CN109124499B - Cleaning control method and chip based on cleaning robot - Google Patents
Cleaning control method and chip based on cleaning robot Download PDFInfo
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- CN109124499B CN109124499B CN201811238917.XA CN201811238917A CN109124499B CN 109124499 B CN109124499 B CN 109124499B CN 201811238917 A CN201811238917 A CN 201811238917A CN 109124499 B CN109124499 B CN 109124499B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 190
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000001514 detection method Methods 0.000 claims description 13
- 230000000737 periodic effect Effects 0.000 claims description 10
- 238000010926 purge Methods 0.000 claims 2
- 230000008569 process Effects 0.000 abstract description 10
- 238000010408 sweeping Methods 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
Abstract
The invention discloses a cleaning control method and a chip based on a cleaning robot, wherein the cleaning robot utilizes a garbage collection baffle arranged at an assembly port of a side brush to carry out garbage collection treatment. The cleaning control method comprises the following steps: the cleaning robot keeps the main brush and the vacuum cleaner closed, enters a quiet cleaning mode, gathers garbage to be cleaned on a preset walking path in a current cleaning area to a preset collecting position according to map data of the map recording part, opens the main brush and the vacuum cleaner, and switches from the quiet cleaning mode to a normal cleaning mode to absorb the garbage gathered at the preset collecting position into a garbage box. Compared with the prior art, the embodiment of the invention reduces the noise in the whole cleaning process and reduces the cleaning power consumption.
Description
Technical Field
The invention belongs to the field of intelligent household appliances, and particularly relates to a cleaning control method and a cleaning control chip based on a cleaning robot.
Background
Along with the progress of technology, clean class robot function gradually can satisfy people's daily life, and market permeability promotes constantly. At present, the cleaning robot mainly cleans garbage by a rolling brush sweeping and dust sucking mode, but has the problem of large noise.
Disclosure of Invention
The present invention has been made in view of the above-mentioned inconveniences of the prior art, and has the following technical solutions:
the cleaning control method based on the cleaning robot is characterized in that the cleaning robot is provided with a shell, a main brush, an edge brush, a vacuum cleaner, a map recording part, a garbage box, a wall surface detection part, a garbage detection part and a garbage collection baffle, and comprises the following steps: step S1: the cleaning robot closes the main brush and the vacuum cleaner, enters a quiet cleaning mode, gathers garbage to be cleaned on a preset walking path according to map data recorded by the map recording component, and enters a step S2 when the cleaning robot sets the preset walking path to be a spiral walking path; when the cleaning robot sets the preset walking path to be an intermittent linear walking path, entering step S3; step S2: the cleaning robot gathers the garbage to be cleaned in the current cleaning area to a preset collecting position along a spiral walking path, then opens the main brush and the vacuum cleaner, enters a conventional cleaning mode, and absorbs the gathered garbage into the garbage box; the preset collecting position is a spiral center position of the spiral walking path; step S3: the cleaning robot gathers the garbage to be cleaned on the current section of straight line walking path to a physical boundary detected by the wall detection component through the garbage gathering baffle, then opens the main brush and the vacuum cleaner, so that the gathered garbage is absorbed into the garbage box, and the step S4 is carried out; step S4, closing the main brush and the vacuum cleaner, turning at the intersection point of the current section of straight walking path and the physical boundary detected in the step S3, walking a preset distance along the physical boundary, determining the direction of the next section of straight walking path according to the map data of the map recording component, and entering the step S5; wherein the preset distance is set to be the width of the body of the cleaning robot; step S5: and repeating the steps S3 to S4 until the cleaning robot traverses the current cleaning area.
Further, the preset walking path includes a first lateral walking path, a first longitudinal walking path continuous with the first lateral walking path, a second lateral walking path parallel to the first lateral walking path and continuous with the first longitudinal walking path, and a second longitudinal walking path continuous with the second lateral walking path.
Further, in the spiral travel path, the first lateral travel path, the first longitudinal travel path, the second lateral travel path, and the second longitudinal travel path constitute one cycle path of the spiral travel path; wherein the interval between two consecutive and adjacent periodic paths is set to 1 to 2 times the main brush cleaning width.
Further, in the intermittent straight walking path, the first transverse walking path, the first longitudinal walking path, the second transverse walking path and the second longitudinal walking path form an arcuate walking path; when the current section of straight line walking path is the first transverse walking path, the next section of straight line walking path is the second transverse walking path; or when the current section of straight line walking path is the first longitudinal walking path, the next section of straight line walking path is the second longitudinal walking path, and the distance between the current section of straight line walking path and the next section of straight line walking path is set to be equal to the body width of the cleaning robot; the first longitudinal walking path and the second longitudinal walking path are straight-line paths where the physical boundaries are located, or the first transverse walking path and the second transverse walking path are straight-line paths where the physical boundaries are located.
Further, the cleaning control method further includes: the garbage detection component collects and detects parameters representing the garbage amount to be cleaned in real time, compares the parameters with a preset threshold value, and starts the main brush and the vacuum cleaner when the parameters are larger than the preset threshold value, so that the garbage to be cleaned before the garbage is collected into the baffle is sucked into the garbage box; when the parameter is less than the preset threshold, the main brush and the vacuum cleaner remain closed.
A chip storing the program codes corresponding to the cleaning control method.
Compared with the prior art, the invention has the beneficial effects that: the cleaning robot is controlled to gather garbage to a preset collecting position for absorption treatment in the spiral walking process, so that noise in the whole cleaning process is reduced; by collecting the waste at the detected physical boundary, intermittent operation of the sweeping and dust collection components is achieved, thereby reducing overall sweeping power consumption.
Drawings
Fig. 1 is a schematic structural distribution diagram of a garbage collection baffle based on a cleaning robot according to an embodiment of the present invention;
fig. 2 is a schematic view of a spiral walking path of a cleaning robot according to the first embodiment;
fig. 3 is a schematic diagram of an intermittent straight walking path based on a cleaning robot according to a second embodiment.
Detailed Description
The following describes the technical solution in the embodiment of the present invention in detail with reference to the drawings in the embodiment of the present invention.
As shown in fig. 1, the cleaning robot with the low noise cleaning function is provided with a casing 101, a main brush 103, an edge brush, a vacuum cleaner, a map recording component, a garbage box and a garbage collection baffle 102, wherein an edge brush assembly opening is formed in the bottom of the casing 101 and is located in front of the main brush 103, and the garbage collection baffle 102 is fixedly arranged at the edge brush assembly opening of the bottom of the casing 101 or is fixedly arranged in front of an original edge brush structure. As shown in fig. 1, the lower end of the garbage collection baffle 102 is inclined toward the main brush 103, and the upper end of the garbage collection baffle 102 is inclined toward the front away from the main brush 103. During the cleaning, the cleaning robot is classified into a quiet cleaning mode and a normal cleaning mode. In the normal cleaning mode, the main brush 103 and the vacuum cleaner are turned on, and garbage collection is performed while walking, unlike other cleaning robots. In the quiet cleaning mode, the cleaning robot keeps the main brush 103 and the vacuum cleaner closed, and gathers the garbage to be cleaned on the preset travel path in the current cleaning area to a preset collection position according to the map data of the map recording part, so that noise in the whole cleaning process is reduced. In the garbage collection process, the garbage collection baffle plate 102 is driven by the driving mechanism to move forwards, collected garbage to be cleaned is scanned to the garbage collection baffle plate 102 until the garbage to be cleaned on the preset walking path is collected to the preset collection position, then the main brush 103 and the vacuum cleaner are opened, and the cleaning robot enters the normal cleaning mode from the quiet cleaning mode. Specifically, the main brush 103 rolls at the preset collecting position, and the garbage to be cleaned is conveyed to the garbage inlet channel between the garbage collecting baffle 102 and the shell 101 above the garbage collecting baffle 102 along the garbage collecting baffle 102 in cooperation with the blocking function of the garbage collecting baffle 102, and then is sucked into the garbage box under the action of the vacuum cleaner.
Preferably, when the preset walking path is a spiral walking path, the preset collecting position is a spiral center position of the spiral walking path. When the preset walking path is set to be a spiral or zigzag walking path, the map recording part marks the current cleaning area and writes the current cleaning area into a map in the walking process of the cleaning robot until the periphery of the spiral center position of the spiral walking path is the marked area position, and marks the spiral center position as a uniform garbage collection position, namely the preset collection position. The map recording part can provide the map data in the current cleaning area for the cleaning robot through the map generated by the existing visual scheme or the laser scheme, the cleaning robot can plan a corresponding walking path by utilizing the map recording part in the cleaning process, so that spiral or back-shaped walking is performed in the current cleaning area, garbage is continuously pushed to the spiral central position from the periphery, and at the last collecting point (the position O can be at the wall edge or as shown in fig. 2), the main brush 103 and the vacuum cleaner are started to uniformly absorb the garbage into the garbage box, and then cleaning is finished.
Preferably, the cleaning robot is further provided with a wall surface detecting means for detecting physical boundary information of a current cleaning area, i.e., a wall and a door corresponding to an outer circumference of an area movable in the room, or a physical boundary of an obstacle area configured by the map recording means. When the preset walking path is set to be an intermittent straight walking path, the preset collecting position is a garbage collecting position on each section of straight path, and the end point of each section of straight path corresponds to the physical boundary detected by the wall surface detecting component. In the process of moving the straight line path, the cleaning robot gathers the garbage to be cleaned on the current straight line path to the current physical boundary position of the map data record through the garbage gathering baffle for absorption, then gathers the garbage to be cleaned on the next straight line path to the next physical boundary position for absorption into the garbage box, and at the physical boundary position, although intermittent noise can be generated by the cleaning robot, the power consumption can be reduced as a whole.
Preferably, the cleaning robot further comprises a garbage detection component, the garbage detection component is arranged in front of the garbage collection baffle plate and used for collecting and detecting parameters corresponding to the collected garbage to be cleaned in real time and controlling the main brush and the vacuum cleaner to perform cleaning operation according to a determined cleaning operation mode matched with the parameters. Wherein the cleaning operation mode includes the quiet sweeping mode and the normal sweeping mode. The garbage detection component can be a group of infrared correlation units, is arranged in front of the garbage collection baffle, compares parameters corresponding to the garbage amount to be cleaned through collection and detection when the garbage blocks a sensor corresponding to the infrared correlation units, and characterizes that the garbage collected in front of the garbage collection baffle 102 is relatively more when the parameters are larger than a preset threshold value, so that the cleaning robot is switched from the quiet cleaning mode to the conventional cleaning mode, and starts the main brush and the vacuum cleaner to suck garbage.
The cleaning control method based on the cleaning robot provided by the embodiment of the invention comprises the following steps of S1: the cleaning robot closes the main brush 103 and the vacuum cleaner, thereby entering a quiet cleaning mode, collecting garbage to be cleaned on a preset traveling path according to map data recorded by the map recording component, and entering step S2 when the cleaning robot sets the preset traveling path to be a spiral traveling path, wherein a specific path is shown in fig. 2, and the cleaning control method of the cleaning robot corresponding to the cleaning robot can be used as an embodiment one; when the cleaning robot sets the preset traveling path to be an intermittent straight traveling path, step S3 is entered, and the corresponding cleaning control method of the cleaning robot may be used as embodiment two, and the specific path is shown in fig. 3.
Embodiment one:
in step S2, the cleaning robot gathers the garbage to be cleaned in the current cleaning area to a preset collecting position along a spiral travelling path, then opens the main brush and the vacuum cleaner, enters a normal cleaning mode, and absorbs the gathered garbage into the garbage box; the preset collecting position is a spiral center position of the spiral walking path. As shown in fig. 2, 201 denotes a current cleaning area, a position a is a starting position of the cleaning robot, a position O is a spiral center position of the spiral traveling path, the cleaning robot starts from the position a and travels along a path AB to a position B, the garbage to be cleaned on the path AB is gathered to the position B, the path AB is a first transverse traveling path of the spiral traveling path, and it should be noted that, although the path AB in fig. 2 is a straight line, the path AB in fig. 2 is only illustrated as a preferred embodiment, and the first transverse traveling path may further include a curve; the cleaning robot starts turning at a position B and walks to a position C along a path BC, garbage to be cleaned on the path AB and the path BC is gathered to the position C, the path BC is used as a first longitudinal walking path of the spiral walking path, the first longitudinal walking path is continuous with a first transverse walking path, and the first longitudinal walking path comprises a straight line or a curve; then, the cleaning robot turns at the position C to walk to the position D along the path CD, the garbage to be cleaned on the path AB, the path BC and the path CD are all gathered to the position D, the path CD is used as a second transverse walking path of the spiral walking path, and the second transverse walking path is parallel to the first transverse walking path and is continuous with the first longitudinal walking path; then the cleaning robot turns at the position D to walk to the position E along the path DE, the garbage to be cleaned on the path AB, the path BC, the path CD and the path DE are all gathered to the position E, and the path DE is used as a second longitudinal walking path of the spiral walking path; at this time, among the spiral travel paths, the first lateral travel path (path AB), the first longitudinal travel path (path BC), the second lateral travel path (path CD), and the second longitudinal travel path (path DE) constitute a first periodic path of the spiral travel path. And then the cleaning robot turns at the position E to change the traveling direction so as to travel along a path EF to a position F, so that the garbage to be cleaned on the periodic path is gathered to the position F, and the path EF is used as a first transverse traveling path of a second periodic path of the spiral traveling path, wherein the path EF is continuous with the second longitudinal traveling path (path DE) of the first periodic path. And then the cleaning robot moves to the spiral center position O of the spiral walking path according to the walking path planning method, so that the cleaning robot walks on the periodic paths of a plurality of continuous spiral walking paths which are connected with each other, and finally, at the spiral center position O of the spiral walking path, the cleaning robot opens the main brush and the vacuum cleaner, enters a normal cleaning mode and absorbs the collected garbage into the garbage box. Wherein the interval of two consecutive periodic paths is represented in fig. 2 as: the distance between the straight line where the path EF is located and the straight line where the path AB is located, that is, the distance between the first lateral traveling path (path AB) of the first periodic path and the first lateral traveling path (path EF) of the second periodic path, is set by the cleaning robot, and is 1 to 2 times the cleaning width of the main brush 103. The cleaning control method described in this embodiment reduces cleaning noise.
When the preset travel path is set to be a spiral or zigzag travel path, the map recording unit marks a current cleaning area during travel of the cleaning robot and writes the current cleaning area in a map until the periphery of a spiral center position 0 of the spiral travel path is a marked area position, and enters a normal cleaning mode at the spiral center position O to absorb garbage collected at the current position, wherein the path length of the first transverse travel path (path AB) is smaller than the transverse length of the current cleaning area 201, and the first longitudinal travel path (path BC) is smaller than the longitudinal length of the current cleaning area 201.
In addition, the cleaning control method does not generate difference due to different cleaning areas, after the cleaning robot completes the step S2 and enters a new cleaning area, the spiral walking path is still drawn according to the rules of the cleaning control method, the quiet cleaning mode is kept for collecting garbage to be cleaned, and finally the cleaning robot is switched to the conventional cleaning mode at a new spiral center position for absorbing.
Embodiment two:
in step S3, the cleaning robot gathers the garbage to be cleaned on the current straight traveling path to one physical boundary detected by the wall surface detecting part through the garbage gathering baffle 102, then opens the main brush 103 and the vacuum cleaner, so that the gathered garbage is absorbed into the garbage box, and proceeds to step S4. As shown in fig. 3, 301 indicates a current cleaning area, the position A1 is a cleaning start position of the cleaning robot, the cleaning robot moves to the position B1 along the path A1B1, and in a quiet cleaning mode of keeping the main brush 103 and the vacuum cleaner closed, the garbage to be cleaned on the path A1B1 is gathered to the position B1, and then the path A1B1 is a first transverse traveling path of the intermittent straight traveling path. At position B1, the wall detecting means detects one physical boundary of the cleaning area 301, the cleaning robot is switched from the quiet cleaning mode to the normal cleaning mode, the main brush 103 and the vacuum cleaner are turned on, and the garbage collected at position B1 is subjected to the suction treatment.
In step S4, the cleaning robot turns off the main brush 103 and the vacuum cleaner, turns at the intersection of the current straight traveling path and the lateral or longitudinal physical boundary thereof, travels a preset distance along the lateral or longitudinal physical boundary, then determines the direction of the next straight traveling path according to the map data of the map recording unit, and proceeds to step S5. Wherein the preset distance is set to a body width of the cleaning robot. As shown in fig. 3, the cleaning robot turns off the main brush 103 and the vacuum cleaner, turns around at the position B1, and then moves to the position C1 along the path B1C1, during the traveling of the cleaning robot, the map recording unit marks the position information of the path B1C1 and writes a map as map data, and then the cleaning robot determines the direction of the next straight traveling path according to the map data of the map recording unit, i.e., controls the cleaning robot to turn from the direction of the path B1C1 to the direction of the path C1D1 at the position C1 so as to travel along the path C1D1 to the position D1 from the position C1, wherein the path B1C1 is the longitudinal physical boundary corresponding to the path A1B1, and the path B1C1 is also the first longitudinal traveling path of the intermittent straight traveling path; the position B1 is the intersection position of the path B1C1 and the path A1B 1.
It should be noted that, when the current section of straight-line travel path is the first transverse travel path, the next section of straight-line travel path is the second transverse travel path, which is the path planning method of the first embodiment; or when the current section of straight line walking path is the first longitudinal walking path, the next section of straight line walking path is the second longitudinal walking path, and the path planning manner is similar to that of the first embodiment, so that the description is omitted. The distance between the current section of straight-line walking path and the next section of straight-line walking path is the width of the cleaning robot body.
Step S5: and repeating the steps S3 to S4 until the cleaning robot traverses the current cleaning area. As shown in fig. 3, in the quiet cleaning mode in which the main brush 103 and the vacuum cleaner are kept closed, the cleaning robot walks from the position C1 to the position D1 along the path C1D1 and gathers the garbage to be cleaned on the path C1D1 to the position D1, and the path C1D1 is a second lateral travel path of the intermittent straight travel path, which is parallel to the first lateral travel path in the present embodiment. Then at the position D1, the wall detecting means detects another physical boundary of the cleaning area 301, the cleaning robot is switched from the quiet cleaning mode to the normal cleaning mode, the main brush 103 and the vacuum cleaner are turned on, and the garbage collected at the position D1 is subjected to the suction treatment. The cleaning robot turns off the main brush 103 and the vacuum cleaner, turns at the position D1, and then moves to the position E1 along the path D1E1, and during the traveling of the cleaning robot, the map recording unit marks the position information of the path D1E1 and writes a map as map data, and then the cleaning robot determines the direction of the next straight traveling path according to the map data of the map recording unit. Wherein the path D1E1 is a longitudinal physical boundary corresponding to the path C1D1, and the path C1D1 is also used as a second longitudinal travel path of the intermittent straight travel path; the position D1 is the intersection position of the path C1D1 and the path D1E 1. Then, the above step S3 to step S4 are repeated from the position E1 until the cleaning robot traverses the cleaning area 301 through the intermittent straight-line travel path and reaches the position O1. The cleaning robot then walks sideways within the cleaning area 301 back to the starting position. In the embodiment of the invention, the cleaning control method generates intermittent noise, but generally reduces the power consumption of cleaning compared with the first embodiment.
In the intermittent straight traveling path, as shown in fig. 3, the first transverse traveling path (path A1B 1), the first longitudinal traveling path (path B1C 1), the second transverse traveling path (path C1D 1) and the second longitudinal traveling path (path D1E 1) form an arcuate traveling path, wherein the first longitudinal traveling path (path B1C 1) and the second longitudinal traveling path (path D1E 1) are straight paths where the physical boundary is located, and the distance length of the first longitudinal traveling path (path B1C 1) and the second longitudinal traveling path (path D1E 1) is set to be equal to the body width of the cleaning robot, so that the cleaning coverage rate is advantageously improved. In addition, the first lateral traveling path and the second lateral traveling path may also be straight paths where the physical boundaries are located, which are different depending on the position of the obstacle or the wall in the current cleaning area, and the cleaning path planned based on the cleaning control method is only a lateral path state and a longitudinal path state, so that the description is omitted. In summary, the cleaning robot keeps the main brush 103 and the vacuum cleaner closed and continues to gather the garbage by the garbage gathering plate until the wall detecting means detects the physical boundary.
Preferably, in the cleaning control method according to the first and second embodiments, the cleaning control method further includes: in the process that the cleaning robot gathers garbage to be cleaned on the preset walking path, the garbage detection component collects and detects parameters representing the garbage amount to be cleaned in real time and compares the parameters with a preset threshold value. The garbage detection component can be a group of infrared correlation units, and when the garbage amount collected before the garbage is collected by the baffle plate 102 is relatively large, the infrared correlation units are blocked, so that the parameters obtained by detection and collection are greatly changed. When the parameter is greater than the preset threshold (for example, 20%), determining that the cleaning mode is changed from the quiet cleaning mode to the normal cleaning mode, and starting the main brush 103 and the vacuum cleaner, so that the garbage to be cleaned before the garbage is gathered into the baffle 102 is sucked into the garbage box, and the influence on cleaning efficiency caused by too much gathered garbage is avoided; when the parameter is less than the preset threshold, the quiet cleaning mode is maintained, and the main brush 103 and the vacuum cleaner are kept off until the vacuum cleaner moves to the preset collection position and then the absorption process is performed to reduce cleaning noise.
A chip storing the program codes corresponding to the cleaning control method. The program code is for controlling the robot to execute the cleaning control method described in the above embodiment. The chip can be a robot main control chip, a robot auxiliary control chip or a robot processor chip and the like.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (6)
1. The cleaning control method based on the cleaning robot is characterized by comprising the following steps of:
step S1: the cleaning robot closes the main brush and the vacuum cleaner, enters a quiet cleaning mode, gathers garbage to be cleaned on a preset walking path according to map data recorded by the map recording component, and enters a step S2 when the cleaning robot sets the preset walking path to be a spiral walking path; when the cleaning robot sets the preset walking path to be an intermittent linear walking path, entering step S3;
step S2: the cleaning robot gathers the garbage to be cleaned in the current cleaning area to a preset collecting position along a spiral walking path, then opens the main brush and the vacuum cleaner, enters a conventional cleaning mode, and absorbs the gathered garbage into the garbage box; the preset collecting position is a spiral center position of the spiral walking path;
step S3: the cleaning robot gathers the garbage to be cleaned on the current section of straight line walking path to a physical boundary detected by the wall detection component through the garbage gathering baffle, then opens the main brush and the vacuum cleaner, so that the gathered garbage is absorbed into the garbage box, and the step S4 is carried out;
step S4, closing the main brush and the vacuum cleaner, turning at the intersection point of the current section of straight walking path and the physical boundary detected in the step S3, walking a preset distance along the physical boundary, determining the direction of the next section of straight walking path according to the map data of the map recording component, and entering the step S5; wherein the preset distance is set to be the width of the body of the cleaning robot;
step S5: and repeating the steps S3 to S4 until the cleaning robot traverses the current cleaning area.
2. The cleaning control method according to claim 1, wherein the preset travel path includes a first lateral travel path, a first longitudinal travel path continuous with the first lateral travel path, a second lateral travel path parallel to the first lateral travel path and continuous with the first longitudinal travel path, and a second longitudinal travel path continuous with the second lateral travel path.
3. The cleaning control method according to claim 2, wherein, of the spiral travel paths, the first lateral travel path, the first longitudinal travel path, the second lateral travel path, and the second longitudinal travel path constitute one cycle path of the spiral travel path; wherein the interval between two consecutive and adjacent periodic paths is set to 1 to 2 times the main brush cleaning width.
4. The cleaning control method according to claim 2, wherein, of the intermittent straight traveling paths, the first lateral traveling path, the first longitudinal traveling path, the second lateral traveling path, and the second longitudinal traveling path constitute an arcuate traveling path;
when the current section of straight line walking path is the first transverse walking path, the next section of straight line walking path is the second transverse walking path; or when the current section of straight line walking path is the first longitudinal walking path, the next section of straight line walking path is the second longitudinal walking path, and the distance between the current section of straight line walking path and the next section of straight line walking path is set to be equal to the body width of the cleaning robot;
the first longitudinal walking path and the second longitudinal walking path are straight-line paths where the physical boundaries are located, or the first transverse walking path and the second transverse walking path are straight-line paths where the physical boundaries are located.
5. The purge control method according to claim 1, wherein the purge control method further comprises: the garbage detection component collects and detects parameters representing the garbage amount to be cleaned in real time, compares the parameters with a preset threshold value, and starts the main brush and the vacuum cleaner when the parameters are larger than the preset threshold value, so that the garbage to be cleaned before the garbage is collected into the baffle is sucked into the garbage box; when the parameter is less than the preset threshold, the main brush and the vacuum cleaner remain closed.
6. A chip storing program codes corresponding to the cleaning control method according to any one of claims 1 to 5.
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| CN110018686A (en) * | 2019-03-26 | 2019-07-16 | 宁波大叶园林设备股份有限公司 | A kind of paths planning method of intelligent grass-removing |
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