activation signal, the third response signal and the preset position of the positioning sensor;
acquiring an uncleaned area according to the plan and the clean area, and acquiring a secondary travel route of the cleaning electric appliance according to the uncleaned area and the current position of the cleaning electric appliance;
driving the cleaning appliance to move along the secondary travel route.
4. A positioning system for a cleaning appliance, comprising:
the device comprises a signal sending unit, a positioning sensor and a control unit, wherein the signal sending unit is used for sending a first activation signal to the positioning sensor, the positioning sensor is arranged in a working place of a cleaning electric appliance, the number of the positioning sensors is more than two, and the first activation signal is generated by the cleaning electric appliance;
the signal receiving unit is used for receiving a first response signal, wherein the first response signal is a signal returned after the positioning sensor receives the first activation signal and reacts to the first activation signal;
the position acquisition unit is used for acquiring an initial position of the cleaning electric appliance according to the first activation signal, the first response signal and a preset position of the positioning sensor;
the route planning unit is used for acquiring a plan view of a workplace and acquiring a traveling route of the cleaning electric appliance according to the plan view and the initial position of the cleaning electric appliance;
a machine driving unit for driving the cleaning appliance to move along the travel route;
the workplace comprises a room, and the positioning sensors are arranged in walls of all corners of the room;
the signal sending unit is also used for sending a second activation signal to the positioning sensor after the cleaning electric appliance finishes cleaning along the traveling route;
the signal receiving unit is further used for receiving a second response signal, and the second response signal is a signal returned by the positioning sensor according to the second activation signal;
the position acquisition unit is further used for acquiring the current position of the cleaning electric appliance according to the second activation signal, the second response signal and the preset position of the positioning sensor; acquiring preset positions of positioning sensors arranged on two sides of a door opening of the room, and determining an outlet position according to the preset positions of the positioning sensors on the two sides of the door opening;
the route planning unit is further used for obtaining an exit route according to the current position and the exit position;
the machine drive unit is further adapted to drive the cleaning appliance out of the room along the exit route.
5. The positioning system of the cleaning appliance according to claim 4, wherein the position obtaining unit is further configured to obtain a sending time of the first activation signal, obtain a receiving time of the first response signal, and obtain a distance value between the cleaning appliance and the positioning sensor according to the sending time, the receiving time, and a signal propagation speed; and determining the initial position of the cleaning electric appliance according to the distance value and the preset position.
6. The positioning system of the cleaning appliance according to claim 4, wherein the route planning unit is further configured to record a cleaning area of the cleaning appliance while driving the cleaning appliance to move along the travel route;
the signal sending unit is also used for sending a third activation signal to the positioning sensor when the cleaning electric appliance cannot move along the traveling route;
the signal receiving unit is further used for receiving a third response signal, and the third response signal is a signal returned by the positioning sensor according to the third activation signal;
the position acquisition unit is further used for acquiring the current position of the cleaning electric appliance according to the third activation signal, the third response signal and the preset position of the positioning sensor;
the route planning unit is further used for acquiring an uncleaned area according to the plan and the clean area and acquiring a secondary travel route of the cleaning electric appliance according to the uncleaned area and the current position of the cleaning electric appliance;
the machine driving unit is also used for driving the cleaning electric appliance to move along the secondary travel route.
7. The positioning equipment is characterized by comprising a cleaning electric appliance and a positioning sensor;
the cleaning electric appliance is used for sending a first activation signal to the positioning sensors, wherein the positioning sensors are arranged in a working place of the cleaning electric appliance, and the number of the positioning sensors is more than two;
the positioning sensor is used for receiving the first activation signal, and returning a first response signal to the cleaning electric appliance after reacting to the first activation signal;
the cleaning electric appliance is also used for receiving the first response signal and acquiring the initial position of the cleaning electric appliance according to the first activation signal, the first response signal and the preset position of the positioning sensor;
the cleaning electric appliance is also used for acquiring a plan view of the workplace, acquiring a traveling route of the cleaning electric appliance according to the plan view and the initial position of the cleaning electric appliance, and moving along the traveling route;
the workplace comprises a room, and the positioning sensors are arranged in walls of all corners of the room;
after cleaning is finished along the traveling route, the cleaning electric appliance is further used for sending a second activation signal to the positioning sensor and receiving a second response signal, wherein the second response signal is a signal returned by the positioning sensor according to the second activation signal;
the cleaning electric appliance is also used for acquiring the current position of the cleaning electric appliance according to the second activation signal, the second response signal and the preset position of the positioning sensor;
the cleaning electric appliance is also used for acquiring preset positions of positioning sensors arranged on two sides of a door opening of the room, and determining an outlet position according to the preset positions of the positioning sensors on the two sides of the door opening; and obtaining an exit route according to the current position and the exit position, and leaving the room along the exit route.
8. A readable storage medium, on which an executable program is stored, characterized in that the program, when being executed by a processor, carries out the steps of the positioning method of the cleaning appliance according to any one of claims 1 to 3.
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| CN102981148B (en) * | 2011-11-30 | 2015-06-03 | 深圳市恒润晖光电科技有限公司 | Positioning system and method thereof |
| EP3471924A4 (en) * | 2016-06-15 | 2020-07-29 | iRobot Corporation | Systems and methods to control an autonomous mobile robot |
| CN108227687A (en) * | 2016-12-09 | 2018-06-29 | 广东德豪润达电气股份有限公司 | Intelligent robot identification virtual boundary method, mode of progression and beacon |
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