CN109567672A - One kind is swept the floor multirobot method - Google Patents
One kind is swept the floor multirobot method Download PDFInfo
- Publication number
- CN109567672A CN109567672A CN201710906916.7A CN201710906916A CN109567672A CN 109567672 A CN109567672 A CN 109567672A CN 201710906916 A CN201710906916 A CN 201710906916A CN 109567672 A CN109567672 A CN 109567672A
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- CN
- China
- Prior art keywords
- sweeping robot
- region
- sub
- purging zone
- cleaned
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- Electric Vacuum Cleaner (AREA)
Abstract
It sweeps the floor multirobot method the invention discloses one kind, comprising the following steps: according to the cleaning difficulty in region to be cleaned by region division to be cleaned be several sub- purging zones；Main sweeping robot is responsible for cleaning the sub- purging zone for being most difficult to clean, while being communicated with from sweeping robot；Main sweeping robot is passed to from sweeping robot by the positional distance of oneself, main sweeping robot distributes to remaining every sub- purging zone away from its nearest slave sweeping robot；Master and slave sweeping robot cleans corresponding sub- purging zone；It when cleaning completion from sweeping robot, is communicated with main sweeping robot, if not cleaned also from the adjacent sub- purging zone of sweeping robot, adjacent sub- purging zone help should be gone to clean from sweeping robot.
Description
Technical field
The present invention relates to Intelligent cleaning robot field, sweep the floor multirobot method more particularly to one kind.
Background technique
With the raising of household economy level and the progress of sciemtifec and technical sphere, intelligent appliance is had become more and more popular, using increasingly
Extensively, it has a vast market foreground and practical value.Sweeping robot is exactly a kind of intelligent appliance of the most typical one, most
Early in American-European prevalence, with the promotion of domestic level, Chinese market has been stepped into.
It can be carried out in the room the work such as brush and absorption, rubbish and dust are faced by simple artificial intelligence
When be collected into its rubbish storage box, thus the automatic work for completing floor cleaning in the room.
The working method of existing sweeping robot is mainly single machine work random collision method, i.e., after collision occurs
Random angles turn to, can not intelligence computation steering angle, have that cleaning repetitive rate is high, and coverage rate is low, inefficiency, and collide time
The disadvantages of number is more, damages machine.
Multiple robot cleanings not only increase sweeping efficiency, and multiple robot interactives can save the time, have
Prominent advantage.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides one kind and sweeps the floor multirobot method,
It can be improved and clean effect and sweeping efficiency.
Technical solution: to achieve the above object, the technical solution adopted by the present invention are as follows:
One kind is swept the floor multirobot method, comprising the following steps:
Region division to be cleaned is several sub- purging zones according to the cleaning difficulty in region to be cleaned by step 1)；
The main sweeping robot of step 2) is responsible for cleaning the sub- purging zone for being most difficult to clean, while carrying out with from sweeping robot
Communication；
The positional distance of oneself is passed to main sweeping robot from sweeping robot by step 3), and main sweeping robot will remain
Remaining is every
A sub- purging zone is distributed to away from its nearest slave sweeping robot；
The master and slave sweeping robot of step 4) cleans corresponding sub- purging zone；
Step 5) communicates, if adjacent from sweeping robot when cleaning completion from sweeping robot with main sweeping robot
Son it is clear
It sweeps region not cleaned also, then adjacent sub- purging zone help should be gone to clean from sweeping robot.
Preferred: the sub- purging zone for being most difficult to clean includes the region of wet object.
It is preferred: to divide sub- purging zone by the cleaning difficulty of purging zone, the cleaning difficulty is to have the region of wet object
It is most difficult to clean, is secondly the region more than rubbish, is again dusty region, the worst region for few particulate matter is compiled simultaneously
Numeral purging zone.
Preferred: main sweeping robot, from the number of sweeping robot, simultaneously will with determination when communicating from sweeping robot
The number in region to be cleaned is distributed to from sweeping robot.
It is preferred: when going adjacent sub- purging zone help to clean from sweeping robot, communicated with main sweeping robot,
It determines the region not cleaned also, is cleaned since the region not cleaned also.
The present invention compared with prior art, has the advantages that
1. a robot interactive can save the time more than, improve sweeping efficiency.
2. distributing the advantages of cleaning task can utilize each robot to a greater extent according to difficulty difference, reach better
Clean the effect on ground.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of multirobot method of sweeping the floor.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated, it should be understood that these examples are merely to illustrate this
It invents rather than limits the scope of the invention, after the present invention has been read, those skilled in the art are to of the invention various
The modification of equivalent form falls within the application range as defined in the appended claims.
It sweeps the floor multirobot method for one kind as shown in Figure 1, comprising the following steps:
Region division to be cleaned is several sub- purging zones according to the cleaning difficulty in region to be cleaned by step 1)；
The main sweeping robot of step 2) is responsible for cleaning the sub- purging zone for being most difficult to clean, while carrying out with from sweeping robot
Communication；
The positional distance of oneself is passed to main sweeping robot from sweeping robot by step 3), and main sweeping robot will remain
Remaining is every
A sub- purging zone is distributed to away from its nearest slave sweeping robot；
The master and slave sweeping robot of step 4) cleans corresponding sub- purging zone；
Step 5) communicates, if adjacent from sweeping robot when cleaning completion from sweeping robot with main sweeping robot
Son it is clear
It sweeps region not cleaned also, then adjacent sub- purging zone help should be gone to clean from sweeping robot.
The sub- purging zone for being most difficult to clean includes the region of wet object.
Sub- purging zone is divided by the cleaning difficulty of purging zone, the cleaning difficulty is to have the region of wet object to be most difficult to clearly
It sweeps, is secondly the region more than rubbish, is again dusty region, the worst region for few particulate matter, while encoding sub clear
Sweep region.
Main sweeping robot with determined when being communicated from sweeping robot from the number of sweeping robot, while by area to be cleaned
The number in domain is distributed to from sweeping robot.
When going adjacent sub- purging zone help to clean from sweeping robot, is communicated, determined also with main sweeping robot
The region not cleaned is cleaned since the region not cleaned also.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
- The multirobot method 1. one kind is swept the floor, which comprises the following steps:Region division to be cleaned is several sub- purging zones according to the cleaning difficulty in region to be cleaned by step 1)；The main sweeping robot of step 2) is responsible for cleaning the sub- purging zone for being most difficult to clean, while being led to from sweeping robot Letter；The positional distance of oneself is passed to main sweeping robot from sweeping robot by step 3), and main sweeping robot will be remaining Every sub- purging zone is distributed to away from its nearest slave sweeping robot；The master and slave sweeping robot of step 4) cleans corresponding sub- purging zone；Step 5) communicates, if the son adjacent from sweeping robot when cleaning completion from sweeping robot with main sweeping robot Purging zone has not cleaned also, then adjacent sub- purging zone help should be gone to clean from sweeping robot.
- The multirobot method 2. one kind according to claim 1 is swept the floor, it is characterised in that: the son for being most difficult to clean cleans Region includes the region of wet object.
- The multirobot method 3. one kind according to claim 1 is swept the floor, it is characterised in that: by the cleaning difficulty of purging zone Sub- purging zone is divided, the cleaning difficulty is to have the region of wet object to be most difficult to clean, and is secondly the region more than rubbish, is again ash Region more than dirt, the worst region for few particulate matter, while encoding sub- purging zone.
- The multirobot method 4. one kind according to claim 1 is swept the floor, it is characterised in that: main sweeping robot with from sweeping the floor The number from sweeping robot is determined when robot communication, while the number in region to be cleaned being distributed to from sweeping robot.
- The multirobot method 5. one kind according to claim 1 is swept the floor, it is characterised in that: remove adjacent son from sweeping robot It when purging zone help cleans, is communicated with main sweeping robot, determines the region not cleaned also, from the region not cleaned also Start to clean.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710906916.7A CN109567672A (en) | 2017-09-29 | 2017-09-29 | One kind is swept the floor multirobot method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710906916.7A CN109567672A (en) | 2017-09-29 | 2017-09-29 | One kind is swept the floor multirobot method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109567672A true CN109567672A (en) | 2019-04-05 |
Family
ID=65914385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710906916.7A Withdrawn CN109567672A (en) | 2017-09-29 | 2017-09-29 | One kind is swept the floor multirobot method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109567672A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111476459A (en) * | 2020-03-11 | 2020-07-31 | 珠海格力电器股份有限公司 | Cleaning machine cluster cooperative working method, device, equipment and computer readable medium |
| CN111486846A (en) * | 2020-04-27 | 2020-08-04 | 小狗电器互联网科技（北京）股份有限公司 | Method for sweeping preferential area by sweeping robot |
| CN111493749A (en) * | 2019-01-31 | 2020-08-07 | 北京奇虎科技有限公司 | Sweeping robot-based sweeping method and device, electronic equipment and storage medium |
| CN113093732A (en) * | 2021-03-12 | 2021-07-09 | 武汉联一合立技术有限公司 | Intelligent killing system and method |
| CN115590420A (en) * | 2022-11-07 | 2023-01-13 | 南京市金龙锋信息科技有限公司（Cn） | Intelligent household data processing method and system based on Internet of things |
-
2017
- 2017-09-29 CN CN201710906916.7A patent/CN109567672A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111493749A (en) * | 2019-01-31 | 2020-08-07 | 北京奇虎科技有限公司 | Sweeping robot-based sweeping method and device, electronic equipment and storage medium |
| CN111493749B (en) * | 2019-01-31 | 2023-10-03 | 北京奇虎科技有限公司 | Sweeping method and device based on sweeping robot, electronic equipment and storage medium |
| CN111476459A (en) * | 2020-03-11 | 2020-07-31 | 珠海格力电器股份有限公司 | Cleaning machine cluster cooperative working method, device, equipment and computer readable medium |
| CN111486846A (en) * | 2020-04-27 | 2020-08-04 | 小狗电器互联网科技（北京）股份有限公司 | Method for sweeping preferential area by sweeping robot |
| CN113093732A (en) * | 2021-03-12 | 2021-07-09 | 武汉联一合立技术有限公司 | Intelligent killing system and method |
| CN115590420A (en) * | 2022-11-07 | 2023-01-13 | 南京市金龙锋信息科技有限公司（Cn） | Intelligent household data processing method and system based on Internet of things |
| CN115590420B (en) * | 2022-11-07 | 2023-03-10 | 南京市金龙锋信息科技有限公司 | Intelligent home data processing method and system based on Internet of things and electronic equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190405 |