CN108958253A - The control method and device of sweeping robot - Google Patents
The control method and device of sweeping robot Download PDFInfo
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- CN108958253A CN108958253A CN201810798025.9A CN201810798025A CN108958253A CN 108958253 A CN108958253 A CN 108958253A CN 201810798025 A CN201810798025 A CN 201810798025A CN 108958253 A CN108958253 A CN 108958253A
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- cleaning
- purging zone
- sweeping robot
- mobile terminal
- moving area
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The disclosure is directed to a kind of control method and device of sweeping robot, to improve the sweeping efficiency of sweeping robot.The described method includes: obtaining the moving area of mobile terminal；Purging zone is drawn according to above-mentioned moving area；It controls sweeping robot and executes cleaning task in purging zone.The sweeping efficiency of sweeping robot can be improved in disclosed technique scheme.
Description
Technical field
This disclosure relates to electronic technology field more particularly to a kind of control method and device of sweeping robot.
Background technique
With development in science and technology, more and more users begin to use sweeping robot to living area or working region into
Row cleaning, this largely reduces human input, on the basis of saving user time, ensure that life or building ring
The sanitation and hygiene in border.In the related art, sweeping robot would generally be associated with a remote controler, and user can be set by remote controler
Set the purging zone of sweeping robot.
Summary of the invention
To overcome the problems in correlation technique, the embodiment of the present disclosure provide a kind of sweeping robot control method and
Device, to improve the sweeping efficiency of sweeping robot.
According to the first aspect of the embodiments of the present disclosure, a kind of control method of sweeping robot is provided, comprising:
Obtain the moving area of mobile terminal；
Purging zone is drawn according to the moving area；
It controls the sweeping robot and executes cleaning task in the purging zone.
In one embodiment, the moving area for obtaining mobile terminal, it may include:
Obtain the motion profile of the mobile terminal；
The region that the motion profile is covered is determined as the moving area.
In one embodiment, the motion path for obtaining the mobile terminal, it may include:
Receive the motion path for the mobile terminal that wireless router is sent；Wherein, the motion path is according to
Mobile terminal is determined relative to the intensity of Wireless Fidelity signal at the orientation of the wireless router and the mobile terminal.
It is in one embodiment, described that purging zone is drawn according to the moving area, it may include:
Determine the neighboring area being located in the moving area preset range；
The purging zone is drawn according to the moving area and the neighboring area.
In one embodiment, after the drafting purging zone according to the moving area, may also include that
Determine the cleaning method of the purging zone；
The control sweeping robot executes cleaning task in the purging zone, comprising:
It controls the sweeping robot and executes cleaning task in the purging zone according to the cleaning method.
In one embodiment, the cleaning method includes the cleaning dynamics distribution of the purging zone；The determining institute
State the cleaning method of purging zone, it may include:
The number distribution that the mobile terminal occurs in the moving area is determined according to the motion profile；
The cleaning force of the purging zone is determined according to the corresponding relationship of number distribution and number and cleaning dynamics
Degree distribution.
In one embodiment, the cleaning method includes the cleaning path of the sweeping robot；Described in the determination
The cleaning method of purging zone, it may include:
The motion profile for being located at the purging zone is determined as to the cleaning path of the sweeping robot.
In one embodiment, the cleaning method includes the cleaning dynamics of the purging zone；The determination is described clear
Sweep the cleaning method in region, comprising:
Determine the total length for being located at the motion profile of the purging zone；
The cleaning dynamics of the purging zone is determined according to the relationship of the total length and length and cleaning dynamics.
In one embodiment, the cleaning method includes the cleaning frequency of the purging zone.
According to the second aspect of an embodiment of the present disclosure, a kind of control device of sweeping robot is provided, comprising:
Module is obtained, is configured as obtaining the moving area of mobile terminal；
Drafting module is configured as drawing purging zone according to the moving area；
Control module is configured as controlling the sweeping robot in purging zone execution cleaning task.
In one embodiment, the acquisition module, it may include:
First acquisition submodule is configured as obtaining the motion profile of the mobile terminal；
First determines submodule, is configured as the region that the motion profile is covered being determined as the moving area.
In one embodiment, first acquisition submodule is also configured to receive the described of wireless router transmission
The motion path of mobile terminal；Wherein, side of the motion path according to the mobile terminal relative to the wireless router
The intensity of Wireless Fidelity signal determines at position and the mobile terminal.
In one embodiment, the drafting module, it may include:
Second determines submodule, is configured to determine that the neighboring area in the moving area preset range；
Rendering submodule is configured as drawing the purging zone according to the moving area and the neighboring area.
In one embodiment, described device may also include that
Determining module is configured to determine that the cleaning method of the purging zone；
The control module is additionally configured to control the sweeping robot according to the cleaning method in the sweeping area
Domain executes cleaning task.
In one embodiment, the cleaning method includes the cleaning dynamics distribution of the purging zone；The determining mould
Block, it may include:
Third determines submodule, is configured as determining the mobile terminal in the moving area according to the motion profile
The number of middle appearance is distributed；
4th determines submodule, is configured as true according to the corresponding relationship of number distribution and number and cleaning dynamics
The cleaning dynamics distribution of the fixed purging zone.
In one embodiment, the cleaning method includes the cleaning path of the sweeping robot；The determining module,
Can include:
5th determines submodule, is configured as the motion profile for being located at the purging zone being determined as described sweep the floor
The cleaning path of robot.
In one embodiment, the cleaning method includes the cleaning dynamics of the purging zone；The determining module, packet
It includes:
6th determines submodule, is configured to determine that the total length of the motion profile positioned at the purging zone；
7th determination submodule is configured as according to the relationship determination of the total length and length and cleaning dynamics
The cleaning dynamics of purging zone.
In one embodiment, the cleaning method includes the cleaning frequency of the purging zone.
According to the third aspect of an embodiment of the present disclosure, a kind of control device of sweeping robot is provided, comprising:
Processor；
Memory for storage processor executable instruction；
Wherein, method described in above-mentioned first aspect is realized when the processor executes the executable instruction.
According to a fourth aspect of embodiments of the present disclosure, a kind of computer readable storage medium is provided, calculating is stored thereon with
Machine program, the computer program realize method described in above-mentioned first aspect when being executed by processor.
The technical scheme provided by this disclosed embodiment can include the following benefits: the shifting by obtaining mobile terminal
The region that the zone of action of the dynamic available user for using mobile terminal in region is cleaned as needs, to control sweeping robot
Cleaning task is executed in purging zone, sweeping efficiency can be improved in this way.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 is the application scenario diagram of the control method of sweeping robot shown according to an exemplary embodiment.
Fig. 2 is the flow chart of the control method of sweeping robot shown according to an exemplary embodiment.
Fig. 3 is the flow chart of the control method of the sweeping robot shown according to another exemplary embodiment.
Fig. 4 is the flow chart of the control method of the sweeping robot shown according to another exemplary embodiment.
Fig. 5 is the flow chart of the control method of the sweeping robot shown according to another exemplary embodiment.
Fig. 6 is the block diagram of the control device of sweeping robot shown according to an exemplary embodiment.
Fig. 7 is the block diagram of the control device of the sweeping robot shown according to another exemplary embodiment.
Fig. 8 is the block diagram of the control device of the sweeping robot shown according to another exemplary embodiment.
Fig. 9 is the block diagram of the control device of the sweeping robot shown according to another exemplary embodiment.
Figure 10 is the block diagram of the control device of the sweeping robot shown according to another exemplary embodiment.
Figure 11 is the block diagram of the control device of the sweeping robot shown according to another exemplary embodiment.
Figure 12 is the block diagram of the control device of the sweeping robot shown according to another exemplary embodiment.
Figure 13 is a kind of block diagram of the control device of sweeping robot shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistented with the present invention.On the contrary, they be only with it is such as appended
The example of device and method being described in detail in claims, some aspects of the invention are consistent.
Fig. 1 is the application scenario diagram of the control method of sweeping robot shown according to an exemplary embodiment.In Fig. 1 institute
In the application scenarios shown, sweeping robot 11, mobile terminal 13 are communicated to connect with wireless router 12 respectively.When mobile terminal 13
After the MAC Address (physical address) for receiving the broadcast of wireless router 12, wireless router 12 that mobile terminal 13 is detected
The intensity feedback of the Wireless Fidelity signal of transmitting is to wireless router 12.Wireless router 12 can Wireless Fidelity based on the received
Signal determines orientation of the mobile terminal relative to wireless router, and can the intensity of Wireless Fidelity signal based on the received determine
The distance between mobile terminal and wireless router.Then, when mobile terminal is mobile, wireless router 12 can be according to movement
Terminal 13 obtains movement relative to the orientation and the distance between mobile terminal 13 and wireless router 12 of wireless router 12
The motion path of terminal 13 is simultaneously stored.Wireless router 12 can in the motion path request for receiving sweeping robot 11
The motion path of mobile terminal is sent to sweeping robot 11, so that sweeping robot 11 draws purging zone, to improve
Sweeping efficiency.
Certainly, in practical applications, the control method for the sweeping robot that the embodiment of the present disclosure provides is not limited to above-mentioned
Application scenario diagram.For example, the motion path of mobile terminal itself can be sent to sweeping robot 11 by mobile terminal 13, it can also
To be sent to sweeping robot 11 by server.Wherein, mobile terminal 13 can be smart phone, Intelligent bracelet etc..
Fig. 2 is the flow chart of the control method of sweeping robot shown according to an exemplary embodiment.This method can be with
Applied to sweeping robot.As shown in Fig. 2, the control method of the sweeping robot includes the following steps S201~S203:
In step s 201, the moving area of mobile terminal is obtained.
In one embodiment, the motion path of the available mobile terminal of sweeping robot, and by the fortune of mobile terminal
The region of dynamic path covering is determined as the moving area of mobile terminal.In one exemplary embodiment, sweeping robot can be with
To the motion path of specified wireless router request mobile terminal.Wireless router can incite somebody to action after receiving above-mentioned request
The motion path of the mobile terminal of storage is sent to sweeping robot.Wherein, sweeping robot can be according to the mobile terminal
Intensity relative to Wireless Fidelity signal at the orientation of the wireless router and the mobile terminal determines the movement road
Diameter.The motion path of mobile terminal is obtained by wireless router, at low cost, time delay is small.
In one exemplary embodiment, it the motion path of the available multiple mobile terminals of wireless router and is deposited
Storage, in this way, can be further improved cleaning efficiency.In one exemplary embodiment, wireless router can be constantly in work
Make state, for example, work 24 hours daily.Sweeping robot can also be constantly in working condition, can be in real time to no route
By the motion path of device request mobile terminal.
It should be noted that sweeping robot, when obtaining the motion path of mobile terminal, available execution, which cleans, appoints
Before the initial time of business in designated time period mobile terminal motion path, in this way, according to the moving area of mobile terminal draw
Purging zone it is more targeted.
In step S202, purging zone is drawn according to the moving area.
In one embodiment, sweeping robot can determine the peripheral region in the moving area preset range
Domain, and the purging zone is drawn according to moving area and above-mentioned neighboring area.For example, moving area can will be located at (also
That is movement routine) two sides 5 cm ranges in region as above-mentioned neighboring area.In this way, positioning user's frequency can be improved
The accuracy of numerous zone of action.It should be noted that the number that the embodiment of the present disclosure is enumerated is only to facilitate what understanding was done
For example, not limiting the disclosure.
In step S203, the sweeping robot is controlled in the purging zone and executes cleaning task.
In the present embodiment, pass through the work of the available user using mobile terminal of moving area of acquisition mobile terminal
The region that dynamic region is cleaned as needs executes cleaning task to control sweeping robot in purging zone, can be improved in this way
Sweeping efficiency.
Fig. 3 is the flow chart of the control method of the sweeping robot shown according to another exemplary embodiment.In this implementation
In example, S301~S304 may comprise steps of:
In step S301, the moving area of mobile terminal is obtained.
This step is similar to the step S201 in embodiment illustrated in fig. 2, and details are not described herein.
In step s 302, purging zone is drawn according to the moving area.
This step is similar to the step S202 in embodiment illustrated in fig. 2, and details are not described herein.
In step S303, the cleaning method of the purging zone is determined.
In one embodiment, the cleaning method may include the cleaning dynamics distribution of the purging zone.In this reality
It applies in example, sweeping robot can determine that the mobile terminal goes out in the moving area according to the motion profile of mobile terminal
Then existing number distribution determines the sweeping area according to the corresponding relationship of number distribution and number and cleaning dynamics
The cleaning dynamics in domain is distributed.In one exemplary embodiment, it is used in designated time period before the initial time of execution cleaning task
Family can be as shown in table 1 in the frequency of occurrence in a region and the corresponding relationship of cleaning dynamics, the number and cleaning dynamics of appearance
It is positively correlated.When the number for determining that a zone user occurs is 15 times, corresponding cleaning dynamics L2 can be obtained with inquiry table 1.
In this way, the cleaning dynamics point for determining purging zone can be distributed according to the number that user occurs in the moving area of mobile terminal
Cloth, so that the cleaning dynamics that each position when sweeping robot executes cleaning task in purging zone uses more is directed to
Property.
In one exemplary embodiment, the cleaning dynamics of sweeping robot can execute to clean by sweeping robot and appoint
Movement speed when business is controlled.For example, cleaning dynamics improves, when sweeping the floor when the movement speed of sweeping robot reduces
When the movement speed of robot improves, cleaning dynamics is reduced.In another exemplary embodiment, the cleaning force of sweeping robot
The velocity of rotation of round brush and side brush is controlled when degree can execute cleaning task by sweeping robot.When round brush and side
When the velocity of rotation of brush improves, cleaning dynamics is improved.When the velocity of rotation that round brush and side are brushed reduces, cleaning dynamics is reduced.
Table 1
| The number of appearance | Cleaning dynamics |
| 0~10 | L1 |
| 11~20 | L2 |
| 20~30 | L3 |
In one embodiment, the cleaning method may include the cleaning path of the sweeping robot.In this implementation
In example, the motion profile for being located at the mobile terminal of the purging zone can be determined as the sweeping robot by sweeping robot
Cleaning path.In this way, cleaning task can be executed along the motion path of mobile terminal, so that it is more targeted to clean path.
In one exemplary embodiment, when in purging zone there are when the motion path of discontinuous mobile terminal, sweeping robot
The motion path of discontinuous mobile terminal can be connected according to default rule, obtain a complete cleaning road
Diameter.
In one embodiment, the cleaning method may include the cleaning dynamics of the purging zone.In the present embodiment
In, sweeping robot can determine the total length of the motion profile positioned at the purging zone, and according to the total length
And the relationship of length and cleaning dynamics determines the cleaning dynamics of the purging zone.In one exemplary embodiment, it executes
The total length of the motion profile of mobile terminal before the initial time of cleaning task in designated time period in purging zone and cleaning
The corresponding relationship of dynamics can be as shown in table 2, and the total length and cleaning dynamics of motion profile are positively correlated.The total length of motion profile
It can reflect the clean level of purging zone.Wherein, the total length of motion profile is longer, and clean level is lower.Work as purging zone
When the total length of the motion profile of interior mobile terminal is 50 meters, corresponding cleaning dynamics L3 can be obtained with inquiry table 2.In this way,
Determine that the cleaning dynamics of purging zone, accuracy are high according to the total length of the motion profile of the mobile terminal of purging zone.
In one embodiment, the cleaning method may include the cleaning frequency of the purging zone.In an example
In property embodiment, the cleaning modes of sweeping robot may include common cleaning modes and thorough cleaning modes.Wherein, commonly
Cleaning modes and thorough cleaning modes can respectively correspond to different cleaning frequencies.Common cleaning modes corresponding first clean frequency
Rate corresponding lower than thorough cleaning modes second cleans frequency.When sweeping robot works in common cleaning modes, determination is adopted
Frequency is cleaned with first.When sweeping robot works in thorough cleaning modes, determines and clean frequency using second.
Table 2
| Total length/rice of motion profile | Cleaning dynamics |
| 0~20 | L1 |
| 21~40 | L2 |
| 41~100 | L3 |
In step s 304, it controls the sweeping robot and executes cleaning in the purging zone according to the cleaning method
Task.
In the present embodiment, it can first determine the cleaning method of purging zone, and control sweeping robot according to determining
Cleaning method executes cleaning task in purging zone, and the quality of cleaning task completion can be improved.
Fig. 4 is the flow chart of the control method of the sweeping robot shown according to another exemplary embodiment.In this implementation
In example, the cleaning method may include the cleaning dynamics distribution of the purging zone.In the present embodiment, shown in Fig. 3
On the basis of embodiment, above-mentioned step S303 may comprise steps of S401~S402:
In step S401, time that the mobile terminal occurs in the moving area is determined according to the motion profile
Number distribution.
In step S402, the cleaning is determined according to the corresponding relationship of number distribution and number and cleaning dynamics
The cleaning dynamics in region is distributed.
In one embodiment, the number that each position due to user in purging zone occurs may be different,
Therefore, the clean level of each position in purging zone may be different.The cleaning of each position in purging zone
When degree difference, sweeping robot can use different cleaning dynamics, in this way, when sweeping robot being made to execute cleaning task
The cleaning dynamics that each position in purging zone uses is more targeted.
In the present embodiment, sweeping robot can determine the mobile terminal in institute according to the motion profile of mobile terminal
The number distribution occurred in moving area is stated, it is then possible to corresponding with cleaning dynamics according to number distribution and number
Relationship determines the cleaning dynamics distribution of the purging zone.In one exemplary embodiment, when executing the starting of cleaning task
Between in preceding designated time period user a region frequency of occurrence and clean the corresponding relationship of dynamics can be as shown in table 1, out
Existing number and cleaning dynamics is positively correlated.When the number for determining that a zone user occurs is 15 times, can be obtained with inquiry table 1
To corresponding cleaning dynamics L2.It is determined in this way, can be distributed according to the number that user occurs in the moving area of mobile terminal
The cleaning dynamics of purging zone is distributed, so that each position when sweeping robot executes cleaning task in purging zone uses
Cleaning dynamics it is more targeted.Meanwhile improving the intelligence of sweeping robot.
Fig. 5 is the flow chart of the control method of the sweeping robot shown according to another exemplary embodiment.In this implementation
In example, the cleaning method includes the cleaning dynamics of the purging zone.In the present embodiment, embodiment shown in Fig. 3
On the basis of, above-mentioned step S303 may comprise steps of S501~S502:
In step S501, the total length for being located at the motion profile of the purging zone is determined.
In step S502, the purging zone is determined according to the relationship of the total length and length and cleaning dynamics
Cleaning dynamics.
In one embodiment, when sweeping robot executes cleaning task every time, the clean level of purging zone may
It is not quite similar.Under normal circumstances, the clean level of purging zone may be related in the frequent activity degree of purging zone with user.
User is more frequent in the activity of purging zone, and the clean level of purging zone is lower.When the clean level difference of purging zone,
Sweeping robot can use different cleaning dynamics, in this way, can not only complete cleaning task, but also can to avoid waste energy consumption,
Improve energy utilization rate.
In the present embodiment, sweeping robot can determine the overall length of the motion profile positioned at the purging zone
It spends, and determines the cleaning dynamics of the purging zone according to the relationship of the total length and length and cleaning dynamics.At one
In exemplary embodiment, the movement of the mobile terminal before the initial time of execution cleaning task in designated time period in purging zone
The total length of track and the corresponding relationship of cleaning dynamics can be as shown in table 2, the total length and cleaning dynamics positive of motion profile
It closes.The total length of motion profile can reflect the clean level of purging zone.Wherein, the total length of motion profile is longer, clean
Degree is lower.When the total length of the motion profile of the mobile terminal in purging zone is 50 meters, can be obtained pair with inquiry table 2
The cleaning dynamics L3 answered.In this way, determining the clear of purging zone according to the total length of the motion profile of the mobile terminal of purging zone
Clean dynamics, accuracy is high, moreover, can not only complete cleaning task, but also can improve energy utilization rate to avoid waste energy consumption.Together
When, also improve the intelligence of sweeping robot.
Fig. 6 is the block diagram of the control device of sweeping robot shown according to an exemplary embodiment.The embodiment of the present disclosure
The control device of the sweeping robot of offer, comprising:
Module 61 is obtained, is configured as obtaining the moving area of mobile terminal；
Drafting module 62 is configured as drawing purging zone according to the moving area；
Control module 63 is configured as controlling the sweeping robot in purging zone execution cleaning task.
Fig. 7 is the block diagram of the control device of the sweeping robot shown according to another exemplary embodiment.In the present embodiment,
The acquisition module 61, it may include:
First acquisition submodule 611 is configured as obtaining the motion profile of the mobile terminal；
First determines submodule 612, is configured as the region that the motion profile is covered being determined as the turnover zone
Domain.
In a further exemplary embodiment, first acquisition submodule is also configured to receive wireless router transmission
The mobile terminal motion path；Wherein, the motion path is according to the mobile terminal relative to the wireless routing
The intensity of Wireless Fidelity signal determines at the orientation of device and the mobile terminal.
Fig. 8 is the block diagram of the control device of the sweeping robot shown according to another exemplary embodiment.In the present embodiment,
The drafting module 62, it may include:
Second determines submodule 621, is configured to determine that the neighboring area in the moving area preset range；
Rendering submodule 622 is configured as drawing the purging zone according to the moving area and the neighboring area.
Fig. 9 is the block diagram of the control device of the sweeping robot shown according to another exemplary embodiment.In the present embodiment,
Described device further include:
Determining module 64 is configured to determine that the cleaning method of the purging zone；
The control module 63 is also configured to control the sweeping robot according to the cleaning method described clear
It sweeps region and executes cleaning task.
Figure 10 is the block diagram of the control device of the sweeping robot shown according to another exemplary embodiment.The present embodiment
In, the cleaning method may include the cleaning dynamics distribution of the purging zone；The determining module 64, it may include:
Third determines submodule 641, is configured as determining the mobile terminal in the movement according to the motion profile
The number distribution occurred in region；
4th determines submodule 642, is configured as the corresponding pass according to number distribution and number and cleaning dynamics
System determines the cleaning dynamics distribution of the purging zone.
Figure 11 is the block diagram of the control device of the sweeping robot shown according to another exemplary embodiment.The present embodiment
In, the cleaning method may include the cleaning path of the sweeping robot；The determining module 64, it may include:
5th determines submodule 643, is configured as the motion profile for being located at the purging zone being determined as described
The cleaning path of sweeping robot.
Figure 12 is the block diagram of the control device of the sweeping robot shown according to another exemplary embodiment.The present embodiment
In, the cleaning method may include the cleaning dynamics of the purging zone；The determining module 64, it may include:
6th determines submodule 644, is configured to determine that the total length of the motion profile positioned at the purging zone；
7th determines submodule 645, is configured as being determined according to the relationship of the total length and length and cleaning dynamics
The cleaning dynamics of the purging zone.
In a further exemplary embodiment, the cleaning method may include the cleaning frequency of the purging zone.
About the device in above-described embodiment, wherein processor executes the concrete mode of operation in related this method
It is described in detail in embodiment, no detailed explanation will be given here.
Figure 13 is a kind of block diagram of the control device of sweeping robot shown according to an exemplary embodiment.For example, dress
Setting 1300 can be sweeping robot.
Referring to Fig.1 3, device 1300 may include following one or more components: processing component 1302, memory 1304,
Power supply module 1306, multimedia component 1308, audio component 1310, the interface 1312 of input/output (I/O), sensor module
1314 and communication component 1316.
The integrated operation of the usual control device 1300 of processing component 1302, such as with display, data communication, camera operation and
Record operates associated operation.Processing element 1302 may include one or more processors 1320 to execute instruction, with complete
At all or part of the steps of above-mentioned method.In addition, processing component 1302 may include one or more modules, convenient for processing
Interaction between component 1302 and other assemblies.For example, processing component 1302 may include multi-media module, to facilitate multimedia
Interaction between component 1308 and processing component 1302.
Memory 1304 is configured as storing various types of data to support the operation in equipment 1300.These data
Example includes the instruction of any application or method for operating on device 1300, message, picture, video etc..Storage
Device 1304 can be realized by any kind of volatibility or non-volatile memory device or their combination, as static random is deposited
Access to memory (SRAM), electrically erasable programmable read-only memory (EEPROM), Erasable Programmable Read Only Memory EPROM
(EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or light
Disk.
Electric power assembly 1306 provides electric power for the various assemblies of device 1300.Electric power assembly 1306 may include power management
System, one or more power supplys and other with for device 1300 generate, manage, and distribute the associated component of electric power.
Multimedia component 1308 includes the screen of one output interface of offer between described device 1300 and user.?
In some embodiments, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel,
Screen may be implemented as touch screen, to receive input signal from the user.Touch panel includes that one or more touch passes
Sensor is to sense the gesture on touch, slide, and touch panel.The touch sensor can not only sense touch or sliding is dynamic
The boundary of work, but also detect duration and pressure associated with the touch or slide operation.In some embodiments, more
Media component 1308 includes a camera.When equipment 1300 is in operation mode, such as in a shooting mode or a video mode, camera shooting
Head can receive external multi-medium data.Camera can be a fixed optical lens system or have focal length and optics
Zoom capabilities.
Audio component 1310 is configured as output and/or input audio signal.For example, audio component 1310 includes a wheat
Gram wind (MIC), when device 1300 is in operation mode, when such as call mode, recording mode, and voice recognition mode, microphone quilt
It is configured to receive external audio signal.The received audio signal can be further stored in memory 1304 or via communication
Component 1316 is sent.In some embodiments, audio component 1310 further includes a loudspeaker, is used for output audio signal.
I/O interface 1312 provides interface, above-mentioned peripheral interface module between processing component 1302 and peripheral interface module
It can be keyboard, click wheel, button etc..These buttons may include, but are not limited to: home button, volume button, start button and
Locking press button.
Sensor module 1314 includes one or more sensors, and the state for providing various aspects for device 1300 is commented
Estimate.For example, sensor module 1314 can detecte the state that opens/closes of equipment 1300, the relative positioning of component, such as institute
The display and keypad that component is device 1300 are stated, sensor module 1314 can be with detection device 1300 or device 1,300 1
The position change of a component, the existence or non-existence that user contacts with device 1300,1300 orientation of device or acceleration/deceleration and dress
Set 1300 temperature change.Sensor module 1314 may include proximity sensor, be configured in not any physics
It is detected the presence of nearby objects when contact.Sensor module 1314 can also include optical sensor, as CMOS or ccd image are sensed
Device, for being used in imaging applications.In some embodiments, which can also include acceleration sensing
Device, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 1316 is configured to facilitate the communication of wired or wireless way between device 1300 and other equipment.Dress
The wireless network based on communication standard, such as WiFi can be accessed by setting 1300,2G or 3G or their combination.It is exemplary at one
In embodiment, communication component 1316 receives broadcast singal or broadcast correlation from external broadcasting management system via broadcast channel
Information.In one exemplary embodiment, the communication component 1316 further includes near-field communication (NFC) module, to promote short distance
Communication.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band can be based in NFC module
(UWB) technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, device 1300 can be by one or more application specific integrated circuit (ASIC), number
Signal processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing the above method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided
It such as include the memory 1304 of instruction, above-metioned instruction can be executed by the processor 1320 of device 1300 to complete the above method.Example
Such as, the non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, soft
Disk and optical data storage devices etc..
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.
Claims (20)
1. a kind of control method of sweeping robot, which is characterized in that the described method includes:
Obtain the moving area of mobile terminal；
Purging zone is drawn according to the moving area；
It controls the sweeping robot and executes cleaning task in the purging zone.
2. the method according to claim 1, wherein the moving area for obtaining mobile terminal, comprising:
Obtain the motion profile of the mobile terminal；
The region that the motion profile is covered is determined as the moving area.
3. according to the method described in claim 2, it is characterized in that, the motion path for obtaining the mobile terminal, comprising:
Receive the motion path for the mobile terminal that wireless router is sent；Wherein, the motion path is according to the movement
Terminal is determined relative to the intensity of Wireless Fidelity signal at the orientation of the wireless router and the mobile terminal.
4. the method according to claim 1, wherein described draw purging zone, packet according to the moving area
It includes:
Determine the neighboring area being located in the moving area preset range；
The purging zone is drawn according to the moving area and the neighboring area.
5. according to the method described in claim 2, it is characterized in that, it is described according to the moving area draw purging zone it
Afterwards, further includes:
Determine the cleaning method of the purging zone；
The control sweeping robot executes cleaning task in the purging zone, comprising:
It controls the sweeping robot and executes cleaning task in the purging zone according to the cleaning method.
6. according to the method described in claim 5, it is characterized in that, the cleaning method includes the cleaning force of the purging zone
Degree distribution；The cleaning method of the determination purging zone, comprising:
The number distribution that the mobile terminal occurs in the moving area is determined according to the motion profile；
The cleaning dynamics point of the purging zone is determined according to the corresponding relationship of number distribution and number and cleaning dynamics
Cloth.
7. according to the method described in claim 5, it is characterized in that, the cleaning method includes the cleaning of the sweeping robot
Path；The cleaning method of the determination purging zone, comprising:
The motion profile for being located at the purging zone is determined as to the cleaning path of the sweeping robot.
8. according to the method described in claim 5, it is characterized in that, the cleaning method includes the cleaning force of the purging zone
Degree；The cleaning method of the determination purging zone, comprising:
Determine the total length for being located at the motion profile of the purging zone；
The cleaning dynamics of the purging zone is determined according to the relationship of the total length and length and cleaning dynamics.
9. according to the method described in claim 5, it is characterized in that, the cleaning method includes the cleaning frequency of the purging zone
Rate.
10. a kind of control device of sweeping robot, which is characterized in that described device includes:
Module is obtained, is configured as obtaining the moving area of mobile terminal；
Drafting module is configured as drawing purging zone according to the moving area；
Control module is configured as controlling the sweeping robot in purging zone execution cleaning task.
11. device according to claim 10, which is characterized in that the acquisition module, comprising:
First acquisition submodule is configured as obtaining the motion profile of the mobile terminal；
First determines submodule, is configured as the region that the motion profile is covered being determined as the moving area.
12. device according to claim 11, which is characterized in that first acquisition submodule is additionally configured to receive nothing
The motion path for the mobile terminal that line router is sent；Wherein, the motion path according to the mobile terminal relative to
The intensity of Wireless Fidelity signal determines at the orientation of the wireless router and the mobile terminal.
13. device according to claim 10, which is characterized in that the drafting module, comprising:
Second determines submodule, is configured to determine that the neighboring area in the moving area preset range；
Rendering submodule is configured as drawing the purging zone according to the moving area and the neighboring area.
14. device according to claim 11, which is characterized in that described device further include:
Determining module is configured to determine that the cleaning method of the purging zone；
The control module is additionally configured to control the sweeping robot and hold according to the cleaning method in the purging zone
Row cleaning task.
15. device according to claim 14, which is characterized in that the cleaning method includes the cleaning of the purging zone
Dynamics distribution；The determining module, comprising:
Third determines submodule, is configured as determining that the mobile terminal goes out in the moving area according to the motion profile
Existing number distribution；
4th determines submodule, is configured as determining institute according to the corresponding relationship of number distribution and number and cleaning dynamics
State the cleaning dynamics distribution of purging zone.
16. device according to claim 14, which is characterized in that the cleaning method includes the clear of the sweeping robot
Sweep path；The determining module, comprising:
5th determines submodule, is configured as the motion profile for being located at the purging zone being determined as the machine of sweeping the floor
The cleaning path of people.
17. device according to claim 14, which is characterized in that the cleaning method includes the cleaning of the purging zone
Dynamics；The determining module, comprising:
6th determines submodule, is configured to determine that the total length of the motion profile positioned at the purging zone；
7th determines submodule, is configured as determining the cleaning according to the relationship of the total length and length and cleaning dynamics
The cleaning dynamics in region.
18. device according to claim 14, which is characterized in that the cleaning method includes the cleaning of the purging zone
Frequency.
19. a kind of control device of sweeping robot, which is characterized in that described device includes:
Processor；
Memory for storage processor executable instruction；
Wherein, the described in any item methods of claim 1 to 9 are realized when the processor executes the executable instruction.
20. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
Claim 1 to 9 described in any item methods are realized when being executed by processor.
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| CN201810798025.9A CN108958253A (en) | 2018-07-19 | 2018-07-19 | The control method and device of sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810798025.9A CN108958253A (en) | 2018-07-19 | 2018-07-19 | The control method and device of sweeping robot |
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| CN108958253A true CN108958253A (en) | 2018-12-07 |
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| CN201810798025.9A Pending CN108958253A (en) | 2018-07-19 | 2018-07-19 | The control method and device of sweeping robot |
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| CN112890695A (en) * | 2021-03-25 | 2021-06-04 | 广东爱兰仕科技有限公司 | Obstacle avoidance system of sweeping robot |
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| WO2023124859A1 (en) * | 2021-12-28 | 2023-07-06 | 速感科技（北京）有限公司 | Cleaning robot, cleaning methods thereof and computer readable storage medium |
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