CN109124499A - A kind of cleaning control method and chip based on clean robot - Google Patents
A kind of cleaning control method and chip based on clean robot Download PDFInfo
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- CN109124499A CN109124499A CN201811238917.XA CN201811238917A CN109124499A CN 109124499 A CN109124499 A CN 109124499A CN 201811238917 A CN201811238917 A CN 201811238917A CN 109124499 A CN109124499 A CN 109124499A
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- clean robot
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- 238000004140 cleaning Methods 0.000 title claims abstract description 103
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000001514 detection method Methods 0.000 claims description 21
- 230000000737 periodic effect Effects 0.000 claims description 6
- 238000010407 vacuum cleaning Methods 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 10
- 238000009434 installation Methods 0.000 abstract description 3
- 238000010521 absorption reaction Methods 0.000 description 5
- 239000000428 dust Substances 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000012512 characterization method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention discloses a kind of cleaning control method and chip based on clean robot, and the clean robot carries out rubbish and put together processing using the rubbish being installed at the brush installation opening of side baffle of putting together.The cleaning control method includes: that the clean robot remains turned-off the main brush and the vacuum cleaner, into quiet cleaning modes, the rubbish to be cleaned on the default walking path in current cleaning region is put together to default collection position according to the map datum of the map recording-member, the main brush and the vacuum cleaner are opened again, are switched to conventional cleaning modes by quiet cleaning modes and are entered the garbage suction that the default collection position is put together in dustbin.Compared with the existing technology, the embodiment of the present invention reduces the noise of entire cleaning process, reduces and cleans power consumption.
Description
Technical field
The invention belongs to controlling intelligent household appliances field, in particular to a kind of cleaning control method based on clean robot and
Chip.
Background technique
With advances in technology, cleaning class robot function gradually can satisfy daily life, market penetration rate
Constantly promoted.Clean robot sweeps the cleaning for adding the mode of dust suction to realize rubbish mainly by round brush at present, but there is noises
Big problem.
Summary of the invention
The present invention proposes that its technical solution is as follows in view of the improper situation of the above-mentioned prior art:
A kind of cleaning control method based on clean robot, the clean robot are installed with casing, main brush, side brush, vacuum
Dust catcher, map recording-member, dustbin, wall surface detection part, rubbish detection part and rubbish are put together baffle, the cleaning control
Method processed includes the following steps: step S1: the clean robot closes the main brush and the vacuum cleaner, into peace and quiet
Cleaning modes, and put together the rubbish to be cleaned on default walking path according to the map datum that the map recording-member records,
When it is helical form walking path that the default walking path, which is arranged, in the clean robot, S2 is entered step；When the cleaning
Robot be arranged the default walking path be intermittent straight line walking path when, enter step S3；Step S2: the cleaning
Robot puts the rubbish to be cleaned in current cleaning region onto default collection position together along helical form walking path, then
It opens the main brush and the vacuum cleaner enters the garbage suction put together to the dustbin into conventional cleaning modes
In；Wherein, the spiral center position of the helical form walking path is in the default position of collecting；Step S3: the cleaner
The rubbish to be cleaned for walking on path when leading portion linear rows is put together to the wall surface and is detected by rubbish baffle of putting together by device people
At the physical boundary that component detects, the main brush and the vacuum cleaner are then opened, so that the rubbish put together is inhaled
It takes in the dustbin, and enters step S4；Step S4: the main brush and the vacuum cleaner are closed, is worked as described
The point of intersection for the physical boundary that leading portion straight line walking path and step S3 are detected is turned, and along the physical boundary row
A pre-determined distance is walked, the side of next section of straight line walking path is then determined according to the map datum of the map recording-member
To, and enter step S5；Wherein, the pre-determined distance is set as the fuselage width of the clean robot；Step S5: it repeats to walk
Rapid S3 to step S4, until the clean robot has traversed current cleaning region.
Further, the default walking path include the first lateral walking path, it is continuous with the first transverse direction walking path
First longitudinal direction walking path, it is parallel with the first lateral walking path and with continuous second lateral line of first longitudinal direction walking path
Walk path and with the second lateral continuous second longitudinal direction walking path of walking path.
Further, in the helical form walking path, the described first lateral walking path, first longitudinal direction walking road
Diameter, the second lateral walking path and the second longitudinal direction walking path constitute a week of the helical form walking path
Phase path；Wherein, 1 to 2 times for being set to the main brush and cleaning width of two continuous and adjacent periodic paths.
Further, in the intermittent straight line walking path, the described first lateral walking path, the first longitudinal direction
Walking path, the second lateral walking path and the second longitudinal direction walking path constitute bow font walking path；Wherein, when
Described to walk path when leading portion linear rows be the described first lateral walking path, then the next section of straight line walking path is described the
Two lateral walking paths；Alternatively, walking path when leading portion linear rows described in is the first longitudinal direction walking path, then it is described next
Section straight line walking path is the second longitudinal direction walking path, described when leading portion linear rows walk path and the next section of linear rows
The spacing for walking path is equal to the fuselage width of the clean robot；The first longitudinal direction walking path and described second
Longitudinal walking path is the straight line path where the physical boundary, alternatively, the described first lateral walking path and described second
Transverse shifting road is the straight line path where the physical boundary.
Further, the cleaning control method further include: the real-time acquisition testing characterization of rubbish detection part is to clear
The parameter for the quantity of refuse swept, then it is compared with preset threshold, when the parameter is greater than the preset threshold, open institute
Main brush and the vacuum cleaner are stated, the rubbish to be cleaned so that rubbish is put together before baffle is inhaled into dustbin；
When the parameter is less than the preset threshold, the main brush and the vacuum cleaner are remained turned-off.
A kind of chip, the chip store the corresponding program code of the cleaning control method.
Compared with prior art, the invention has the benefit that through control clean robot during screwdriven
Rubbish of putting together to default position of collecting carries out absorption processing, reduces the noise of entire cleaning process；By in the physics detected
Boundary collects rubbish, the service intermittent of brush component and dust suction component is realized, to reduce whole cleaning power consumption.
Detailed description of the invention
Fig. 1 is that a kind of rubbish based on clean robot provided in an embodiment of the present invention is put together the structure distribution signal of baffle
Figure；
Fig. 2 is a kind of schematic diagram for helical form walking path based on clean robot that embodiment one provides；
Fig. 3 is a kind of schematic diagram for intermittent straight line walking path based on clean robot that embodiment two provides.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is retouched in detail
It states.
As shown in Figure 1, a kind of clean robot with low noise cleaning function provided in this embodiment, the cleaner
Device people is installed with casing 101, main brush 103, side brush, vacuum cleaner, map recording-member, dustbin and rubbish are put together baffle
102, wherein 101 bottom of casing offers side brush installation opening, and before main brush 103, and rubbish baffle 102 of putting together is fixed
It is arranged at the side brush installation opening of 101 bottom of casing, or is fixed at the front of original side brush configuration.As shown in Figure 1,
Rubbish put together baffle 102 lower end be tilted towards it is main brush 103, rubbish put together baffle 102 upper end to far from it is main brush 103 front incline
Tiltedly.In carrying out cleaning process, the clean robot is divided into quiet cleaning modes and conventional cleaning modes.Routinely cleaning mould
Under formula, it is no different with other cleaning class robots, opens main brush 103 and vacuum cleaner, rubbish is collected in realization when walking.In peace and quiet
Under cleaning modes, the clean robot remains turned-off main brush 103 and vacuum cleaner, according to the ground of the map recording-member
Diagram data puts the rubbish to be cleaned on the default walking path in current cleaning region to default collection position, to reduce together
The noise of entire cleaning process.During this rubbish is put together, rubbish baffle 102 of putting together is driven the driving effect of mechanism
And travel forward, the rubbish to be cleaned put together is swept and is put together baffle 102 toward rubbish, until by the institute on the default walking path
It states rubbish to be cleaned to put together to the default collection position, then opens main brush 103 and vacuum cleaner, the clean robot
Enter the conventional cleaning modes by the quiet cleaning modes.Specifically, main 103 rolling of brush on the default collection position
Dynamic, cooperation rubbish is put together the barrier effect of baffle 102, and the rubbish to be cleaned baffle 102 that can put together along rubbish is sent to rubbish
The garbage inlet channel that rubbish is put together between baffle 102 and its casing 101 of top, then under the action of vacuum cleaner, it is described
Rubbish to be cleaned is inhaled into dustbin.
Preferably, when the default walking path is helical form walking path, the default collection position is the spiral
The spiral center position of shape walking path.When the default walking path is arranged to the walking path of spiral shape or rectangular-ambulatory-plane
When, the map recording-member is marked current cleaning region in the clean robot walking process and map is written
In, it has been marked regional location around the spiral center position of the helical form walking path, then it will be described
Spiral center position mark is a unified garbage collection position, i.e., the described default collection position.The map recording-member
It can be provided in current cleaning region by the map that existing vision prescription or laser solution generate for the clean robot
The map datum, the clean robot can plan corresponding row using the map recording-member in cleaning process
Path is walked, so that the walking of spiral shape or rectangular-ambulatory-plane is carried out in currently cleaning region, it is since periphery that rubbish is constantly past
The spiral center position is pushed away, and in last bleeding point (can be on wall side, can also be such as the position O of Fig. 2), starts main brush
103 and vacuum cleaner, it is uniformly absorbed into the dustbin, then terminates to clean.
Preferably, the clean robot is also installed with wall surface detection part, and the wall surface detection part is worked as detecting
The physical boundary information in preceding cleaning region, i.e., the wall and door of the periphery in corresponding indoor transportable region, alternatively, describedly
The physical boundary for the barrier region that figure recording-member is configured.When the default walking path is arranged to intermittent straight line
When walking path, the garbage collection position on each section of straight line path is in the default position of collecting, also, each section of straight line path
The terminal of diameter corresponds to the physical boundary of the wall surface detection part detection.The clean robot is in the process in path that takes the air line
In, putting baffle together by the rubbish will be when the rubbish to be cleaned on the last period straight line walking path is put together to the map datum
It is absorbed at the current physical boundary position of record, then the rubbish to be cleaned on next section of straight line walking path is put together
Be absorbed into dustbin at next physical boundary position, at physical boundary, although the clean robot can produce
The noise of raw interval, but power consumption can be reduced on the whole.
Preferably, the clean robot further includes the rubbish detection part, is installed in the rubbish and puts together baffle
Front, for the corresponding parameter of quantity of refuse to be cleaned that real-time acquisition testing is put together, and it is matched according to the determining parameter
Main brush and the vacuum cleaner described in cleaning operation scheme control carry out cleaning operation.Wherein, the cleaning operation mode packet
Include the quiet cleaning modes and the conventional cleaning modes.The rubbish detection part can be one group of infrared emission unit,
It is installed in the rubbish to put together before baffle, when sensor corresponding to rubbish blocks infrared emission unit, passes through acquisition
The corresponding parameter of quantity of refuse to be cleaned put together is detected compared with preset threshold, when the parameter is greater than preset threshold, characterization
Rubbish is put together, and the rubbish put together in front of baffle 102 is relatively more, then the clean robot is switched to by the quiet cleaning modes
The routine cleaning modes, open the main brush and the vacuum cleaner sucks rubbish.
A kind of cleaning control method based on above-mentioned clean robot provided in an embodiment of the present invention, including, step S1: institute
It states clean robot and closes main brush 103 and vacuum cleaner, hence into quiet cleaning modes, and according to the map record portion
The map datum of part record is put together the rubbish to be cleaned on default walking path, when the default row is arranged in the clean robot
Walk path be helical form walking path when, enter step S2, the cleaning control method of the corresponding clean robot can be made
For embodiment one, specific path is as shown in Figure 2；It is intermittent when the default walking path is arranged in the clean robot
When straight line walking path, S3 is entered step, the cleaning control method of the corresponding clean robot can be used as embodiment two,
Specific path is as shown in Figure 3.
Embodiment one:
In step s 2, the clean robot returns the rubbish to be cleaned in current cleaning region along helical form walking path
Hold together onto default collection position, the main brush and the vacuum cleaner is then opened, into conventional cleaning modes, by what is put together
Garbage suction enters into the dustbin；Wherein, the spiral center of the helical form walking path is in the default position of collecting
Position.As shown in Fig. 2, 201 indicate current cleaning region, position A is the initial position of the clean robot, and position O is institute
The spiral center position of helical form walking path is stated, the clean robot runs to position from position A, along path AB
B, then the rubbish to be cleaned on the AB of path is put together to position B, first transverse direction of the path AB as the helical form walking path
Walking path, it should be noted that although the path AB in Fig. 2 is straight line, the path AB of Fig. 2 is only as a preferred embodiment
It is illustrated, the described first lateral walking path can also include curve；The clean robot starts to turn in position B, makes
It runs to position C along path BC, then the rubbish to be cleaned on path AB and path BC is all put together to position C, path BC
As the first longitudinal direction walking path of the helical form walking path, first longitudinal direction walking path and the first lateral walking path connect
It is continuous, and first longitudinal direction walking path includes straight line or curved path；Then, the clean robot is turned at the C of position, makes it
Position D is run to along path CD, then the rubbish to be cleaned on path AB, path BC and path CD is all put together to position D, road
Second lateral walking path of the diameter CD as the helical form walking path, the second lateral walking path and first lateral line
It is parallel and continuous with the first longitudinal direction walking path to walk path；Then the clean robot is turned at the D of position, makes its edge
Path DE run to position E, then the rubbish to be cleaned on path AB, path BC, path CD and path DE is all put together to position
Set E, second longitudinal direction walking path of the path DE as the helical form walking path；At this point, in the helical form walking path,
Described first lateral walking path (path AB), the first longitudinal direction walking path (path BC), second lateral line are walked
Diameter (path CD) and the second longitudinal direction walking path (path DE) constitute a cycle road of the helical form walking path
Diameter.Then the clean robot is turned at the E of position to change direction of travel, so that it is run to position F along path EF, then
Rubbish to be cleaned on preceding cycles path is put together to position F, second as the helical form walking path of path EF
The lateral walking path of the first of periodic path, wherein the second longitudinal direction walking path of path EF and first periodic path
(path DE) is continuous.Then the clean robot moves to helical form walking road according to above-mentioned planning walking path method
The spiral center position O of diameter, so that week of the clean robot in a plurality of continuous helical form walking path interconnected
It walks on phase path, finally at the spiral center position O of the helical form walking path, described in the clean robot opening
Main brush and the vacuum cleaner enter the garbage suction put together into the dustbin into conventional cleaning modes.Wherein,
Continuous two being spaced in Fig. 2 for periodic path indicate are as follows: the spacing of straight line where the EF of path and the straight line where the AB of path,
First transverse direction of the lateral walking path (path AB) of described the first of i.e. first periodic path and second period path
The spacing of walking path (path EF), numerical value are the clean robot settings, are that main brush 102 cleans the 1 to 2 of width
Times.Cleaning control method described in the present embodiment, which reduces, cleans noise.
It should be noted that when the default walking path is arranged to the walking path of spiral shape or rectangular-ambulatory-plane, institute
It states map recording-member current cleaning region is marked in the clean robot walking process and is written in map, directly
It has been marked regional location around to the spiral center position 0 of the helical form walking path, then in the spiral
Center O enters conventional cleaning modes, and the garbage suction that current location is put together is handled, wherein the described first laterally walking
The path length in path (path AB) is less than the lateral length in current cleaning region 201, the first longitudinal direction walking path (path
BC) it is less than the longitudinal length in current cleaning region 201.
In addition, the cleaning control method will not generate difference because of different cleaning regions, when the cleaning machine
After people executes completion step S2, into after new cleaning region, the spiral is cooked up still according to the cleaning control method
Shape walking path keeps the quiet cleaning modes to carry out the processing of putting together of rubbish to be cleaned, finally in new spiral center position
It sets and is switched to the conventional cleaning modes and carries out absorption processing.
Embodiment two:
In step s3, the clean robot by rubbish put together baffle 102 by when leading portion linear rows walk on path to clear
It sweeps away rubbish at the physical boundary put together and detected to the wall surface detection part, then opens main brush 103 and the vacuum
Dust catcher so that the garbage suction put together enters into the dustbin, and enters step S4.As shown in figure 3,301 indicate current
Region is cleaned, position A1 is the cleaning initial position of the clean robot, and the clean robot is moved along path A1B1
To position B1, under the quiet cleaning modes for keeping main brush 103 and the vacuum cleaner to close, by the A1B1 of path to clear
It sweeps away rubbish and puts together to position B1, then path A1B1 is the first lateral walking path of the intermittent straight line walking path.?
At the B1 of position, the wall surface detection part detects a physical boundary in cleaning region 301, and the clean robot is by peace and quiet
Cleaning modes are switched to conventional cleaning modes, open main brush 103 and the vacuum cleaner, will put together to the rubbish at the B1 of position
Carry out absorption processing.
In step S4, the clean robot closes main brush 103 and the vacuum cleaner, works as leading portion linear rows described
It walks path and its laterally or longitudinally the point of intersection of physical boundary is turned, and walk one along laterally or longitudinally physical boundary
Then pre-determined distance determines the direction of next section of straight line walking path according to the map datum of the map recording-member, goes forward side by side
Enter step S5.Wherein, the pre-determined distance is set as the fuselage width of the clean robot.As shown in figure 3, the cleaner
Device people first closes main brush 103 and the vacuum cleaner, then turns at the B1 of position, moves to position then along path B1C1
C1, in the clean robot walking process, the location information of the map recording-member path label B1C1, and be written ground
Figure is used as map datum, and then the clean robot determines next section of straight line according to the map datum of the map recording-member
The direction of walking path, that is, control the clean robot position C1 by path B1C1 directional steering path C1D1 side
To run to position D1 along path C1D1 since the C1 of position, wherein path B1C1 is path A1B1 corresponding vertical
To physical boundary, path B1C1 is also used as the first longitudinal direction walking path of the intermittent straight line walking path；Position B1 is
The intersection position of path B1C1 and path A1B1.
It should be noted that walk path when leading portion linear rows be the described first lateral walking path when described, then under described
One section of straight line walking path is the described second lateral walking path, this is the path planning mode of above-described embodiment one；Alternatively, working as
It is described when to walk path be the first longitudinal direction walking path to leading portion linear rows, then the next section of straight line walking path is described the
Two longitudinal walking paths, this path planning mode is similar to embodiment one, and so it will not be repeated.The leading portion linear rows of working as are walked
The spacing of path and the next section of straight line walking path is the fuselage width of the clean robot.
Step S5: repeating step S3 to step S4, until the clean robot has traversed current cleaning region.Such as Fig. 3
Shown, under the quiet cleaning modes for keeping main brush 103 and the vacuum cleaner to close, the clean robot is from position C1
Start to run to position D1 along path C1D1, and the rubbish to be cleaned on the C1D1 of path is put together to position D1, then path
C1D1 is the second lateral walking path of the intermittent straight line walking path, is laterally walked with described in the present embodiment first
Path is parallel.Then at the D1 of position, the wall surface detection part detects another physical boundary in cleaning region 301, institute
It states clean robot and is switched to conventional cleaning modes by quiet cleaning modes, open main brush 103 and the vacuum cleaner, will return
Hold together to the rubbish at the D1 of position and carries out absorption processing.The clean robot first closes main brush 103 and the vacuum cleaner, then
It turns at the D1 of position, moves to position E1 then along path D1E1, in the clean robot walking process, describedly
The location information of figure recording-member path label D1E1, and map is written as map datum, then the clean robot root
The direction of next section of straight line walking path is determined according to the map datum of the map recording-member.Wherein, path D1E1 is path
The corresponding longitudinal physical boundary C1D1, path C1D1 is also as the second longitudinal direction walking road of the intermittent straight line walking path
Diameter；Position D1 is the intersection position of path C1D1 and path D1E1.Then S3 is repeated the above steps since the E1 of position to above-mentioned
Step S4 cleans region 301 until the clean robot has been traversed by the intermittent straight line walking path, and arrives
Until the O1 of position.Then the clean robot is in cleaning region 301 along side walking correcting action.The present invention is implemented
In example, although the cleaning control method can generate intermittent noise, it is generally relative to embodiment one, reduces the function of cleaning
Consumption.
It should be noted that in the intermittent straight line walking path, as shown in figure 3, first lateral line is walked
Diameter (path A1B1), the first longitudinal direction walking path (path B1C1), the second lateral walking path (path C1D1) and
The second longitudinal direction walking path (path D1E1) constitutes bow font walking path, wherein the first longitudinal direction walking path (road
Diameter B1C1) and the second longitudinal direction walking path (path D1E1) be the straight line path where the physical boundary, described first
The distance length of longitudinal walking path (path B1C1) and the second longitudinal direction walking path (path D1E1) is equal to institute
The fuselage width for stating clean robot is conducive to improve cleaning coverage rate.In addition, the first lateral walking path and described the
Two transverse shifting roads can also become the straight line path where the physical boundary, this is because of the current barrier or wall for cleaning region
Position and it is different, exchanged based on the merely lateral and longitudinal path status in cleaning path planned of cleaning control method, therefore
It repeats no more.In short, the clean robot keeps main brush before the wall surface detection part detects the physical boundary
103 and the vacuum cleaner close, and rubbish is persistently carried out by processing of putting together by rubbish baffle of putting together.
Preferably, in the cleaning control method described in embodiment one and embodiment two, further includes: the clean robot exists
It is put together during rubbish to be cleaned on the default walking path, the real-time acquisition testing characterization of rubbish detection part is to clear
The parameter for the quantity of refuse swept, then it is compared with preset threshold.The rubbish detection part can be one group of infrared emission
Unit, the quantity of refuse put together before rubbish puts baffle 102 together is bigger, blocks infrared emission unit, collects its detection
Parameter have greatly changed.When the parameter is greater than the preset threshold (such as 20%), determine by the quiet cleaning
Mode enters conventional cleaning modes, main brush 103 and the vacuum cleaner is opened, thus the institute before baffle 102 that rubbish is put together
It states in rubbish to be cleaned sucking dustbin, the rubbish that avoids putting together is excessive and influences sweeping efficiency；When the parameter is less than described pre-
If when threshold value, being retained in quiet cleaning modes, main brush 103 and the vacuum cleaner is kept to close, it is described pre- until moving to
If collect position carries out absorption processing again, to reduce cleaning noise.
A kind of chip, the chip store the corresponding program code of the cleaning control method.Said program code is for controlling
Robot processed executes and cleans control method described in above embodiments.It is auxiliary that the chip can be robot main control chip, robot
Help control chip or robot processor chip etc..
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (6)
1. a kind of cleaning control method based on clean robot, the clean robot is installed with casing, main brush, side brush, true
Vacuum cleaner, map recording-member, dustbin, wall surface detection part, rubbish detection part and rubbish are put together baffle, and feature exists
In the cleaning control method includes the following steps:
Step S1: the clean robot closes the main brush and the vacuum cleaner, into quiet cleaning modes, and according to
The map datum of map recording-member record is put together the rubbish to be cleaned on default walking path, when the clean robot
Be arranged the default walking path be helical form walking path when, enter step S2；When clean robot setting is described pre-
If walking path is intermittent straight line walking path, S3 is entered step；
Step S2: the clean robot along helical form walking path by the rubbish to be cleaned in current cleaning region put together to
It is default to collect on position, then open the main brush and the vacuum cleaner, into conventional cleaning modes, the rubbish that will be put together
It is absorbed into the dustbin；Wherein, the spiral center position of the helical form walking path is in the default position of collecting；
Step S3: the clean robot will walk rubbish to be cleaned on path when leading portion linear rows by rubbish baffle of putting together
Rubbish is put together at the physical boundary detected to the wall surface detection part, and the main brush and the vacuum cleaning are then opened
Device so that the garbage suction put together enters into the dustbin, and enters step S4；
Step S4: closing the main brush and the vacuum cleaner, described when leading portion linear rows walk path and step S3 detection
To the point of intersection of physical boundary turn, and walk a pre-determined distance along the physical boundary, then according to
The map datum of map recording-member determines the direction of next section of straight line walking path, and enters step S5；Wherein, described default
Distance is set as the fuselage width of the clean robot；
Step S5: repeating step S3 to step S4, until the clean robot has traversed current cleaning region.
2. cleaning control method according to claim 1, which is characterized in that the default walking path includes the first lateral line
Walk path, with the continuous first longitudinal direction walking path of the first lateral walking path, parallel with the first transverse direction walking path and with the
It the one lateral walking path of longitudinal walking path continuous second and walks road with the second lateral continuous second longitudinal direction of walking path
Diameter.
3. cleaning control method according to claim 2, which is characterized in that in the helical form walking path, described first
Lateral walking path, the first longitudinal direction walking path, the second lateral walking path and the second longitudinal direction walking path
Constitute a cycle path of the helical form walking path；Wherein, the interval of two continuous and adjacent periodic paths
It is set as 1 to 2 times that the main brush cleans width.
4. cleaning control method according to claim 1 or described in claim 2, which is characterized in that the intermittent linear rows
It walks in path, the first lateral walking path, the first longitudinal direction walking path, the second lateral walking path and described
Second longitudinal direction walking path constitutes bow font walking path；
Wherein, to walk path when leading portion linear rows be the described first lateral walking path when described, then the next section of straight line walking
Path is the described second lateral walking path；Alternatively, walking path when leading portion linear rows described in is first longitudinal direction walking road
Diameter, then the next section of straight line walking path is the second longitudinal direction walking path, described when leading portion linear rows walk path and institute
The spacing for stating next section of straight line walking path is equal to the fuselage width of the clean robot；
The first longitudinal direction walking path and the second longitudinal direction walking path are the straight line paths where the physical boundary, or
Person, the described first lateral walking path and second transverse shifting road are the straight line paths where the physical boundary.
5. cleaning control method according to claim 1, which is characterized in that the cleaning control method further include: the rubbish
The real-time acquisition testing of rubbish detection part characterizes the parameter of quantity of refuse to be cleaned, then it is compared with preset threshold, works as institute
When stating parameter greater than the preset threshold, the main brush and the vacuum cleaner are opened, so that the rubbish is put together before baffle
The rubbish to be cleaned be inhaled into dustbin；When the parameter is less than the preset threshold, the main brush and described true
Vacuum cleaner remains turned-off.
6. a kind of chip, which is characterized in that it is corresponding that the chip stores any one of claim 1 to 5 cleaning control method
Program code.
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| CN112241175A (en) * | 2020-12-21 | 2021-01-19 | 广州赛特智能科技有限公司 | Road full-traversal sweeping path planning method for unmanned sweeper |
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