CN109421057A - From mobile purifying robot automatic point selection method - Google Patents
From mobile purifying robot automatic point selection method Download PDFInfo
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- CN109421057A CN109421057A CN201710743153.9A CN201710743153A CN109421057A CN 109421057 A CN109421057 A CN 109421057A CN 201710743153 A CN201710743153 A CN 201710743153A CN 109421057 A CN109421057 A CN 109421057A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
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Abstract
A kind of certainly mobile purifying robot automatic point selection method, includes the following steps: step 100: walking in space to be clean from mobile purifying robot, generate the environmental map in space to be clean；Step 300: from mobile purifying robot according to the environmental map, automatically selecting purification point and carry out purification operation.The present invention is included in air quality map as automatic point selection condition in path planning scheme, keeps the path planning of air purifying robot more scientific and effective；Purification point selection mode is more scientific, further increases the working efficiency from mobile purifying robot, shortens operating time, energy-saving.
Description
Technical field
The present invention relates to a kind of from mobile purifying robot automatic point selection method, belongs to small household appliances manufacturing technology field.
Background technique
What common self-movement robot generally required the foundation of map is all spatial information, for detecting from mobile
Whether robot can pass through, or carry out path planning；But for from mobile purifying robot, the mesh of path planning
Be carry out air cleaning, keep indoor air completely pure and fresh, this requires not only to there is spatial information in map, with greater need for
There is the distribution situation of air quality, can preferably to carry out path planning, selection purification point from mobile purifying robot.Together
When, the selection manually reconnaissance substantially of existing clarifier or purifying robot for purification point, simple artificial reconnaissance operation
It is complicated and to making troubles in the use of user.In addition, artificial reconnaissance can not objectively select best purification point, purification is caused to be imitated
Rate is lower, and kwh loss is larger.
Summary of the invention
It is a kind of from mobile purification machine technical problem to be solved by the present invention lies in view of the deficiencies of the prior art, providing
People's automatic point selection method, is included in air quality map as automatic point selection condition in path planning scheme, makes air cleaner
The path planning of device people is more scientific and effective；Purification point selection mode is more scientific, further increases from mobile purifying robot
Working efficiency, shorten operating time, it is energy-saving.
The technical problem to be solved by the present invention is to what is be achieved through the following technical solutions:
A kind of certainly mobile purifying robot automatic point selection method, includes the following steps:
Step 100: walking in space to be clean from mobile purifying robot, generate the environmental map in space to be clean；
Step 300: from mobile purifying robot according to the environmental map, automatically selecting purification point and carry out purification operation.
Specifically, the environmental map in the step 100 is multilayer environmental map, and the multilayer environmental map includes more
The two-dimensional environment map of a different height.
The multilayer environmental map includes multiple two-dimensional environment maps, all has obstacle on every two-dimensional environment map
Object information, obstacle height corresponding to the obstacle information in each two-dimensional environment map are different.
Alternatively, the multilayer environmental map includes a two-dimensional environment map, it include not on the two-dimensional environment map
With height barrier object information and mark in different ways.
Further, step 300 particular content are as follows: the environmental map is divided into multiple subregions, it will be each
It is selected as purification point in the center of subregion.
Further, further comprise between the step 100 and step 300:
Step 200: in the walking process of step 100, being obtained in the space to be clean from mobile purifying robot
Air quality real time data, corresponding mark air quality real time data, generates air quality map on the environmental map.
The step 300 specifically includes: in conjunction with the air quality map and environmental map, by the space to be clean point
At multiple subregions to be clean, the point that the air quality of the central point and the subregion of choosing one of subregion is worst is matched
Reconnaissance operation is carried out with different weights.
The step 200 is specific further include: obtained from mobile purifying robot in the walking process of step 100
When some region of air quality real time data in space to be clean is more than preset pollution definite value, from mobile purifying robot
Assert that a certain region is Polluted area, traverses and walk into the Polluted area, record air quality worst point and dirt
Contaminate the radius in region.The pollution definite value is that PM2.5 reaches 35 every cubic metre of micrograms.
As needed, the reconnaissance operation in the step 300 specifically includes:
If Polluted area radius is R, from the position moved when purifying robot is in space center to be clean to air matter
The distance for measuring worst point is L；
As R < L, the position point worst to air quality when selecting the center space A to be clean Zi mobile purifying robot
Straight line path on position apart from pollutant center 0.8R be purification point, and be moved to and carry out purification operation in this position；
As R >=L, the position point worst to air quality when selecting the center space A to be clean Zi mobile purifying robot
Straight line path on position apart from pollutant center 0.8L be purification point, and be moved to and carry out purification operation in this position.
In conclusion the present invention provides a kind of certainly mobile purifying robot automatic point selection method, user can very intuitively
The air quality distribution in oneself room is seen, to promote user experience；Using air quality map as automatic point selection condition
It is included in path planning scheme, keeps the path planning of air purifying robot more scientific and effective；Purification point selection mode is more
Science further increases the working efficiency from mobile purifying robot, shortens operating time, energy-saving.
In the following with reference to the drawings and specific embodiments, technical solution of the present invention is described in detail.
Detailed description of the invention
Fig. 1 is the space schematic diagram to be clean of the embodiment of the present invention one；
Fig. 2 is the embodiment of the present invention one with better purifying space subregion schematic diagram；
Fig. 3 is overall structure diagram of the present invention from mobile purifying robot；
Fig. 4 is the automatic point selection method flow diagram of the embodiment of the present invention two；
Fig. 5 is three Polluted area of the embodiment of the present invention and the relative positional relationship schematic diagram from mobile purifying robot.
Specific embodiment
Embodiment one
Fig. 1 is the space schematic diagram to be clean of the embodiment of the present invention one.As shown in Figure 1, the present invention provides a kind of move certainly only
Change robot automatic point selection method, include the following steps: to walk in space A to be clean firstly, moving purifying robot M certainly,
Generate the environmental map of space A to be clean；Secondly, automatically selecting purification according to the environmental map from mobile purifying robot M
Point carries out purification operation.Such as: it can choose purification point of the center AO as the region of space A to be clean.Due to be clean
Different location in the A of space, there are different barriers for different height, in order to avoid certainly mobile purifying robot M is to be clean
Barrier is encountered in the walking process of space A, the environmental map is multilayer environmental map, the two dimension comprising multiple and different height
Environmental map.The multilayer environmental map is by being arranged in from the different sensings on mobile purifying robot fuselage different height
Device assembly detection obtains.
In addition, when the area ratio in space to be clean is larger, the work of certainly mobile purifying robot for convenience,
The environmental map can be divided into multiple subregions, purification point is selected as at the center of each subregion.Fig. 2 is that the present invention is real
Apply the space partition zone schematic diagram to be clean of example one.As shown in Fig. 2, space to be clean has been divided into tetra- areas A1, B2, C3 and D4
Domain can equally walk in space to be clean from mobile purifying robot M, first generate the environmental map in space to be clean；Its
Secondary, from mobile purifying robot M according to the size of the environmental map to its subregion, the central point for automatically selecting each subregion is made
Purification operation is carried out one by one for purification point.Certainly, when environment is sufficiently large and barrier is enough, if from mobile purification
Robot can not reach the central point in some region, then select to start to purify for purification point away from the nearest accessibility point of central point
Operation.
By the above process it is found that from mobile purifying robot automatic point selection method provided by the present embodiment, including
Following steps:
Step 100: walking in space to be clean from mobile purifying robot, generate the environmental map in space to be clean；
Step 300: from mobile purifying robot according to the environmental map, automatically selecting purification point and carry out purification operation.
Specifically, the environmental map in the step 100 is multilayer environmental map, and the multilayer environmental map includes more
The two-dimensional environment map of a different height.More specifically, the multilayer environmental map includes multiple two-dimensional environment maps, every institute
It states and all has obstacle information on two-dimensional environment map, barrier corresponding to the obstacle information in each two-dimensional environment map
Height is different.Alternatively, the multilayer environmental map includes a two-dimensional environment map, it include not on the two-dimensional environment map
With height barrier object information and mark in different ways.
Further, step 300 particular content are as follows: the environmental map is divided into multiple subregions, it will be each
It is selected as purification point in the center of subregion.
That is, in the present embodiment, oneself moves purifying robot only build environment map, and is based on environmental map
In obstacle information, directly select central point or subregion selection central point, execute purification operation.
Fig. 3 is overall structure diagram of the present invention from mobile purifying robot.As shown in figure 3, the present invention provides one kind
From mobile purifying robot, (in figure not including robot body 10 and the control unit being arranged on the robot body 10
Show), the robot body 10 includes multilayer cartographic information acquisition device 20, is used for Collecting operation environment different height obstacle
The information of object.The multilayer cartographic information acquisition device 20 includes multiple range sensors, locating for plurality of range sensor
Height it is different, the range sensor includes ultrasonic range finder 22, infrared range-measurement system 23 and laser range finder 21 etc..It is described
Multilayer cartographic information acquisition device 20 and control unit are electrically connected, and collected obstacle information is sent to control unit,
Control unit receives and processes the information of different height barrier, establishes multilayer map according to obstacle information.The multilayer
Figure includes multiple two-dimensional maps, and each two-dimensional map corresponds to the information of different height barrier.Alternatively, the multilayer map includes
One two-dimentional barrier map, control unit can be by the information of different height barrier with different mode (pattern, color
Deng) be labeled on the two-dimentional barrier map, i.e., the described two-dimentional barrier map corresponds to the synthesis point of different height barrier
Cloth information.That is, above-mentioned multiple two-dimensional maps are the biographies by being arranged on self-movement robot body different height
Sensor component detects to realize, such as: laser range sensor component, infrared sensor package or ultrasonic sensor group
Part etc..The sensor module on different height, which will be arranged in, in these to be divided into multiple to working space within the scope of certain height
Detecting layer, and record the obstacle information that each detecting layer detects and generate multilayer environmental map.In practical applications, it can visit
The altitude range to working space is measured, is determined by the working range of various sensor modules itself.
Embodiment two
Fig. 4 is the automatic point selection method flow diagram of the embodiment of the present invention two.As shown in figure 4, the present embodiment provides it is a kind of from
Mobile purifying robot automatic point selection method, includes the following steps:
Step 100: walking in space to be clean from mobile purifying robot, generate the environmental map in space to be clean；
Step 200: in the walking process of step 100, being obtained in the space to be clean from mobile purifying robot
Air quality real time data, corresponding mark air quality real time data, generates air quality map on the environmental map；
Step 300: from mobile purifying robot according to the environmental map, automatically selecting purification point and carry out purification operation.
As shown in the above, the present embodiment is improvement on the basis of embodiment one, on the basis of environmental map, again
The real time data for increasing air quality in space to be clean forms air quality map, needs to integrate from mobile purifying robot
Obstacle information and air quality information, tradeoff selection purification point, planning path carry out purification operation.
Similarly, in order to guarantee the safety walking from mobile purifying robot, the environmental map is multilayer environmental map,
Two-dimensional environment map comprising multiple and different height.
Further, step 300 particular content are as follows: the environmental map is divided into multiple subregions, it will be each
It is selected as purification point in the center of subregion；The step 300 specifically includes:, will in conjunction with the air quality map and environmental map
The space to be clean is divided into multiple subregions to be clean, chooses the central point of one of subregion and the sky of the subregion
The worst point of makings amount is equipped with different weights and carries out reconnaissance operation.The air quality received is utilized from mobile purifying robot
Sensor real time data cooperates the foundation of multilayer map, and can draw out indoor air quality figure can in different regions
To mark out different air qualities.To change exploration strategy in real time in conjunction with air quality distribution map, in the position of air quality difference
It sets and is nearby finely explored, explored roughly near the preferable position of air quality, improve and explore efficiency, and conveniently
Reconnaissance later.That is, while needing to evade different height barrier from mobile purifying robot, in conjunction with sky to be clean
Between center and air quality, tradeoff selection purification point, planning path carries out purification operation.In conjunction with air quality figure,
The worst local reconnaissance of air quality can arrive in its vicinity if the worst place of air quality can not directly reach
The region reached carries out reconnaissance.Such as: if someone smokes in bed, it can only be opened from mobile purifying robot in bed near zone
Open cleaning.That is, carrying out intelligent reconnaissance from mobile purifying robot combination multilayer environmental map and air quality figure, lead to
It crosses a kind of mode and chooses suitable air quantity and purification point, in purification efficiency highest and accessibility purification point progress Intelligent purifying.
Embodiment three
The present embodiment provides a kind of from mobile purifying robot automatic point selection method, includes the following steps:
Step 100: walking in space to be clean from mobile purifying robot, generate the environmental map in space to be clean；
Step 200: in the walking process of step 100, being obtained in the space to be clean from mobile purifying robot
Air quality real time data, corresponding mark air quality real time data, generates air quality map on the environmental map；
It is more than from some region of air quality real time data in mobile purifying robot space to be clean obtained
When preset pollution definite value, assert that a certain region is Polluted area from mobile purifying robot, into the Polluted area
Traversal walking, the radius of record air quality worst point and Polluted area.It should be noted that according to the rule of relevant laws and regulations
It is fixed, influence the PM2.5 of air quality in every cubic metre of 35 microgram the following are excellent, 35-75 be it is good, 75 the above are differences, are based on the rule
Fixed, above-mentioned pollution definite value is that PM2.5 reaches 35 every cubic metre of micrograms.Certainly, in practical applications, it is not limited to this dirt
Object is contaminated, also can according to need and specific restriction related with other pollutants is done to pollution definite value.
Step 300: from mobile purifying robot according to the environmental map, automatically selecting purification point and carry out purification operation；
Fig. 5 is three Polluted area of the embodiment of the present invention and the relative positional relationship schematic diagram from mobile purifying robot.Such as
Shown in Fig. 5, if Polluted area radius is R, from the position moved when purifying robot is in space center to be clean to air matter
The distance for measuring worst point is L；As R < L, select the center space A to be clean to air matter Zi mobile purifying robot
Position on the straight line path of worst point and apart from pollutant center 0.8R is measured as purification point, and be moved in this position into
Row purification operation；As R >=L, the point that selects the center space A to be clean worst to air quality Zi mobile purifying robot
Straight line path on and position apart from pollutant center 0.8L be purification point, and be moved to and carry out purification work in this position
Industry.Only in this way, can make to be located at as far as possible pollutant within the scope of from mobile purifying robot and not far from regional center position,
Clean-up effect is preferable, and movement routine is shorter also safer.
It as shown in the above, is in embodiment from mobile purifying robot automatic point selection method provided by the present embodiment
The technical solution of improvement on the basis of two, the two is essentially identical, the difference is that in the present embodiment, purification point reconnaissance operation
Specific method be defined.That is: it is R by comparing Polluted area radius and movement purifying robot is in sky to be clean certainly
Between center when position realized to the size between the distance L of the worst point of air quality.
In conclusion the present invention provides a kind of certainly mobile purifying robot automatic point selection method, by air quality map making
It is included in path planning scheme for automatic point selection condition, keeps the path planning of air purifying robot more scientific and effective；Purification
Point selection mode is more scientific, further increases the working efficiency from mobile purifying robot, shortens operating time, energy conservation drop
Consumption.In addition to this, if be further applied in cell phone application in such a way that signal transmits, user can also be made very intuitively
The air quality distribution in oneself room is seen, to promote user experience.
Claims (10)
1. a kind of from mobile purifying robot automatic point selection method, which comprises the steps of:
Step 100: walking in space to be clean from mobile purifying robot, generate the environmental map in space to be clean；
Step 300: from mobile purifying robot according to the environmental map, automatically selecting purification point and carry out purification operation.
2. the method as described in claim 1, which is characterized in that the environmental map in the step 100 is multilayer environmental map,
The multilayer environmental map includes the two-dimensional environment map of multiple and different height.
3. method according to claim 2, which is characterized in that the multilayer environmental map includes multiple two-dimensional environment maps,
Obstacle information is all had on every two-dimensional environment map, corresponding to the obstacle information in each two-dimensional environment map
Obstacle height is different.
4. method according to claim 2, which is characterized in that the multilayer environmental map includes a two-dimensional environment map,
Include the information of different height barrier on the two-dimensional environment map and marks in different ways.
5. the method as described in claim 1, which is characterized in that step 300 particular content are as follows:
The environmental map is divided into multiple subregions, purification point is selected as at the center of each subregion.
6. the method as described in claim 1, which is characterized in that further comprise between the step 100 and step 300:
Step 200: in the walking process of step 100, obtaining the air in the space to be clean from mobile purifying robot
Quality real time data, corresponding mark air quality real time data, generates air quality map on the environmental map.
7. method as claimed in claim 6, which is characterized in that the step 300 specifically includes:
In conjunction with the air quality map and environmental map, the space to be clean is divided into multiple subregions to be clean, is chosen
The worst point of the air quality of the central point of one of subregion and the subregion is equipped with different weights and carries out reconnaissance behaviour
Make.
8. method as claimed in claim 6, which is characterized in that the step 200 is specific further include:
It is some region of in certainly mobile purifying robot space (A) to be clean obtained in the walking process of step 100
When air quality real time data is more than preset pollution definite value, assert that a certain region is contaminated area from mobile purifying robot
Domain traverses into the Polluted area and walks, the radius of record air quality worst point and Polluted area.
9. method according to claim 8, which is characterized in that the reconnaissance operation in the step 300 specifically includes:
If Polluted area radius is R, most from the position moved when purifying robot is in space center to be clean to air quality
The distance of the point of difference is L；
As R < L, select the center space A to be clean to the straight line of the worst point of air quality Zi mobile purifying robot
Position on path and apart from pollutant center 0.8R is purification point, and is moved to and carries out purification operation in this position；
As R >=L, select the center space A to be clean to the straight line of the worst point of air quality Zi mobile purifying robot
Position on path and apart from pollutant center 0.8L is purification point, and is moved to and carries out purification operation in this position.
10. method according to claim 8, which is characterized in that the pollution definite value is that PM2.5 reaches 35 every cube of micrograms
Rice.
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| CN201710743153.9A CN109421057B (en) | 2017-08-25 | 2017-08-25 | Automatic point selection method of self-moving purification robot |
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| CN110686335A (en) * | 2019-09-25 | 2020-01-14 | 珠海格力电器股份有限公司 | Intelligent air purification device and control method thereof |
| CN110887192A (en) * | 2019-10-14 | 2020-03-17 | 珠海格力电器股份有限公司 | Intelligent air humidity control device and control method thereof |
| CN112698657A (en) * | 2020-12-28 | 2021-04-23 | 湖南格兰博智能科技有限责任公司 | Sweeping robot path planning method |
| CN113465080A (en) * | 2021-07-02 | 2021-10-01 | 广东科学技术职业学院 | Control method of air purification robot system |
| CN114646137A (en) * | 2022-03-11 | 2022-06-21 | 珠海格力电器股份有限公司 | Purification planning method, nonvolatile storage medium and air purifier |
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| Publication number | Publication date |
|---|---|
| CN109421057B (en) | 2022-04-01 |
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