CN109567673A - A kind of sweeping robot cleaning display control method - Google Patents
A kind of sweeping robot cleaning display control method Download PDFInfo
- Publication number
- CN109567673A CN109567673A CN201710906948.7A CN201710906948A CN109567673A CN 109567673 A CN109567673 A CN 109567673A CN 201710906948 A CN201710906948 A CN 201710906948A CN 109567673 A CN109567673 A CN 109567673A
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- CN
- China
- Prior art keywords
- sweeping robot
- operating path
- image
- display control
- control method
- Prior art date
- 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
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of sweeping robots to clean display control method, comprising the following steps: sweeping robot obtains working face image, and acquired working face image is divided into background area and working region；The distribution that rubbish for clearance is combined in working region, plans the operating path of the sweeping robot；The operating path for the sweeping robot planned is sent to sweeping robot, sweeping robot works according to the operating path received；The traversal of operating path shown in the image of work at present face terminates, and repeats the above steps.
Description
Technical field
The present invention relates to Intelligent cleaning robot fields, clean image control side more particularly to a kind of sweeping robot
Method.
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 random collision method, i.e., the random angles after collision occurs
Turn to, can not intelligence computation steering angle, have that cleaning repetitive rate is high, and coverage rate is low, inefficiency, and collision frequency is more, damage
The disadvantages of bad machine.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of sweeping robot cleaning figure
As control method, sweeping robot can be made to carry out automatic cleaning to specified region in specific house.
Technical solution: to achieve the above object, the technical solution adopted by the present invention are as follows:
A kind of sweeping robot cleaning display control method, comprising the following steps:
Step 1) sweeping robot obtain working face image, and by acquired working face image be divided into background area and
Working region；
Step 2) combines the distribution of rubbish for clearance in working region, plans the operating path of the sweeping robot；
The operating path for the sweeping robot planned is sent to sweeping robot by step 3), and sweeping robot is according to receipts
The operating path work arrived；
The traversal of operating path shown in the image of step 4) work at present face terminates, and repeats step 1)-step 3).
Preferred: the method that acquired working face image is divided into background area and working region is image procossing
Method.
Preferred: the operating path in conjunction with the distribution planning sweeping robot of rubbish for clearance is first located by raft rubbish
Reason, rickle rubbish post-processing, method that scattered garbage is finally handled are planned.
It is preferred: acquired working face image first being established into image coordinate system, then obtains sweeping robot operating path and exists
It indicates in image coordinate system, finally transforms to the operating path in image coordinate system in practical cartesian coordinate system.
Preferred: the sweeping robot line segment is in the path that working region display is advanced.
The present invention compared with prior art, has the advantages that
Sweeping robot establishes working face image and working region figure for specified house, and establishes corresponding cleaning road
Diameter makes sweeping robot have basic understanding to working region, and avoid makes control fail because of such environmental effects.
Detailed description of the invention
Fig. 1 is the algorithm flow chart that a kind of sweeping robot cleans display control method.
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.
Display control method is cleaned as shown in Figure 1 for a kind of sweeping robot, comprising the following steps:
Step 1) sweeping robot obtain working face image, and by acquired working face image be divided into background area and
Working region；
Step 2) combines the distribution of rubbish for clearance in working region, plans the operating path of the sweeping robot；
The operating path for the sweeping robot planned is sent to sweeping robot by step 3), and sweeping robot is according to receipts
The operating path work arrived；
The traversal of operating path shown in the image of step 4) work at present face terminates, and repeats step 1)-step 3).
It is the method for image procossing by the method that acquired working face image is divided into background area and working region.
Operating path in conjunction with the distribution planning sweeping robot of rubbish for clearance is first handled by raft rubbish, rickle rubbish
Rubbish post-processing, method that scattered garbage is finally handled are planned.
Acquired working face image is first established into image coordinate system, then obtains sweeping robot operating path in image coordinate
It indicates in system, finally transforms to the operating path in image coordinate system in practical cartesian coordinate system.
The sweeping robot line segment is in the path that working region display is advanced.
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)
1. a kind of sweeping robot cleans display control method, which comprises the following steps:
Step 1) sweeping robot obtains working face image, and acquired working face image is divided into background area and work
Region；
Step 2) combines the distribution of rubbish for clearance in working region, plans the operating path of the sweeping robot；
The operating path for the sweeping robot planned is sent to sweeping robot by step 3), and sweeping robot is according to receiving
Operating path work；
The traversal of operating path shown in the image of step 4) work at present face terminates, and repeats step 1)-step 3).
2. a kind of sweeping robot cleans display control method according to claim 1, it is characterised in that: by acquired work
Making the method that face image is divided into background area and working region is the method for image procossing.
3. a kind of sweeping robot cleans display control method according to claim 1, it is characterised in that: in conjunction with rubbish for clearance
The operating path of the distribution planning sweeping robot of rubbish is first handled by raft rubbish, and the post-processing of rickle rubbish, scattered garbage is most
The method of post-processing is planned.
4. a kind of sweeping robot cleans display control method according to claim 1, it is characterised in that: first will be acquired
Working face image establishes image coordinate system, then sweeping robot operating path indicates in image coordinate system, finally by image
Operating path in coordinate system transforms in practical cartesian coordinate system.
5. a kind of sweeping robot cleans display control method according to claim 1, it is characterised in that: the machine of sweeping the floor
People is with line segment in the path that working region display is advanced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710906948.7A CN109567673A (en) | 2017-09-29 | 2017-09-29 | A kind of sweeping robot cleaning display control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710906948.7A CN109567673A (en) | 2017-09-29 | 2017-09-29 | A kind of sweeping robot cleaning display control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109567673A true CN109567673A (en) | 2019-04-05 |
Family
ID=65914196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710906948.7A Withdrawn CN109567673A (en) | 2017-09-29 | 2017-09-29 | A kind of sweeping robot cleaning display control method |
Country Status (1)
| Country | Link |
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| CN (1) | CN109567673A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393480A (en) * | 2019-08-12 | 2019-11-01 | 侨银环保科技股份有限公司 | It is a kind of for cleaning the automatic machinery people of corridor |
| CN111110117A (en) * | 2019-12-20 | 2020-05-08 | 小狗电器互联网科技（北京）股份有限公司 | Cleaning method for working surface of sweeping robot |
| CN111123940A (en) * | 2019-12-27 | 2020-05-08 | 科大讯飞股份有限公司 | Sweeping planning method of sweeping robot, sweeping robot and sweeping system |
| CN112336250A (en) * | 2019-08-09 | 2021-02-09 | 惠州拓邦电气技术有限公司 | Intelligent cleaning method and device and storage device |
| CN113251631A (en) * | 2021-04-27 | 2021-08-13 | 青岛海尔空调器有限总公司 | Air conditioner control method and device, control box, air conditioner and storage medium |
| WO2021208380A1 (en) * | 2020-04-15 | 2021-10-21 | 长沙中联重科环境产业有限公司 | Disinfection and cleaning operation effect testing method and device for epidemic prevention disinfection and cleaning robot |
| CN113693501A (en) * | 2021-06-09 | 2021-11-26 | 北京石头世纪科技股份有限公司 | Cleaning equipment, cleaning path, cleaning map generation method and cleaning map generation system |
| CN114115269A (en) * | 2021-11-19 | 2022-03-01 | 珠海格力电器股份有限公司 | Method and device for determining cleaning path and electronic equipment |
-
2017
- 2017-09-29 CN CN201710906948.7A patent/CN109567673A/en not_active Withdrawn
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112336250A (en) * | 2019-08-09 | 2021-02-09 | 惠州拓邦电气技术有限公司 | Intelligent cleaning method and device and storage device |
| CN110393480A (en) * | 2019-08-12 | 2019-11-01 | 侨银环保科技股份有限公司 | It is a kind of for cleaning the automatic machinery people of corridor |
| CN111110117A (en) * | 2019-12-20 | 2020-05-08 | 小狗电器互联网科技（北京）股份有限公司 | Cleaning method for working surface of sweeping robot |
| CN111110117B (en) * | 2019-12-20 | 2021-08-06 | 小狗电器互联网科技（北京）股份有限公司 | Cleaning method for working surface of sweeping robot |
| CN111123940A (en) * | 2019-12-27 | 2020-05-08 | 科大讯飞股份有限公司 | Sweeping planning method of sweeping robot, sweeping robot and sweeping system |
| WO2021208380A1 (en) * | 2020-04-15 | 2021-10-21 | 长沙中联重科环境产业有限公司 | Disinfection and cleaning operation effect testing method and device for epidemic prevention disinfection and cleaning robot |
| CN113251631A (en) * | 2021-04-27 | 2021-08-13 | 青岛海尔空调器有限总公司 | Air conditioner control method and device, control box, air conditioner and storage medium |
| WO2022227569A1 (en) * | 2021-04-27 | 2022-11-03 | 青岛海尔空调器有限总公司 | Air conditioner control method and apparatus, control box, air conditioner, and storage medium |
| CN113693501A (en) * | 2021-06-09 | 2021-11-26 | 北京石头世纪科技股份有限公司 | Cleaning equipment, cleaning path, cleaning map generation method and cleaning map generation system |
| CN114115269A (en) * | 2021-11-19 | 2022-03-01 | 珠海格力电器股份有限公司 | Method and device for determining cleaning path 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 |