CN109421057B - Automatic point selection method of self-moving purification robot - Google Patents
Automatic point selection method of self-moving purification robot Download PDFInfo
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Abstract
An automatic point selection method of a self-moving purification robot comprises the following steps: step 100: the self-moving purification robot walks in the space to be purified to generate an environment map of the space to be purified; step 300: and the self-moving purification robot automatically selects a purification point to carry out purification operation according to the environment map. The air quality map is taken as an automatic point selection condition and is incorporated into the path planning scheme, so that the path planning of the air purification robot is more scientific and effective; the purification point selection mode is more scientific, the working efficiency of the self-moving purification robot is further improved, the working time is shortened, and the energy is saved and the consumption is reduced.
Description
Technical Field
The invention relates to an automatic point selection method of a self-moving purification robot, and belongs to the technical field of small household appliance manufacturing.
Background
The common self-moving robot usually needs spatial information for establishing a map, and is used for detecting whether the self-moving robot can pass or planning a path; however, for the self-moving cleaning robot, the purpose of path planning is to perform air cleaning and keep the air in the room clean and fresh, which requires that not only the spatial information but also the distribution of the air quality in the map are required, so that the self-moving cleaning robot can perform path planning and select the cleaning points better. Meanwhile, the existing purifier or purification robot basically depends on manual point selection for selecting purification points, and the simple manual point selection operation is complex and brings inconvenience to users in use. In addition, the manual point selection cannot objectively select the optimal purification point, which results in lower purification efficiency and larger power consumption.
Disclosure of Invention
The invention aims to solve the technical problem that the prior art is not enough, and provides an automatic point selection method of a self-moving purification robot, wherein an air quality map is taken as an automatic point selection condition to be incorporated into a path planning scheme, so that the path planning of the air purification robot is more scientific and effective; the purification point selection mode is more scientific, the working efficiency of the self-moving purification robot is further improved, the working time is shortened, and the energy is saved and the consumption is reduced.
The technical problem to be solved by the invention is realized by the following technical scheme:
an automatic point selection method of a self-moving purification robot comprises the following steps:
step 100: the self-moving purification robot walks in the space to be purified to generate an environment map of the space to be purified;
step 300: and the self-moving purification robot automatically selects a purification point to carry out purification operation according to the environment map.
Specifically, the environment map in the step 100 is a multi-layer environment map, which includes a plurality of two-dimensional environment maps with different heights.
The multilayer environment map comprises a plurality of two-dimensional environment maps, each two-dimensional environment map is provided with obstacle information, and the heights of obstacles corresponding to the obstacle information in the two-dimensional environment maps are different.
Or the multilayer environment map comprises a two-dimensional environment map, and the two-dimensional environment map comprises information of obstacles with different heights and is marked in different modes.
Further, the specific content of step 300 is: the environment map is divided into a plurality of sub-areas, and the center of each sub-area is selected as a purification point.
Still further, the method further includes between step 100 and step 300:
step 200: in the walking process of step 100, the self-moving purification robot obtains the real-time data of the air quality in the space to be purified, and correspondingly marks the real-time data of the air quality on the environment map to generate an air quality map.
The step 300 specifically includes: and combining the air quality map and the environment map, dividing the space to be purified into a plurality of sub-areas to be purified, selecting the central point of one of the sub-areas and the point with the worst air quality of the sub-area, and matching different weights to perform point selection operation.
The step 200 specifically further includes: in the walking process of the step 100, when the real-time air quality data of a certain area in the space to be purified, which is obtained by the self-moving purification robot, exceeds a preset pollution fixed value, the self-moving purification robot determines that the certain area is a polluted area, enters the polluted area to walk in a traversing manner, and records the point with the worst air quality and the radius of the polluted area. The pollution rating was up to 35 micrograms per cubic meter of PM 2.5.
As required, the point selection operation in step 300 specifically includes:
setting the radius of a polluted area as R, and setting the distance from the position of the mobile purification robot when the mobile purification robot is positioned at the center of a space to be purified to a point with the worst air quality as L;
when R is less than L, selecting a position which is 0.8R away from the center of the pollutant on a straight line path from the position of the center of the space A to be purified to the point with the worst air quality as a purification point by the self-moving purification robot, and moving the self-moving purification robot to the position to perform purification operation;
when R is larger than or equal to L, the position which is 0.8L away from the center of the pollutant on the straight path from the position of the center of the space A to be purified to the point with the worst air quality is selected as a purification point by the self-moving purification robot, and the self-moving purification robot moves to the position to perform purification operation.
In conclusion, the invention provides the automatic point selection method for the self-moving purification robot, so that the user can visually see the air quality distribution in the room, and the user experience is improved; the air quality map is taken as an automatic point selection condition and is incorporated into a path planning scheme, so that the path planning of the air purification robot is more scientific and effective; the purification point selection mode is more scientific, the working efficiency of the self-moving purification robot is further improved, the working time is shortened, and the energy is saved and the consumption is reduced.
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic view of a space to be cleaned according to an embodiment of the present invention;
FIG. 2 is a schematic view of a zone of a clean room according to an embodiment of the present invention;
FIG. 3 is a schematic view of the overall structure of the self-moving cleaning robot of the present invention;
FIG. 4 is a flowchart of an automatic point selection method according to a second embodiment of the present invention;
fig. 5 is a schematic diagram of the relative position relationship between the three contaminated areas and the self-moving cleaning robot according to the embodiment of the present invention.
Detailed Description
Example one
FIG. 1 is a schematic view of a space to be cleaned according to an embodiment of the present invention. As shown in fig. 1, the present invention provides an automatic point selection method for a self-moving cleaning robot, comprising the following steps: firstly, a self-moving purifying robot M walks in a space A to be purified to generate an environment map of the space A to be purified; and secondly, automatically selecting a purification point for purification operation by the self-moving purification robot M according to the environment map. Such as: the center AO of the space a to be cleaned can be selected as the cleaning point of this area. Because different obstacles exist at different positions and different heights in the space A to be purified, in order to avoid the self-moving purifying robot M encountering the obstacles in the walking process of the space A to be purified, the environment map is a multilayer environment map and comprises a plurality of two-dimensional environment maps with different heights. The multi-layer environment map is obtained by detecting different sensor assemblies arranged at different heights of the self-moving purifying robot body.
In addition, when the area of the space to be purified is large, in order to facilitate the work of the self-moving purification robot, the environment map may be divided into a plurality of sub-areas, and the center of each sub-area may be selected as the purification point. FIG. 2 is a sectional view of a space to be cleaned according to an embodiment of the present invention. As shown in fig. 2, the space to be purified is divided into four areas a1, B2, C3 and D4, and the self-moving purifying robot M can also walk in the space to be purified to generate an environment map of the space to be purified first; and secondly, the self-moving purifying robot M divides the environment map into zones according to the size of the environment map, and automatically selects the central point of each zone as a purifying point to carry out purifying operation one by one. Of course, when the environment is large enough and the obstacles are sufficient, if the self-moving cleaning robot cannot reach the central point of a certain area, the nearest reachable point from the central point is selected as the cleaning point to start the cleaning operation.
As can be seen from the above process, the automatic point selection method for the self-moving cleaning robot provided in this embodiment includes the following steps:
step 100: the self-moving purification robot walks in the space to be purified to generate an environment map of the space to be purified;
step 300: and the self-moving purification robot automatically selects a purification point to carry out purification operation according to the environment map.
Specifically, the environment map in the step 100 is a multi-layer environment map, which includes a plurality of two-dimensional environment maps with different heights. More specifically, the multilayer environment map includes a plurality of two-dimensional environment maps, each two-dimensional environment map has obstacle information thereon, and the obstacle heights corresponding to the obstacle information in the two-dimensional environment maps are different. Or the multilayer environment map comprises a two-dimensional environment map, and the two-dimensional environment map comprises information of obstacles with different heights and is marked in different modes.
Further, the specific content of step 300 is: the environment map is divided into a plurality of sub-areas, and the center of each sub-area is selected as a purification point.
That is, in the present embodiment, the self-moving cleaning robot generates only the environment map, and performs the cleaning work by directly selecting the center point or the partition selection center point based on the obstacle information in the environment map.
Fig. 3 is a schematic view of the overall structure of the self-moving cleaning robot of the present invention. As shown in fig. 3, the present invention provides a self-moving cleaning robot, including a robot body 10 and a control unit (not shown in the figure) disposed on the robot body 10, wherein the robot body 10 includes a multi-layer map information collecting device 20 for collecting information of obstacles at different heights in a working environment. The multilayer map information acquisition device 20 includes a plurality of distance sensors, wherein the heights of the plurality of distance sensors are different, and the distance sensors include an ultrasonic distance meter 22, an infrared distance meter 23, a laser distance meter 21 and the like. The multilayer map information acquisition device 20 is electrically connected with the control unit, and sends the acquired barrier information to the control unit, and the control unit receives and processes the information of the barriers with different heights, and establishes the multilayer map according to the barrier information. The multi-layer map comprises a plurality of two-dimensional maps, and each two-dimensional map corresponds to information of obstacles with different heights. Or, the multi-layer map includes a two-dimensional obstacle map, and the control unit may mark information of obstacles with different heights on the two-dimensional obstacle map in different manners (patterns, colors, etc.), that is, the two-dimensional obstacle map corresponds to comprehensive distribution information of obstacles with different heights. That is, the above-mentioned plurality of two-dimensional maps are realized by detection of sensor elements disposed at different heights from the mobile robot body, such as: laser ranging sensor assembly, infrared sensor assembly or ultrasonic sensor assembly etc.. The sensor assemblies arranged on different heights divide the space to be operated into a plurality of detection layers within a specific height range, and record the obstacle information detected by each detection layer to generate a multi-layer environment map. In practical applications, the height range of the space to be worked can be detected, which is determined by the working range of the various sensor assemblies.
Example two
Fig. 4 is a flowchart of an automatic point selection method according to a second embodiment of the present invention. As shown in fig. 4, the present embodiment provides an automatic point selection method for a self-moving cleaning robot, including the following steps:
step 100: the self-moving purification robot walks in the space to be purified to generate an environment map of the space to be purified;
step 200: in the walking process of the step 100, the self-moving purification robot obtains the real-time air quality data in the space to be purified, and correspondingly marks the real-time air quality data on the environment map to generate an air quality map;
step 300: and the self-moving purification robot automatically selects a purification point to carry out purification operation according to the environment map.
It can be seen from the above that, the present embodiment is an improvement on the basis of the first embodiment, and on the basis of the environment map, real-time data of the air quality in the space to be purified is added to form an air quality map, and the self-moving purification robot needs to integrate the obstacle information and the air quality information, balance and select the purification points, and plan the path for purification operation.
Similarly, in order to ensure the safe walking of the self-moving purifying robot, the environment map is a multi-layer environment map and comprises a plurality of two-dimensional environment maps with different heights.
Further, the specific content of step 300 is: dividing the environment map into a plurality of sub-areas, and selecting the center of each sub-area as a purification point; the step 300 specifically includes: and combining the air quality map and the environment map, dividing the space to be purified into a plurality of sub-areas to be purified, selecting the central point of one of the sub-areas and the point with the worst air quality of the sub-area, and matching different weights to perform point selection operation. The self-moving purification robot can draw an indoor air quality map by utilizing the received real-time data of the air quality sensor and matching with the establishment of a multilayer map, and different air qualities can be marked in different areas. The exploration strategy is changed in real time by combining the air quality distribution diagram, fine exploration is carried out near the position with poor air quality, rough exploration is carried out near the position with better air quality, the exploration efficiency is improved, and the subsequent point selection is facilitated. That is to say, when the self-moving purification robot needs to avoid obstacles with different heights, the central position of the space to be purified and the air quality are combined to balance and select the purification point, and the path is planned to carry out purification operation. And (4) combining an air quality map, selecting a point at the position with the worst air quality, and if the position with the worst air quality cannot be directly reached, selecting the point in a nearby reachable area. Such as: if someone smokes on the bed, the self-moving decontamination robot can only turn on cleaning in the area near the bed. That is to say, the self-moving purification robot combines the multilayer environment map and the air quality map to carry out intelligent point selection, selects the appropriate air volume and purification point through a mode, and carries out intelligent purification at the purification point with the highest purification efficiency and the highest accessibility.
EXAMPLE III
The embodiment provides an automatic point selection method for a self-moving purification robot, which comprises the following steps:
step 100: the self-moving purification robot walks in the space to be purified to generate an environment map of the space to be purified;
step 200: in the walking process of the step 100, the self-moving purification robot obtains the real-time air quality data in the space to be purified, and correspondingly marks the real-time air quality data on the environment map to generate an air quality map;
when the air quality real-time data of a certain area in the space to be purified obtained by the self-moving purifying robot exceeds a preset pollution fixed value, the self-moving purifying robot determines that the certain area is a polluted area, enters the polluted area to traverse and walk, and records the point with the worst air quality and the radius of the polluted area. It is noted that, according to the regulations of the relevant legislation, PM2.5 affecting air quality is superior at 35 micrograms per cubic meter or less, good at 35-75, and poor at 75 or more, and on the basis of the regulations, the above-mentioned pollution rating is such that PM2.5 reaches 35 micrograms per cubic meter. Of course, in practical applications, the method is not limited to the contamination, and the contamination rating may be specifically limited to other contaminants as needed.
Step 300: the self-moving purification robot automatically selects a purification point to carry out purification operation according to the environment map;
fig. 5 is a schematic diagram of the relative position relationship between the three contaminated areas and the self-moving cleaning robot according to the embodiment of the present invention. As shown in fig. 5, let the radius of the polluted area be R, and the distance from the position of the mobile cleaning robot when it is at the center of the space to be cleaned to the point where the air quality is the worst be L; when R is less than L, selecting a position which is on a straight line path from the center of the space A to be purified to a point with the worst air quality and is 0.8R away from the center of the pollutant as a purification point from the mobile purification robot, and moving the mobile purification robot to the position to perform purification operation; when R is larger than or equal to L, the self-moving purification robot selects a position which is on a straight line path from the center of the space A to be purified to a point with the worst air quality and is 0.8L away from the center of the pollutant as a purification point, and moves the position to the purification point to perform purification operation. Only in this way, can make from removing the purification robot and be located the pollutant scope as far as possible and not keep away from regional central point and put, purifying effect is better, and moving path is shorter also safer.
From the above, the automatic point selection method of the self-moving cleaning robot provided by the embodiment is an improvement on the second embodiment, and the technical solutions of the two methods are basically the same, except that in the embodiment, the specific method for operating the cleaning point selection is defined. Namely: by comparing the radius of the contaminated area with the radius R of the distance L from the point where the mobile cleaning robot is located in the centre of the space to be cleaned to the point where the air quality is the worst.
In summary, the invention provides an automatic point selection method for a self-moving purification robot, which includes an air quality map as an automatic point selection condition into a path planning scheme, so that the path planning of the air purification robot is more scientific and effective; the purification point selection mode is more scientific, the working efficiency of the self-moving purification robot is further improved, the working time is shortened, and the energy is saved and the consumption is reduced. In addition, if the method is further applied to the mobile phone APP in a signal transmission mode, the user can visually see the air quality distribution in the room, and therefore user experience is improved.
Claims (8)
1. An automatic point selection method of a self-moving purification robot is characterized by comprising the following steps:
step 100: the self-moving purification robot walks in the space to be purified to generate an environment map of the space to be purified;
step 300: the self-moving purification robot automatically selects a purification point to carry out purification operation according to the environment map;
the method further comprises the following steps between the step 100 and the step 300:
step 200: in the walking process of the step 100, the self-moving purification robot obtains the real-time air quality data in the space to be purified, and correspondingly marks the real-time air quality data on the environment map to generate an air quality map;
the step 300 specifically includes:
and combining the air quality map and the environment map, dividing the space to be purified into a plurality of sub-areas to be purified, selecting the central point of one of the sub-areas and the point with the worst air quality of the sub-area, and matching different weights to perform point selection operation.
2. The method of claim 1, wherein the environment map of step 100 is a multi-level environment map, and the multi-level environment map comprises a plurality of two-dimensional environment maps with different heights.
3. The method of claim 2, wherein the multi-layer environment map comprises a plurality of two-dimensional environment maps, each two-dimensional environment map having obstacle information thereon, and the obstacle information in each two-dimensional environment map has different obstacle heights.
4. The method of claim 2, wherein the multi-layered environment map comprises a two-dimensional environment map, and the two-dimensional environment map contains information about obstacles with different heights and is labeled in different ways.
5. The method of claim 1, wherein the step 300 is specifically configured to:
the environment map is divided into a plurality of sub-areas, and the center of each sub-area is selected as a purification point.
6. The method of claim 1, wherein the step 200 further comprises:
in the walking process of the step 100, when the real-time air quality data of a certain area in the space (A) to be purified, which is obtained by the self-moving purification robot, exceeds a preset pollution fixed value, the self-moving purification robot determines that the certain area is a polluted area, enters the polluted area to walk in a traversing manner, and records the point with the worst air quality and the radius of the polluted area.
7. The method according to claim 6, wherein the point selection operation in step 300 specifically includes:
setting the radius of a polluted area as R, and setting the distance from the position of the mobile purification robot when the mobile purification robot is positioned at the center of a space to be purified to a point with the worst air quality as L;
when R is less than L, selecting a position which is on a straight line path from the center of the space (A) to be purified to a point with the worst air quality and is 0.8R away from the center of the pollutant as a purification point from the mobile purification robot, and moving the mobile purification robot to the position to perform purification operation;
when R is larger than or equal to L, the self-moving purification robot selects a position which is on a straight line path from the center of the space (A) to be purified to a point with the worst air quality and is 0.8L away from the center of the pollutant as a purification point, and moves the position to the purification point to perform purification operation.
8. The method of claim 6, wherein the pollution rating is up to 35 micrograms per cubic meter of PM 2.5.
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| CN110686335B (en) * | 2019-09-25 | 2020-10-23 | 珠海格力电器股份有限公司 | Intelligent air purification device and control method thereof |
| CN110887192B (en) * | 2019-10-14 | 2020-12-25 | 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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