CN109008810A - One kind preventing the missing method of sweeping robot - Google Patents
One kind preventing the missing method of sweeping robot Download PDFInfo
- Publication number
- CN109008810A CN109008810A CN201810798140.6A CN201810798140A CN109008810A CN 109008810 A CN109008810 A CN 109008810A CN 201810798140 A CN201810798140 A CN 201810798140A CN 109008810 A CN109008810 A CN 109008810A
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- Prior art keywords
- sweeping robot
- value
- air flow
- microprocessor
- last
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Classifications
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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
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to one kind to prevent the missing method of sweeping robot, and sweeping robot opens work, and the position recorder moment records the stroke of sweeping robot；Air flow sensor detects the air flow value of ambient enviroment at interval of the N period, luminance sensor detects air flow value, brightness value and the noise figure of ambient enviroment every the period, and present air flow value, brightness value and the noise figure that will test are sent to microprocessor；The value that the current value received is detected with the last time is compared by microprocessor: final, when meeting certain condition, microprocessor driven sweeping robot is returned by the path recorded in position recorder, is back to the place where when dust exhaust apparatus starts.
Description
Technical field
The invention belongs to sweeping robot fields, and in particular to one kind prevents the missing method of sweeping robot.
Background technique
Nowadays, more and more intelligent sweeping robots enter huge numbers of families, are mainly engaged in the cleaning, clear of domestic hygiene
It the work such as washes, sweeps the floor time saving, laborsaving.Its entire cleaning process is not required to very important person's control, can easily sweep standard vacuum cleaning
Less than dead angle.
But existing furniture sweeping robot does not encounter barrier nearby usually, just always in the process of running
It is past to move ahead, while being cleaned in row, it will not groundless turn.But in the case where power supply abundance, if accidentally, it will
Sweeping robot goes to open air, or even goes on main road, gets lost in outer open air.
In consideration of it, proposing a kind of to prevent the missing method of the sweeping robot project of the invention to be studied.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide one kind to prevent the missing method of sweeping robot, to solve
Existing sweeper is easy to leave, gets lost in outer problem.
To achieve the goals above, the invention adopts the following technical scheme: one kind prevents the missing method of sweeping robot,
It is pre-designed a sweeping robot, which includes microprocessor, ultrasonic transmitter-receiver, air flow sensor, bright
Spend sensor, noise decibel sensor, GPS locator and position recorder；Wherein, the microprocessor surpasses with described respectively
Sound wave transceiver, air flow sensor, luminance sensor, noise decibel sensor, GPS locator and position recorder connect
It connects；
Using the sweeping robot, operation is followed the steps below:
The first step, the sweeping robot open work, the stroke of the position recorder moment record sweeping robot；
Second step, the air flow sensor detect the air flow value of ambient enviroment at interval of the N period, and will inspection
The present air flow value K1 measured is sent to microprocessor；
Third step, the air mass flow that the microprocessor detects the present air flow value K1 received and last time
Value K is compared:
If present air flow value K1 and the last air flow value K absolute value of the difference detected are greater than or equal to upper one
The 40% of the secondary air flow value K detected, then be transferred to the 4th step；No person, works on；
4th step, the luminance sensor detects the brightness value of ambient enviroment every the N+1 period, and what be will test works as
Preceding brightness value L 1 is sent to microprocessor；
5th step, the microprocessor carry out the present intensity value L1 received and the last brightness value L detected
Compare:
If the brightness value L absolute value of the difference that present intensity value L1 is detected with the last time is detected more than or equal to the last time
Brightness value L 30%, then be transferred to the 6th step, no person works on；
6th step, the noise decibel sensor detects the noise figure of ambient enviroment at interval of the N+2 period, and will test
To current noise Z1 be sent to microprocessor；
7th step, the microprocessor carry out the current noise Z1 received and the last noise figure Z detected
Compare:
If the brightness value L absolute value of the difference that present intensity value L1 is detected with the last time is detected more than or equal to the last time
Brightness value L 20%, then be transferred to the 8th step, no person works on；
8th step, sweeping robot described in the microprocessor driven are returned by the path recorded in position recorder, are returned
It is back to the place where when dust exhaust apparatus starts.
As a further improvement of the present invention, the microprocessor uses TMSC5000 model chip.
As a further improvement of the present invention, it is additionally provided with reset button on the sweeping robot, be used for air mass flow
The zeros data that sensor, luminance sensor, noise decibel sensor detect.
As a further improvement of the present invention, the sweeping robot further includes looking for power module automatically, this looks for electricity automatically
Source module automatically finds power supply for dust exhaust apparatus and charges to regulated power supply.
As a further improvement of the present invention, it is additionally provided with photographing module on the sweeping robot, which is used for
The environment at the nook of indoor corner is shot, and sends the picture of shooting to microprocessor, the microprocessor is further according to reception
To picture sweep the floor.
As a further improvement of the present invention, it is additionally provided with alarm on the sweeping robot, which issues two kinds
Alarm sound, the first alarm sound are alarmed when sweeping robot is wandered away, and second of alarm sound is in sweeping robot
Stuck alarm.
As a further improvement of the present invention, the alarm uses buzzer.
As a further improvement of the present invention, when sweeping robot is when working on, if present air flow value K1 with
The air flow value K absolute value of the difference that last time detects is greater than or equal to the 40% of the last air flow value K detected,
And if present intensity value L1 and the brightness value L absolute value of the difference that detects of last time be greater than or equal to the last time detect it is bright
Angle value L 40% when, then be directly transferred to the 8th step.
Working principle and effect of the present invention are as follows:
The present invention relates to one kind to prevent the missing method of sweeping robot, and air flow sensor is examined at interval of the N period
The air flow value of ambient enviroment is surveyed, and the present air flow value K1 that will test is sent to microprocessor；Microprocessor will
The air flow value K that the present air flow value K1 received is detected with the last time is compared: if present air flow value
K1 and the last air flow value K absolute value of the difference detected are greater than or equal to the last air flow value K's detected
40%, then it is transferred in next step, the luminance sensor detects the brightness value of ambient enviroment every the N+1 period, and will test
Present intensity value L1 be sent to microprocessor；The microprocessor detects the present intensity value L1 received with the last time
Brightness value L be compared: if present intensity value L1 be greater than or equal to the brightness value L absolute value of the difference that detects of last time it is upper
The 30% of the brightness value L that one-time detection arrives then is transferred in next step, and the noise decibel sensor is detected at interval of the N+2 period
The noise figure of ambient enviroment, and the current noise Z1 that will test is sent to microprocessor；Microprocessor is worked as what is received
The noise figure Z that preceding noise figure Z1 is detected with the last time is compared: if present intensity value L1 and the last brightness detected
Value L absolute value of the difference is greater than or equal to the 20% of the last brightness value L detected, then is transferred in next step, microprocessor driven
The sweeping robot is returned by the path recorded in position recorder, is back to the place where when dust exhaust apparatus starts.
Good reliability of the present invention, intelligence degree are high, can judge sweeping robot according to the environment for detecting surrounding
Whether new environment is entered, if it is different from environment in own home, to determine to return according to the path in position recorder, to reach
To preventing the missing purpose of sweeping robot.
Detailed description of the invention
Attached drawing described here is only used for task of explanation, and is not intended to limit model disclosed in the present application in any way
It encloses.In addition, shape and proportional sizes of each component in figure etc. are only schematical, it is used to help the understanding to the application, and
It is not the specific shape and proportional sizes for limiting each component of the application.Those skilled in the art, can under teachings of the present application
Implement the application to select various possible shapes and proportional sizes as the case may be.In the accompanying drawings:
Attached drawing 1 is the perspective view that the embodiment of the present invention prevents the method for wandering away；
Attached drawing 2 is the flow chart that the embodiment of the present invention prevents the method for wandering away.
Specific embodiment
The present invention will be further illustrated in following example.These embodiments are merely to illustrate the present invention, but not to appoint
Where formula limitation is of the invention.
Embodiment: one kind preventing the missing method of sweeping robot
Referring to attached drawing 1-2, it is pre-designed a sweeping robot 1, which includes microprocessor, ultrasonic wave receipts
Send out device, air flow sensor, luminance sensor, noise decibel sensor, GPS locator and position recorder；Wherein, institute
State microprocessor respectively with the ultrasonic transmitter-receiver, air flow sensor, luminance sensor, noise decibel sensor, GPS
Locator and position recorder connection.Wherein, the microprocessor uses TMSC5000 model chip.
Using the sweeping robot 1, operation is followed the steps below:
The first step, the sweeping robot 1 open work, the row of the position recorder moment record sweeping robot 1
Journey.
Second step, the air flow sensor detect the air flow value of ambient enviroment at interval of the N period, and will inspection
The present air flow value K1 measured is sent to microprocessor.
Third step, the air mass flow that the microprocessor detects the present air flow value K1 received and last time
Value K is compared:
If present air flow value K1 and the last air flow value K absolute value of the difference detected are greater than or equal to upper one
The 40% of the secondary air flow value K detected, then be transferred to the 4th step；No person, works on.
4th step, the luminance sensor detects the brightness value of ambient enviroment every the N+1 period, and what be will test works as
Preceding brightness value L 1 is sent to microprocessor.
5th step, the microprocessor carry out the present intensity value L1 received and the last brightness value L detected
Compare:
If the brightness value L absolute value of the difference that present intensity value L1 is detected with the last time is detected more than or equal to the last time
Brightness value L 30%, then be transferred to the 6th step, no person works on.
6th step, the noise decibel sensor detects the noise figure of ambient enviroment at interval of the N+2 period, and will test
To current noise Z1 be sent to microprocessor.
7th step, the microprocessor carry out the current noise Z1 received and the last noise figure Z detected
Compare:
If the brightness value L absolute value of the difference that present intensity value L1 is detected with the last time is detected more than or equal to the last time
Brightness value L 20%, then be transferred to the 8th step, no person works on.
8th step, sweeping robot 1 described in the microprocessor driven are returned by the path recorded in position recorder, are returned
It is back to the place where when dust exhaust apparatus starts.
Wherein, when sweeping robot 1 is when working on, if present air flow value K1 and the last air detected
Flow value K absolute value of the difference is greater than or equal to the 40% of the last air flow value K detected, and if present intensity value L1
When being greater than or equal to the 40% of the last brightness value L detected with the brightness value L absolute value of the difference that the last time detects, then directly
Switch through into the 8th step.
In addition, be additionally provided with reset button on the sweeping robot 1, for by air flow sensor, luminance sensor,
The zeros data that noise decibel sensor detects.The sweeping robot 1 further includes looking for power module automatically, this looks for electricity automatically
Source module automatically finds power supply for dust exhaust apparatus and charges to regulated power supply.Camera shooting mould is additionally provided on the sweeping robot 1
Block, which is used to shoot the environment at indoor corner nook, and sends the picture of shooting to microprocessor, described micro-
Processor is swept the floor further according to the picture received.It is additionally provided with alarm on the sweeping robot 1, which uses bee
Ring device, and alarm issues two kinds of alarm sounds, the first alarm sound is alarmed when sweeping robot 1 is wandered away, and second
Alarm sound is in the stuck alarm of sweeping robot 1.
It should be noted that in the description of the present application, unless otherwise indicated, the meaning of " plurality " is two or two with
On.
Here the combination of element, ingredient, component or step is described using term "comprising" or " comprising " it is also contemplated that
Substantially the embodiment being made of these elements, ingredient, component or step.Here by using term " can with ", it is intended to illustrate
Described any attribute that " can with " includes all is optional.
Multiple element, ingredient, component or step can be provided by single integrated component, ingredient, component or step.Optionally
Ground, single integrated component, ingredient, component or step can be divided into multiple element, ingredient, component or the step of separation.It is used to
The open "a" or "an" for describing element, ingredient, component or step is not said to exclude other elements, ingredient, component
Or step.
It should be understood that above description is to illustrate rather than to be limited.By reading above-mentioned retouch
It states, many embodiments and many applications except provided example all will be aobvious and easy for a person skilled in the art
See.Therefore, the range of this introduction should not be determined referring to foregoing description, but should referring to preceding claims and this
The full scope of the equivalent that a little claims are possessed determines.For comprehensive purpose, all articles and with reference to including special
The disclosure of benefit application and bulletin is all by reference to being incorporated herein.Theme disclosed herein is omitted in preceding claims
Any aspect is not intended to abandon the body matter, also should not be considered as applicant the theme is not thought of as it is disclosed
Apply for a part of theme.
The series of detailed descriptions listed above only for the application feasible embodiment specifically
Bright, they are not the protection scope to limit the application, all without departing from equivalent implementations made by the application skill spirit
Or change should be included within the scope of protection of this application.
Claims (8)
1. one kind prevents the missing method of sweeping robot, it is characterised in that: be pre-designed a sweeping robot, the machine of sweeping the floor
People includes microprocessor, ultrasonic transmitter-receiver, air flow sensor, luminance sensor, noise decibel sensor, GPS positioning
Device and position recorder；Wherein, the microprocessor respectively with the ultrasonic transmitter-receiver, air flow sensor, brightness
Sensor, noise decibel sensor, GPS locator and position recorder connection；
Using the sweeping robot, operation is followed the steps below:
The first step, the sweeping robot open work, the stroke of the position recorder moment record sweeping robot；
Second step, the air flow sensor detect the air flow value of ambient enviroment at interval of the N period, and will test
Present air flow value K1 be sent to microprocessor；
Third step, the air flow value K that the microprocessor detects the present air flow value K1 received and last time
It is compared:
If present air flow value K1 and the last air flow value K absolute value of the difference detected are greater than or equal to last inspection
The 40% of the air flow value K measured is then transferred to the 4th step；No person, works on；
4th step, the luminance sensor detect the brightness value of ambient enviroment every the N+1 period, and will test current bright
Angle value L1 is sent to microprocessor；
The present intensity value L1 received the brightness value L detected with the last time is compared by the 5th step, the microprocessor:
If present intensity value L1 detects with the last brightness value L absolute value of the difference detected more than or equal to the last time bright
The 30% of angle value L, then be transferred to the 6th step, and no person works on；
6th step, the noise decibel sensor detect the noise figure of ambient enviroment at interval of the N+2 period, and will test
Current noise Z1 is sent to microprocessor；
The current noise Z1 received the noise figure Z detected with the last time is compared by the 7th step, the microprocessor:
If present intensity value L1 detects with the last brightness value L absolute value of the difference detected more than or equal to the last time bright
The 20% of angle value L, then be transferred to the 8th step, and no person works on；
8th step, sweeping robot described in the microprocessor driven are returned by the path recorded in position recorder, are back to
Place where when dust exhaust apparatus starts.
2. according to claim 1 prevent the missing method of sweeping robot, it is characterised in that: the microprocessor uses
TMSC5000 model chip.
3. according to claim 1 prevent the missing method of sweeping robot, it is characterised in that: on the sweeping robot
It is additionally provided with reset button, the data for detecting air flow sensor, luminance sensor, noise decibel sensor are clear
Zero.
4. according to claim 1 prevent the missing method of sweeping robot, it is characterised in that: the sweeping robot is also
Including looking for power module automatically, this is looked for power module to automatically find power supply for dust exhaust apparatus automatically and charges to regulated power supply.
5. according to claim 1 prevent the missing method of sweeping robot, it is characterised in that: on the sweeping robot
It is additionally provided with photographing module, which is used to shoot environment at indoor corner nook, and the picture of shooting is sent to micro-
Processor, the microprocessor are swept the floor further according to the picture received.
6. according to claim 1 prevent the missing method of sweeping robot, it is characterised in that: on the sweeping robot
It is additionally provided with alarm, which issues two kinds of alarm sounds, the first alarm sound is reported when sweeping robot is wandered away
Alert, second of alarm sound is in the stuck alarm of sweeping robot.
7. according to claim 6 prevent the missing method of sweeping robot, it is characterised in that: the alarm uses bee
Ring device.
8. -7 any described preventing the missing method of sweeping robot according to claim 1, it is characterised in that: when machine of sweeping the floor
People when working on, if present air flow value K1 and the last air flow value K absolute value of the difference detected be greater than or
Equal to the last time detect the 40% of air flow value K, and if present intensity value L1 and the last brightness value L detected
When absolute value of the difference is greater than or equal to the 40% of the last brightness value L detected, then the 8th step is directly transferred to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810798140.6A CN109008810A (en) | 2018-07-19 | 2018-07-19 | One kind preventing the missing method of sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810798140.6A CN109008810A (en) | 2018-07-19 | 2018-07-19 | One kind preventing the missing method of sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109008810A true CN109008810A (en) | 2018-12-18 |
Family
ID=64644394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810798140.6A Pending CN109008810A (en) | 2018-07-19 | 2018-07-19 | One kind preventing the missing method of sweeping robot |
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| Country | Link |
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| CN (1) | CN109008810A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205121334U (en) * | 2015-04-15 | 2016-03-30 | 小米科技有限责任公司 | Intelligence cleaning device |
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| CN106066179A (en) * | 2016-07-27 | 2016-11-02 | 湖南晖龙股份有限公司 | A kind of robot location based on ROS operating system loses method for retrieving and control system |
| US20160334800A1 (en) * | 2015-05-12 | 2016-11-17 | Samsung Electronics Co., Ltd. | Robot and controlling method thereof |
| CN106325281A (en) * | 2016-10-30 | 2017-01-11 | 苏州市克拉思科文化传播有限公司 | Smart home dust collection device |
-
2018
- 2018-07-19 CN CN201810798140.6A patent/CN109008810A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105496314A (en) * | 2014-10-10 | 2016-04-20 | 美国iRobot公司 | Mobile robot area cleaning |
| CN205121334U (en) * | 2015-04-15 | 2016-03-30 | 小米科技有限责任公司 | Intelligence cleaning device |
| US20160334800A1 (en) * | 2015-05-12 | 2016-11-17 | Samsung Electronics Co., Ltd. | Robot and controlling method thereof |
| CN106066179A (en) * | 2016-07-27 | 2016-11-02 | 湖南晖龙股份有限公司 | A kind of robot location based on ROS operating system loses method for retrieving and control system |
| CN106325281A (en) * | 2016-10-30 | 2017-01-11 | 苏州市克拉思科文化传播有限公司 | Smart home dust collection device |
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Application publication date: 20181218 |
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