CN109589048A - Cleaning method cleans handset device, purging system and computer readable storage medium - Google Patents
Cleaning method cleans handset device, purging system and computer readable storage medium Download PDFInfo
- Publication number
- CN109589048A CN109589048A CN201811568116.XA CN201811568116A CN109589048A CN 109589048 A CN109589048 A CN 109589048A CN 201811568116 A CN201811568116 A CN 201811568116A CN 109589048 A CN109589048 A CN 109589048A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- handset device
- handset
- sent
- cleans
- 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.)
- Granted
Links
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
-
- 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
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention discloses a kind of cleaning method, the cleaning method includes: the location information that handset device is respectively cleaned in the cartographic information and the target purging zone for obtain target purging zone；The work route of handset device is respectively cleaned according to the cartographic information and each positional information calculation for cleaning handset device；Each work route for cleaning handset device is sent to corresponding cleaning handset device, is cleaned with controlling each cleaning handset device according to corresponding work route.The invention also discloses a kind of cleaning handset device, purging system and computer readable storage mediums.The present invention can be realized to be cleaned by sweeping machine, and reduces cost.
Description
Technical field
The present invention relates to field of intelligent control more particularly to a kind of cleaning method, clean handset device, purging system and calculating
Machine readable storage medium storing program for executing.
Background technique
With the marketization of environmental sanitation, cost efficiency becomes the strong demand of environmental sanitation operator.Environmental sanitation conduct
One labor-intensive production possesses a large amount of sanitationman's operation, and with social senilization, the recruitment of sanitationman will further
It is difficult.
Summary of the invention
The main purpose of the present invention is to provide a kind of cleaning method, clean handset device, purging system and computer-readable
Storage medium, it is intended to which realization is cleaned by sweeping machine.
To achieve the above object, the present invention provides a kind of cleaning method, the cleaning method comprising steps of
Obtain the position letter that handset device is respectively cleaned in the cartographic information and the target purging zone of target purging zone
Breath；
The work route of handset device is respectively cleaned according to the cartographic information and each positional information calculation for cleaning handset device；
By it is each clean handset device work route be sent to corresponding cleaning handset device, with control each cleaning handset device according to
Corresponding work route is cleaned.
Optionally, it is described according to the cartographic information and it is each clean handset device positional information calculation respectively clean handset device
The step of work route includes:
The width and length that road is cleaned in target purging zone are obtained according to the cartographic information；
Path planning is carried out according to the width for cleaning road, length, each location information for cleaning handset device, is obtained each
Clean the work route of handset device.
Optionally, the cleaning method further include:
It receives and cleans the cleaning image information that handset device is sent, and show.
Optionally, the cleaning method further include:
It receives and cleans the warning message that handset device is sent after encountering barrier, and prompt；
According to the control instruction that user triggers, and the control instruction is sent to corresponding cleaning child robot, with control
System cleans handset device and carries out avoidance.
Optionally, the cleaning method further include:
It receives and cleans the charge request that handset device is sent when electricity is lower than preset value；
The corresponding position for cleaning handset device is got according to the charge request and plans path of making a return voyage, and is sent to corresponding clear
Handset device is swept, is maked a return voyage with the corresponding handset device that cleans of control.
To achieve the above object, the present invention also provides a kind of cleaning handset device, the cleaning handset device includes:
Drive module, communication module clean module and processor, and the drive module, communication module clean module difference
It is connect with the processor communication,
The communication module is used to be communicated with cleaning machine tool, obtains and cleans the work route that machine tool is sent；
The work route that the processor is used to transmit according to communication module drive the drive module and cleaning module into
Row cleans.
Optionally, the cleaning handset device further include:
Positioned at it is described clean sub- machine head and tail portion apart from detection module, it is described apart from detection module and the processing
Communication connection, the processor is also used to by detecting barrier apart from detection module and cleaning at a distance from handset device, and is being examined
It measures barrier and cleans when being less than preset value at a distance from handset device, warning message is sent to cleaning mother by the communication module
Machine.
Optionally, the cleaning handset device further include:
Camera, the camera are connect with the processor communication, and the processor is also used to obtain by imagining head
The image cleaned around handset device.
It to achieve the above object, include: to clean machine tool, cleaning the present invention also provides purging system described in a kind of purging system
Handset device and cleaning program, the cleaning program are realized clear as described above by the cleaning machine tool and when cleaning the execution of handset device
The step of sweeping method.
To achieve the above object, the present invention also provides a kind of computer readable storage medium, the computer-readable storages
Computer program is stored on medium, the computer program realizes the step of cleaning method as described above when being executed by processor
Suddenly.
The present invention respectively cleans handset in the cartographic information and the target purging zone by obtaining target purging zone
The location information of device；Then the work of handset device is respectively cleaned according to the cartographic information and each positional information calculation for cleaning handset device
Industry route；Each work route for cleaning handset device is finally sent to corresponding cleaning handset device, to control each cleaning handset
Device is cleaned according to corresponding work route.The present invention obtains multiple positions for cleaning handset device by cleaning machine tool in this way,
Path planning is carried out, concentrating type control is carried out, the structure for cleaning handset device does not need too complicated structure then, and cost is relatively
It is low.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the terminal that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of cleaning method first embodiment of the present invention；
Fig. 3 is the flow diagram of cleaning method second embodiment of the present invention；
Fig. 4 is the structural schematic diagram that the present invention cleans handset device.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Fig. 1 is please referred to, Fig. 1 is the hardware structural diagram of terminal provided by the present invention.The terminal is to clean machine tool,
It may include the electronic equipments such as server, computer or mobile terminal, including communication module 10, memory 20 and processing
The components such as device 30.In the terminal, the processor 30 is connect with the memory 20 and the communication module 10 respectively,
Computer program is stored on the memory 20, the computer program is executed by processor 30 simultaneously.
Communication module 10 can be connect by network with more cleaning handset devices.Communication module 10 can receive cleaning handset
The request that device issues, can also send request, instruction and information to the cleaning handset device.
Memory 20 can be used for storing software program and various data.Memory 20 can mainly include storing program area
The storage data area and, wherein storing program area can storage program area, clean program etc.；Storage data area may include database,
Storage data area, which can be stored, uses created data or information etc. according to terminal.In addition, memory 20 may include high speed
Random access memory, can also include nonvolatile memory, a for example, at least disk memory, flush memory device or
Other volatile solid-state parts.
Processor 30 is the control centre for cleaning machine tool, utilizes each portion of various interfaces and the entire terminal of connection
Point, by running or execute the software program and/or module that are stored in memory 20, and calls and be stored in memory 20
Data, execute terminal various functions and processing data, thus to clean handset device control.Processor 30 may include one
A or multiple processing units；Optionally, processor 30 can integrate application processor and modem processor, wherein at application
The main processing operation system of device, user interface and application program etc. are managed, modem processor mainly handles wireless communication.It can be with
Understand, above-mentioned modem processor can not also be integrated into processor 30.
Although Fig. 1 is not shown, above-mentioned terminal can also include charging unit, for connecting with cleaning handset device, to clear
Handset device is swept to charge.Above-mentioned terminal can also include display module, for extracting the data in memory 20, and display pair
The display interface answered.It will be understood by those skilled in the art that the restriction of the not structure paired terminal of terminal structure shown in Fig. 1,
It may include perhaps combining certain components or different component layouts than illustrating more or fewer components.
As shown in Figure 1, as may include operating system, network communication in a kind of memory 20 of computer storage medium
Module and cleaning program.
In terminal shown in Fig. 1, communication module 10 is mainly used for connection and cleans handset device, is counted with handset device is cleaned
According to communication；And processor 30 can be used for calling the cleaning program stored in memory 20, and execute following operation:
Obtain the position letter that handset device is respectively cleaned in the cartographic information and the target purging zone of target purging zone
Breath；
The work route of handset device is respectively cleaned according to the cartographic information and each positional information calculation for cleaning handset device；
By it is each clean handset device work route be sent to corresponding cleaning handset device, with control each cleaning handset device according to
Corresponding work route is cleaned.
Further, processor 30 can call the cleaning program stored in memory 20, also execute following operation:
The width and length that road is cleaned in target purging zone are obtained according to the cartographic information；
Path planning is carried out according to the width for cleaning road, length, each location information for cleaning handset device, is obtained each
Clean the work route of handset device.
Further, processor 30 can call the cleaning program stored in memory 20, also execute following operation:
It receives and cleans the cleaning image information that handset device is sent, and show.
Further, processor 30 can call the cleaning program stored in memory 20, also execute following operation:
It receives and cleans the warning message that handset device is sent after encountering barrier, and prompt；
According to the control instruction that user triggers, and the control instruction is sent to corresponding cleaning child robot, with control
System cleans handset device and carries out avoidance.
Further, processor 30 can call the cleaning program stored in memory 20, also execute following operation:
It receives and cleans the charge request that handset device is sent when electricity is lower than preset value；
The corresponding position for cleaning handset device is got according to the charge request and plans path of making a return voyage, and is sent to corresponding clear
Handset device is swept, is maked a return voyage with the corresponding handset device that cleans of control.
Based on above-mentioned hardware configuration, each embodiment of the method for the present invention is proposed.
Referring to fig. 2, in the first embodiment of cleaning method of the present invention, comprising:
Step S10 is obtained in the cartographic information and the target purging zone of target purging zone and is respectively cleaned handset device
Location information；
The present invention is applied to purging system, which includes cleaning machine tool and cleaning handset device, which can
Think the server positioned at command centre or environmental sanitation work station, or removable equipped with wireless communication module and processor
Movement machine, such as motor van, the mode of removable movement machine are located relatively at the mode in command centre or environmental sanitation work station, more
Add and staff is facilitated to carry out inspection, finds the problem in time.Clean machine tool and clean handset device can by the SIM card of installation into
Row communication, or communicated by wireless network.
In implementation process, staff can be referred to by the control that remote controler or control device triggering start to clean
It enables, control instruction is transferred to processor/central processing meter in cleaning machine tool by remote controler or control device by CAN bus
Calculation machine.Certainly control equipment can also periodically send to cleaning machine tool and clean instruction, or cleaning machine tool can periodically give birth to automatically
It is instructed at starting to clean.Machine tool is cleaned after getting cleaning instruction, obtains the cartographic information of target purging zone, the target is clear
Sweeping region can parse acquired in cleaning instruction, or default purging zone illustrates that every cleaning machine tool is in charge of one at this time
Purging zone.
To improve sweeping efficiency, be provided with more cleanings handset devices in each purging zone in the present embodiment, avoid one clearly
It sweeps machine and cleans the problem that speed causes sweeping efficiency low slowly or when breaking down.More cleaning handset devices can usually be located at
Each environmental sanitation work station, or when cleaning machine tool is motor van, is equipped in motor van, is receiving work order, then
Purging zone is driven into be cleaned, or by staff drive motor van to a certain destination after, then control it is corresponding clearly
It sweeps handset device and drives into purging zone and cleaned.
Cleaning machine tool also needs to obtain each location information for cleaning handset device, specifically, can be by cleaning handset device itself
After locating module positioning, location information occurs and gives cleaning machine tool；If certainly each handset device that cleans is mounted in cleaning machine tool (box goods
Vehicle) in, then clean the location information that machine tool carries out positioning acquisition by the locating module/cleaning handset device locating module of itself
As each location information for cleaning handset device.
Step S20 respectively cleans the work of handset device according to the cartographic information and each positional information calculation for cleaning handset device
Industry route；
After the cartographic information and each location information for cleaning handset device for obtaining target purging zone, according to target sweeping area
The cartographic information in domain and the location information for cleaning handset device carry out path planning, to calculate each sweeping area for cleaning handset device
Domain, work route etc..
Specifically, the process of each work route for cleaning handset device of calculating may include:
Step S21 obtains the width and length that road is cleaned in target purging zone according to the cartographic information；
Step S22 carries out path rule according to the width for cleaning road, length, each location information for cleaning handset device
It draws, obtains each work route for cleaning handset device.
Specifically, according to the cartographic information of acquisition, each width and length for cleaning road in purging zone is obtained, then
Path planning is carried out according to the width, length, each location information for cleaning handset device that clean road, to obtain each cleaning handset
The work route of device, for example speed, cleaning width are cleaned according to the width, length and the preset each cleaning handset device that clean road
Then degree is cleaned with the width and length computation for cleaning road according to area to calculate each sweep-out pattern for cleaning handset device
Which road handset device can clean, then determine that each cleaning handset device is cleaning the path on road, so that it is determined that each clean son
The work route of machine.Further, each state for cleaning handset device can also be obtained in order to be accurately calculated, state includes
Electricity or cruise duration speed is cleaned according to state and each cleaning handset device, cleans width to calculate each cleaning handset
The sweep-out pattern of device.
Each work route for cleaning handset device is sent to corresponding cleaning handset device by step S30, to control each cleaning
Machine is cleaned according to corresponding work route.
Corresponding work route is sent to corresponding cleaning handset device after calculating each work route for cleaning handset device,
Or all work routes are sent to each cleaning handset device, the work route of oneself is selected by each cleaning handset device, so that
Each handset device that cleans is cleaned according to corresponding work route.
It should be noted that a kind of sweeping robot exists in the prior art, which, which has, cleans path rule
It draws, the intelligent functions such as automatic obstacle-avoiding, can calculate automatically and clean path and cleaned, but this mode leads to monomer sweeping machine
People involves great expense, and then sweep-out pattern is small, is also unfavorable for managing.And the application unifies to be carried out control when cluster by cleaning machine tool,
The structure for cleaning handset device is relatively easy, consequently facilitating universal, overall cost is lower.It cleans in machine tool and is additionally provided with memory,
For storing all control instructions, and control data, facilitate improvement.
The present invention respectively cleans handset in the cartographic information and the target purging zone by obtaining target purging zone
The location information of device；Then the work of handset device is respectively cleaned according to the cartographic information and each positional information calculation for cleaning handset device
Industry route；Each work route for cleaning handset device is finally sent to corresponding cleaning handset device, to control each cleaning handset
Device is cleaned according to corresponding work route.The present invention obtains multiple positions for cleaning handset device by cleaning machine tool in this way,
Path planning is carried out, concentrating type control is carried out, the structure for cleaning handset device does not need too complicated structure then, and cost is relatively
It is low.
Further, referring to Fig. 3, the flow diagram of the second embodiment based on cleaning method of the present invention, based on above-mentioned
Implement, in the present embodiment, the cleaning method further include:
Step S40 is received and is cleaned the cleaning image information that handset device is sent, and shows.
Understand for convenience of staff and clean situation, in the present embodiment, cleans handset device and be additionally provided with camera, the camera shooting
Head is set to the front for cleaning handset device, and handset device is cleaned in cleaning process can obtain the picture cleaned in front of handset device in real time
Face, and be sent to cleaning machine tool by network cleans machine tool and then receives the flood-out pattern information that each cleaning handset device is sent, and
It cleans and is shown on the display screen of machine tool, specifically, split screen display available is carried out according to the flood-out pattern information of acquisition.Certainly camera shooting
The tail portion for cleaning handset device can also be arranged in head, thus convenient when cleaning the reversing of handset device, the figure of available reversing,
It is transferred to cleaning machine tool, so that staff be facilitated to control.
Further, the cleaning method further include:
Step S50 is received and is cleaned the warning message that handset device is sent after encountering barrier, and prompts；
The control instruction according to the control instruction that user triggers, and is sent to corresponding cleaning handset device by step S60
People cleans handset device with control and carries out avoidance.
For safety work, cleans in the present embodiment and be additionally provided on handset device apart from detection module, such as infrared distance
Detection module, ultrasonic distance detection module etc., wherein it is infrared apart from detection module can be disposed side by side on clean handset device
The multiple infrared transmitters and infrared remote receiver of upper front and back, the front for cleaning handset device is arranged in apart from detection module for this
And rear, cleaning handset device then can be by the distance apart from detection module acquisition front and back object (barrier), in front and back
Production warning message is sent to cleaning machine tool when the distance of barrier is less than preset value, cleans machine tool and is receiving warning message
Afterwards, then it is shown by voice or information, to prompt staff, staff is after seeing or hearing prompt, then
By cleaning machine tool to remotely operating, the control instruction that user remotely operates generation is sent to corresponding clear by cleaning machine tool
Handset device is swept, to realize that corresponding cleaning handset device is remotely controlled, realizes avoidance.
Further, the cleaning method further include:
Step S70 is received and is cleaned the charge request that handset device is sent when electricity is lower than preset value；
Step S80 gets the corresponding position for cleaning handset device according to the charge request and plans path of making a return voyage, is sent to
Corresponding cleaning handset device is maked a return voyage with the corresponding handset device that cleans of control.
Handset device is cleaned in the present embodiment can also in real time or timing acquisition its own electricity, thus by real time electrical quantity
It is compared with preset value, is cleaning handset device when electricity is lower than preset value to machine tool transmission charge request is cleaned, cleaning female
Machine then carries out the path planning that makes a return voyage of the cleaning handset device according to charge request, and the path that then will make a return voyage is sent to corresponding cleaning
Handset device, cleans handset device and is then maked a return voyage according to route, and cleaning can also be moved to according to return route by cleaning machine tool certainly
The position of handset device, to take back charging for handset device is cleaned.
Further, it in order to improve the cleaning ability for cleaning handset device, cleans machine tool in the present embodiment and can also carry and fill
Power supply and charging unit, it is convenient to charge to cleaning handset device, or it is detachable for cleaning battery in handset device, thus
It can be convenient the bedroom handset device that reserve battery corresponding in the machine tool of bedroom is shifted to low battery.
The present invention also proposes a kind of cleaning handset device, referring to Fig. 4, the cleaning handset device includes:
Drive module, communication module clean module and processor, and the drive module, communication module clean module difference
It is connect with the processor communication,
The communication module is used to be communicated with cleaning machine tool, obtains and cleans the work route that machine tool is sent；
The work route that the processor is used to transmit according to communication module drive the drive module and cleaning module into
Row cleans.
The present invention also provides a kind of cleaning handset devices, including drive module 100, communication module (not shown), cleaning module
200 and processor (not shown), drive module 100 is that the drivings such as wheel, engine clean handset device and carry out mobile structure, clearly
Module 200 is swept, then is the device of cleaning rubbish as described in Figure, certainly can also include watering structure etc..Drive module 100,
Communication module, cleaning module 200 are connect with the processor communication respectively, and in cleaning process, staff can be by distant
It controls device or control device triggering starts the control instruction of cleaning, controlling equipment certainly can also be periodically clear to machine tool transmission is cleaned
Instruction is swept, or cleans machine tool and can periodically automatically generate and start to clean instruction.Machine tool is cleaned after getting cleaning instruction, is obtained
The cartographic information of target purging zone is taken, which can parse acquired in cleaning instruction, or default clear
Region is swept, illustrates that every cleaning machine tool is in charge of a purging zone at this time.It cleans machine tool and also obtains each position letter for cleaning handset device
It is clear according to target to clean machine tool after the cartographic information and each location information for cleaning handset device for obtaining target purging zone for breath
The cartographic information for sweeping region and the location information for cleaning handset device carry out path planning, to calculate the clear of each cleaning handset device
Sweep region, work route etc..Corresponding work route is sent to after calculating each work route for cleaning handset device corresponding
Handset device is cleaned, or all work routes are sent to each cleaning handset device, respectively cleans sub- machine processor then according to cleaning
The position of handset device itself or number select the work route of oneself, and last processor is controlled according to corresponding work route and driven
Module is moved, and control cleans module and cleaned, to realize cleaning.
Further, the cleaning handset device further include:
Positioned at it is described clean sub- machine head and tail portion apart from detection module 300, it is described apart from detection module 300 and institute
State processing communication connection, the processor be also used to by apart from detection module 300 detect barrier and clean handset device away from
From, and when detecting barrier and cleaning at a distance from handset device less than preset value, pass through the communication module and sends alarm signal
Breath extremely cleans machine tool.
It cleans in the present embodiment and is additionally provided on handset device apart from detection module 300, this is arranged apart from detection module clear
The front (head) and rear (tail portion) of handset device are swept, processor then can be by obtaining apart from detection module in cleaning handset device
The distance of front and back object (barrier) produces warning message when the distance of barrier is less than preset value in front and back, and passes through
Communication module is sent to cleaning machine tool, cleans machine tool after receiving warning message, is then shown by voice or information,
To prompt staff, staff, then by cleaning machine tool to remotely operating, cleans after seeing or hearing prompt
User is remotely operated the control instruction generated and is sent to corresponding cleaning handset device by machine tool, to realize corresponding cleaning handset
Device is remotely controlled, and realizes avoidance.
Further, the cleaning handset device further include:
Camera (not shown), the camera are connect with the processor communication, and the processor is also used to by setting
Idea obtains the image around the cleaning handset device.
It further includes camera that handset device is cleaned in the present embodiment, and the camera and processor communication connection, processor are used for
The figure that camera obtains is sent to cleaning machine tool, can be obtained in real time clearly to realize and clean handset device in cleaning process
The picture in front of handset device is swept, and cleaning machine tool is sent to by network, machine tool is cleaned and then receives what each cleaning handset device was sent
Flood-out pattern information, and shown on the display screen for cleaning machine tool, specifically, carried out according to the flood-out pattern information of acquisition
Split screen display available.The tail portion for cleaning handset device can also be arranged in certain camera, thus it is convenient when cleaning the reversing of handset device, it can
To obtain the figure of reversing, it is transferred to cleaning machine tool, so that staff be facilitated to control.
The present invention also proposes a kind of computer readable storage medium, is stored thereon with computer program, the computer journey
The step of cleaning method described in any embodiment as above is realized when sequence is executed by processor.The computer readable storage medium
It can be the memory 20 in the terminal of Fig. 1, be also possible to such as ROM (Read-Only Memory, read-only memory)/RAM
At least one of (Random Access Memory, random access memory), magnetic disk, CD, it is described computer-readable to deposit
Storage media include some instructions use so that one with processor terminal device (can be mobile phone, computer, server,
Terminal or the network equipment etc.) execute method described in each embodiment of the present invention.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the server-side that include a series of elements not only include those elements,
It but also including other elements that are not explicitly listed, or further include for this process, method, article or server-side institute
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that wrapping
Include in process, method, article or the server-side of the element that there is also other identical elements.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of cleaning method, which is characterized in that the cleaning method comprising steps of
Obtain the location information that handset device is respectively cleaned in the cartographic information and the target purging zone of target purging zone；
The work route of handset device is respectively cleaned according to the cartographic information and each positional information calculation for cleaning handset device；
Each work route for cleaning handset device is sent to corresponding cleaning handset device, to control each cleaning handset device according to correspondence
Work route cleaned.
2. cleaning method according to claim 1, which is characterized in that described according to the cartographic information and each cleaning handset
The positional information calculation of device respectively cleans the step of work route of handset device and includes:
The width and length that road is cleaned in target purging zone are obtained according to the cartographic information；
Path planning is carried out according to the width for cleaning road, length, each location information for cleaning handset device, obtains each cleaning
The work route of handset device.
3. cleaning method according to claim 1, which is characterized in that the cleaning method further include:
It receives and cleans the cleaning image information that handset device is sent, and show.
4. cleaning method according to claim 3, which is characterized in that the cleaning method further include:
It receives and cleans the warning message that handset device is sent after encountering barrier, and prompt；
According to the control instruction that user triggers, and the control instruction is sent to corresponding cleaning child robot, it is clear to control
It sweeps handset device and carries out avoidance.
5. cleaning method according to claim 1, which is characterized in that the cleaning method further include:
It receives and cleans the charge request that handset device is sent when electricity is lower than preset value；
The corresponding position for cleaning handset device is got according to the charge request and plans path of making a return voyage, and is sent to corresponding cleaning
Machine is maked a return voyage with the corresponding handset device that cleans of control.
6. a kind of cleaning handset device, which is characterized in that the cleaning handset device includes:
Drive module, communication module clean module and processor, the drive module, communication module, clean module respectively with institute
Processor communication connection is stated,
The communication module is used to be communicated with cleaning machine tool, obtains and cleans the work route that machine tool is sent；
It is clear that the work route that the processor is used to be transmitted according to communication module drives the drive module and cleaning module to carry out
It sweeps.
7. cleaning handset device according to claim 6, which is characterized in that the cleaning handset device further include:
Positioned at it is described clean sub- machine head and tail portion apart from detection module, it is described to be communicated apart from detection module with described handle
Connection, the processor is also used to by detecting barrier apart from detection module and cleaning at a distance from handset device, and is being detected
Barrier with clean be less than preset value at a distance from handset device when, warning message is sent to cleaning machine tool by the communication module.
8. cleaning handset device according to claim 1, which is characterized in that the cleaning handset device further include:
Camera, the camera are connect with the processor communication, and the processor is also used to by imagining described in head acquisition
Clean the image around handset device.
9. a kind of purging system, which is characterized in that the purging system includes: to clean machine tool, clean handset device and clean program,
The cleaning program is realized as described in any one of claims 1 to 5 by the cleaning machine tool and when cleaning the execution of handset device
The step of cleaning method.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes the step of the cleaning method as described in any one of claims 1 to 5 when the computer program is executed by processor
Suddenly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811568116.XA CN109589048B (en) | 2018-12-21 | 2018-12-21 | Cleaning method, cleaning sub-machine, cleaning system, and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811568116.XA CN109589048B (en) | 2018-12-21 | 2018-12-21 | Cleaning method, cleaning sub-machine, cleaning system, and computer-readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109589048A true CN109589048A (en) | 2019-04-09 |
| CN109589048B CN109589048B (en) | 2021-10-22 |
Family
ID=65963160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811568116.XA Active CN109589048B (en) | 2018-12-21 | 2018-12-21 | Cleaning method, cleaning sub-machine, cleaning system, and computer-readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109589048B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112445203A (en) * | 2019-08-13 | 2021-03-05 | 江苏美的清洁电器股份有限公司 | Map determination method, map determination device and storage medium |
| CN113558531A (en) * | 2021-08-02 | 2021-10-29 | 汤恩智能科技(上海)有限公司 | Cleaning apparatus, job management method thereof, readable medium, and electronic apparatus |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102914967A (en) * | 2012-09-21 | 2013-02-06 | 浙江工业大学 | Autonomous navigation and man-machine coordination picking operating system of picking robot |
| US20150148951A1 (en) * | 2013-11-27 | 2015-05-28 | Electronics And Telecommunications Research Institute | Method and control apparatus for cooperative cleaning using multiple robots |
| CN107479544A (en) * | 2016-06-08 | 2017-12-15 | 科沃斯机器人股份有限公司 | Mother and sons' machine cooperative operation system and its method of work |
| CN206920923U (en) * | 2017-05-18 | 2018-01-23 | 深圳市微付充科技有限公司 | Robot and corresponding robot system |
| CN108209750A (en) * | 2017-12-29 | 2018-06-29 | 美的集团电子商务有限公司 | Cleaning method, sweeper and the computer readable storage medium of sweeper |
| CN108670139A (en) * | 2018-03-26 | 2018-10-19 | 深圳市赛亿科技开发有限公司 | A kind of multifunctional dust vacuum cleaner control method and system |
| CN108762273A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | A kind of cleaning method |
| CN108742378A (en) * | 2018-06-21 | 2018-11-06 | 马书翠 | A kind of separate type sweeping robot control system |
| CN108873913A (en) * | 2018-08-22 | 2018-11-23 | 深圳乐动机器人有限公司 | From mobile device work compound control method, device, storage medium and system |
-
2018
- 2018-12-21 CN CN201811568116.XA patent/CN109589048B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102914967A (en) * | 2012-09-21 | 2013-02-06 | 浙江工业大学 | Autonomous navigation and man-machine coordination picking operating system of picking robot |
| US20150148951A1 (en) * | 2013-11-27 | 2015-05-28 | Electronics And Telecommunications Research Institute | Method and control apparatus for cooperative cleaning using multiple robots |
| CN107479544A (en) * | 2016-06-08 | 2017-12-15 | 科沃斯机器人股份有限公司 | Mother and sons' machine cooperative operation system and its method of work |
| CN206920923U (en) * | 2017-05-18 | 2018-01-23 | 深圳市微付充科技有限公司 | Robot and corresponding robot system |
| CN108209750A (en) * | 2017-12-29 | 2018-06-29 | 美的集团电子商务有限公司 | Cleaning method, sweeper and the computer readable storage medium of sweeper |
| CN108670139A (en) * | 2018-03-26 | 2018-10-19 | 深圳市赛亿科技开发有限公司 | A kind of multifunctional dust vacuum cleaner control method and system |
| CN108762273A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | A kind of cleaning method |
| CN108742378A (en) * | 2018-06-21 | 2018-11-06 | 马书翠 | A kind of separate type sweeping robot control system |
| CN108873913A (en) * | 2018-08-22 | 2018-11-23 | 深圳乐动机器人有限公司 | From mobile device work compound control method, device, storage medium and system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112445203A (en) * | 2019-08-13 | 2021-03-05 | 江苏美的清洁电器股份有限公司 | Map determination method, map determination device and storage medium |
| CN112445203B (en) * | 2019-08-13 | 2022-04-05 | 美智纵横科技有限责任公司 | Map determination method, map determination device and storage medium |
| CN113558531A (en) * | 2021-08-02 | 2021-10-29 | 汤恩智能科技(上海)有限公司 | Cleaning apparatus, job management method thereof, readable medium, and electronic apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109589048B (en) | 2021-10-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11602841B2 (en) | Systems and methods for remote operating and/or monitoring of a robot | |
| US20200399863A1 (en) | Work machine, information processing apparatus, and information processing method | |
| CN103838231B (en) | Automobile intelligent management system and method based on mobile terminal | |
| CN107873098A (en) | Object in the detection vehicle relevant with service | |
| CN105376333B (en) | A kind of subway monitoring system and its monitoring method | |
| CN103699120B (en) | Fault diagnosis system for special vehicle | |
| CN105849790A (en) | Road condition information acquisition method | |
| CN107680378A (en) | A kind of accident surveying method, system, equipment and computer-readable storage medium | |
| CN109269506A (en) | Map creating method, device, robot and the system of mobile robot | |
| CN108282504B (en) | Automatic driving map data acquisition vehicle, base station and cooperative acquisition system and method | |
| CN108921632A (en) | Electric car automatic recharging method, system and computer readable storage medium | |
| CN108614543A (en) | The method and apparatus of the operation information of mobile platform for rendering | |
| CN110363467B (en) | Warehouse remote monitoring method and system, storage medium and processor | |
| CN105225467A (en) | A kind of method and system providing car service to serve | |
| CN108072368B (en) | Navigation method and device | |
| CN106303967A (en) | A kind of express delivery monitoring method, equipment and system | |
| CN110901447A (en) | Cloud management system and method for electric vehicle charging pile | |
| CN109589048A (en) | Cleaning method cleans handset device, purging system and computer readable storage medium | |
| CN109115235A (en) | Vehicle, vehicle device equipment, user communication terminal and its more equipment switch air navigation aid | |
| CN108151753A (en) | Air navigation aid, device, storage medium and terminal based on battery capacity | |
| CN110553657B (en) | Navigation method and system based on chat robot | |
| CN109068282A (en) | A kind of method, apparatus and computer equipment of the trip of user for identification scene | |
| CN109029487A (en) | Air navigation aid, device, storage medium and terminal based on charging pile location information | |
| CN205594407U (en) | Long -range wireless monitoring camera system of water level | |
| CN105788349A (en) | Information processing method and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |